Four-quadrant composite recycling integrated hoist driving system

Abstract

This invention provides a four-quadrant integrated energy recovery and regeneration hoist drive system. This system combines the advantages of electric and hydraulic drives, utilizing coordinated active control of motor speed and torque, and passive control of the accumulator-variable hydraulic pump motor, to achieve multi-quadrant coordinated control of the electric generator-variable hydraulic pump motor and integrated energy recovery and regeneration. It leverages the high energy density of the electric energy storage unit and the excellent control characteristics of the motor to provide a solution to the problems of secondary load slippage and limited energy recovery from the accumulator. The closed-loop hydraulic system of the accumulator-variable hydraulic pump motor achieves high power density and near-zero speed high torque output, alleviating the problems of high energy consumption in electric drive hoists and partial energy loss in the balance valve and multi-way valve. The fully electric hoist drive system reduces engine noise and pollution, significantly improves overall machine efficiency, meets my country's energy conservation and emission reduction requirements, and facilitates intelligent control, adapting to the development of the times.

Description

Technical Field

[0001] This invention relates to the field of hoist drive system technology, specifically to a four-quadrant composite recycling and regeneration integrated hoist drive system. Background Technology

[0002] Winch drive technology is widely used in engineering machinery with large load potential energy, such as rotary drilling rigs and cranes. Because the winch mechanism involves a significant flow of energy during lifting and lowering, winch drive technology must not only ensure the dynamic characteristics of the winch's lifting and lowering but also recover sufficient energy and increase system efficiency. Traditional winch drive technologies in engineering machinery often use an engine-driven hydraulic pump as the power source and utilize accumulators to recover potential energy. However, engine noise and pollution are detrimental to environmental protection, and the low efficiency of open hydraulic circuits leads to energy loss in hydraulic components such as balance valves and multi-way valves, reducing system efficiency. While improved technologies using electric motors as power sources and closed hydraulic circuits effectively reduce environmental pollution and increase winch drive system efficiency, meeting modern development needs, the limitations and difficulty in controlling accumulator capacity make it difficult for the winch drive system to stably recover most of the potential energy.

[0003] In recent years, to recover more potential energy generated during load lowering, a combination of hydraulic and electrical energy recovery methods has been adopted. However, the energy conversion element of the electrical energy recovery system is generally a hydraulic motor-generator. That is, during the lowering operation of the winch, driven by a negative load, the winch hydraulic motor actually works as a pump, outputting power to drive the hydraulic recovery motor to rotate and recover gravitational potential energy, which is stored in the energy storage element. However, the recovery and reuse of potential energy involves many conversion links, such as gravitational potential energy-hydraulic energy-mechanical energy-electrical energy conversion, resulting in high energy conversion losses and limited energy-saving potential.

[0004] In view of the above, this application is hereby submitted. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a four-quadrant composite recycling and regeneration integrated hoist drive system, which can effectively solve the problems of high energy conversion loss, difficulty in stably recovering most of the potential energy, and limited energy-saving space in the existing hoist drive technology.

[0006] The present invention provides a four-quadrant composite recycling and regeneration integrated hoist drive system, comprising: an assembly controller, an electric drive assembly, a hydraulic drive assembly, a transmission assembly, a sensing assembly, an electric control handle, and a load disposed on the transmission assembly;

[0007] The output terminal of the assembly controller is electrically connected to the control terminal of the electric drive assembly and the control terminal of the hydraulic drive assembly; the input terminal of the assembly controller is electrically connected to the output terminal of the sensing assembly and the output terminal of the electric control handle; and the electric drive assembly is coaxially connected to the hydraulic drive assembly and the transmission assembly.

[0008] The assembly controller is configured to perform the following steps by executing a computer program stored internally:

[0009] The opening signal sent by the electric control handle and the parameter set collected by the sensing component are acquired in real time.

[0010] The current operating state and target speed of the load are determined based on the opening signal;

[0011] When the load is determined to be in a descending state based on the operating status, the electric drive component is controlled to drive the transmission component to rotate at a speed corresponding to the target speed of the load, based on the pressure value of the hydraulic drive component and the gravity value of the load in the parameter set. Alternatively, the electric drive component and the hydraulic drive component are controlled to jointly drive the transmission component to rotate at a speed corresponding to the target speed of the load, so as to drive the load to descend. At the same time, the gravitational potential energy generated by the load descent is converted into electrical energy and hydraulic energy and stored.

[0012] Preferably, the transmission component is a winch reducer.

[0013] Preferably, the parameter set includes the pressure value of the hydraulic drive assembly and the gravity value of the load, the torque and speed values ​​of the electric drive assembly and the transmission assembly, and the displacement value of the load.

[0014] Preferably, when the load is determined to be in a descending state based on the operating state, the electric drive component is controlled to drive the transmission component to rotate at a speed corresponding to the target speed of the load, based on the pressure value of the hydraulic drive component and the gravity value of the load in the parameter set; or the electric drive component and the hydraulic drive component are controlled to jointly drive the transmission component to rotate at a speed corresponding to the target speed of the load, so as to drive the load to descend. Simultaneously, the gravitational potential energy generated by the load descent is converted into electrical energy and hydraulic energy and stored. Specifically:

[0015] When the lifting state is determined to be a lowering state, the pressure value of the hydraulic drive component and the gravity value of the load in the parameter set are determined.

[0016] When the load's gravity is determined to be less than a preset value based on the load's pressure value, the electric drive assembly is controlled to drive the transmission assembly to rotate at a speed corresponding to the target speed of the load, thereby causing the load to descend. At the same time, the gravitational potential energy generated by the load's descent is converted into electrical energy and stored in the electric drive assembly.

[0017] When the load's gravity is determined to be greater than a preset value based on the load's pressure value, the electric drive assembly and the hydraulic drive assembly are controlled to jointly drive the transmission assembly to rotate at a speed corresponding to the target speed of the load, so as to drive the load to descend. At the same time, the gravitational potential energy generated by the load's descent is converted into electrical energy and hydraulic energy, and stored in the electric drive assembly and the hydraulic drive assembly respectively.

[0018] When the load's gravity is determined to be greater than a preset value based on the load's pressure value, and the hydraulic pump of the hydraulic drive assembly is determined to be unable to guarantee that the variable-generated anti-drag torque is constant based on the pressure value of the hydraulic drive assembly, the electric drive assembly is controlled to drive the transmission assembly to rotate at a speed corresponding to the target speed of the load, so as to drive the load to descend. At the same time, the gravitational potential energy generated by the load's descent is converted into electrical energy and stored in the electric drive assembly.

[0019] Preferably, when the load is determined to be in an upward state based on the operating state, the electric drive component is controlled to drive the transmission component to rotate at a speed corresponding to the target speed of the load, based on the pressure value of the hydraulic drive component and the gravity value of the load in the parameter set, or the electric drive component and the hydraulic drive component are controlled to jointly drive the transmission component to rotate at a speed corresponding to the target speed of the load, so as to drive the load to rise.

[0020] Preferably, when the load is determined to be in an upward state based on the operating state, the electric drive component is controlled to drive the transmission component to rotate at a speed corresponding to the target speed of the load, based on the pressure value of the hydraulic drive component and the gravity value of the load in the parameter set; or the electric drive component and the hydraulic drive component are controlled to jointly drive the transmission component to rotate at a speed corresponding to the target speed of the load. Specifically:

[0021] When the lifting state is determined to be an upward state, the pressure value of the hydraulic drive component and the gravity value of the load are determined according to the parameter set.

[0022] When it is determined from the pressure value of the hydraulic drive assembly that both the pressure value of the high-pressure hydraulic accumulator and the pressure value of the low-pressure hydraulic accumulator of the hydraulic drive assembly are at a preset pressure value, or when it is determined from the pressure value of the hydraulic drive assembly that one of the pressure values ​​of the high-pressure hydraulic accumulator and the low-pressure hydraulic accumulator of the hydraulic drive assembly is higher than a preset pressure value and the other is lower than a preset pressure value, and the gravity value of the load is less than a preset value, the electric drive assembly is controlled to drive the transmission assembly to rotate at a speed corresponding to the target speed of the load, so as to drive the load to rise.

[0023] When it is determined from the pressure value of the hydraulic drive assembly that the pressure value of the high-pressure hydraulic accumulator of the hydraulic drive assembly and the pressure value of the low-pressure hydraulic accumulator of the hydraulic drive assembly are both higher than a preset pressure value and lower than a preset pressure value, and the gravity value of the load is greater than a preset value, the electric drive assembly and the hydraulic drive assembly are controlled to jointly drive the transmission assembly to rotate at a speed corresponding to the target speed of the load, so as to drive the load to rise.

[0024] When the gravity of the load is greater than a preset value and the hydraulic motor of the hydraulic drive component is unable to output constant torque based on the pressure value of the hydraulic drive component, the electric drive component and the hydraulic drive component are controlled to jointly drive the transmission component to rotate at a speed corresponding to the target speed of the load, so as to drive the load to rise.

[0025] Preferably, the electric drive assembly includes a power battery, a motor controller, and an electric generator, wherein the electric generator is coaxially connected to the transmission assembly and the hydraulic drive assembly, the power battery is electrically connected to the motor controller, the output terminal of the motor controller is electrically connected to the control terminal of the electric generator, and the output terminal of the assembly controller is electrically connected to the control terminal of the motor controller.

[0026] Preferably, the hydraulic drive assembly includes a variable displacement hydraulic actuator module, a high-pressure hydraulic accumulator, a low-pressure hydraulic accumulator, a first check valve, a second check valve, a first replenishing check valve, a second replenishing check valve, a first two-position two-way solenoid directional valve, a second two-position two-way solenoid directional valve, a third two-position two-way solenoid directional valve, a fourth two-position two-way solenoid directional valve, a fifth two-position two-way solenoid directional valve, a sixth two-position two-way solenoid directional valve, a first relief valve, a second relief valve, a third relief valve, a fourth relief valve, and an oil tank;

[0027] The oil outlets of the first, second, third, and fourth overflow valves, the first replenishing check valve, and the second replenishing check valve are all connected to the oil tank. The first outlet of the low-pressure hydraulic accumulator is connected to the inlet of the second overflow valve, the second outlet of the low-pressure hydraulic accumulator is connected to the outlet of the second check valve, and the third outlet of the low-pressure hydraulic accumulator is connected to the first port of the second two-position two-way solenoid directional valve. The first ports of the fourth, fifth, and sixth two-position two-way solenoid directional valves, the inlet of the second check valve, and the second port of the second two-position two-way solenoid directional valve are connected in pairs. The first outlet of the high-pressure hydraulic accumulator is connected to the inlet of the first overflow valve, the second outlet of the high-pressure hydraulic accumulator is connected to the outlet of the first check valve, and the third outlet of the high-pressure hydraulic accumulator is connected to the first two-position two-way solenoid directional valve. The second port of the two-position two-way solenoid directional valve, the second port of the sixth two-position two-way solenoid directional valve, the outlet of the second replenishing check valve, the inlet of the fourth relief valve, and the first port of the variable hydraulic actuator module are connected in pairs. The second port of the third two-position two-way solenoid directional valve, the outlet of the first replenishing check valve, the inlet of the third relief valve, and the second port of the variable hydraulic actuator module are connected in pairs. The first port of the third two-position two-way solenoid directional valve, the first port of the fifth two-position two-way solenoid directional valve, the second port of the first two-position two-way solenoid directional valve, and the inlet of the first check valve are connected in pairs. The output terminal of the assembly controller is electrically connected to the control terminals of the first two-position two-way solenoid directional valve, the second two-position two-way solenoid directional valve, the third two-position two-way solenoid directional valve, the fourth two-position two-way solenoid directional valve, the fifth two-position two-way solenoid directional valve, and the sixth two-position two-way solenoid directional valve.

[0028] Preferably, the sensing component includes a first pressure sensor disposed at the outlet of the high-pressure hydraulic accumulator, a second pressure sensor disposed at the outlet of the low-pressure hydraulic accumulator, a third pressure sensor disposed at the variable hydraulic actuator module, a fourth pressure sensor disposed at the second interface of the variable hydraulic actuator module, and a fifth pressure sensor disposed at the first interface of the load.

[0029] The fourth outlet of the high-pressure hydraulic accumulator is connected to the first pressure sensor, the fourth oil outlet of the low-pressure hydraulic accumulator is connected to the second pressure sensor, the second interface of the variable hydraulic actuator is connected to the third pressure sensor, the first interface of the variable hydraulic actuator is connected to the fourth pressure sensor, and the input terminal of the assembly controller is electrically connected to the output terminals of the first pressure sensor, the second pressure sensor, the third pressure sensor, and the fourth pressure sensor.

[0030] Preferably, the sensing component further includes a speed sensor, a torque sensor, and a displacement sensor disposed on the load;

[0031] The connecting shaft end of the electric generator and the connecting shaft end of the transmission assembly are connected to the speed sensor and the torque sensor, and the output end of the speed sensor, the output end of the torque sensor, and the output end of the displacement sensor are electrically connected to the input end of the assembly controller.

[0032] In summary, this embodiment provides a four-quadrant composite recycling and regeneration integrated winch drive system. This system integrates the continuous charging and discharging capability of a high-energy-density power battery with the strong instantaneous input and output power of a high-power-density energy accumulator. Through a hydraulic-electric composite energy regulation method, it utilizes the active control of the speed and torque across the full power range of the power battery and the electric motor / generator to achieve effective drive and energy regeneration of the winch under gradually changing positive and negative load conditions. It utilizes the energy accumulator and variable hydraulic pump / motor to achieve instantaneous power release and recovery under drastic changes in positive and negative load conditions and transient load switching conditions. While ensuring operability, it improves energy efficiency. This solves the problems of high energy conversion loss, difficulty in stably recovering most of the potential energy, and limited energy-saving potential in existing winch drive technologies. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of the four-quadrant composite recycling and regeneration integrated winch drive system provided in an embodiment of the present invention.

[0034] Figure 2 This is a schematic diagram of the control logic flow of the four-quadrant composite recycling and regeneration integrated hoist drive system provided in an embodiment of the present invention. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0037] Please see Figures 1 to 2 The first embodiment of the present invention provides a four-quadrant composite recycling and regeneration integrated hoist drive system, including: an assembly controller 1, an electric drive assembly, a hydraulic drive assembly, a transmission assembly 6, a sensing assembly, an electric control handle 32, and a load 7 disposed on the transmission assembly 6.

[0038] The output terminal of the assembly controller 1 is electrically connected to the control terminal of the electric drive assembly and the control terminal of the hydraulic drive assembly. The input terminal of the assembly controller 1 is electrically connected to the output terminal of the sensing assembly and the output terminal of the electric control handle 32. The electric drive assembly is coaxially connected to the hydraulic drive assembly and the transmission assembly 6.

[0039] The assembly controller 1 is configured to perform the following steps by executing a computer program stored internally thereon:

[0040] The opening signal sent by the electric control handle 32 and the parameter set collected by the sensing component are acquired in real time.

[0041] The current operating state and target speed of the load are determined based on the opening signal;

[0042] When the load 7 is determined to be in a descending state based on the operating status, the electric drive component is controlled to drive the transmission component 6 to rotate at a speed corresponding to the target speed of the load 7, based on the pressure value of the hydraulic drive component and the gravity value of the load 7 in the parameter set. Alternatively, the electric drive component and the hydraulic drive component are controlled to jointly drive the transmission component 6 to rotate at a speed corresponding to the target speed of the load 7, so as to drive the load 7 to descend. At the same time, the gravitational potential energy generated by the descent of the load 7 is converted into electrical energy and hydraulic energy and stored.

[0043] In one possible embodiment of the present invention, when it is determined that the load 7 is in a descending state based on the operating state, the electric drive component is controlled to drive the transmission component 6 to rotate at a speed corresponding to the target speed of the load 7, based on the pressure value of the hydraulic drive component and the gravity value of the load 7 in the parameter set; or the electric drive component and the hydraulic drive component are controlled to jointly drive the transmission component 6 to rotate at a speed corresponding to the target speed of the load 7, so as to drive the load 7 to descend. At the same time, the gravitational potential energy generated by the descent of the load 7 is converted into electrical energy and hydraulic energy and stored. Specifically:

[0044] When the lifting state is determined to be a lowering state, the pressure value of the hydraulic drive component and the gravity value of the load 7 in the parameter set are determined.

[0045] When it is determined from the pressure value of the load 7 that the gravity of the load 7 is less than the preset value, the electric drive assembly is controlled to drive the transmission assembly 6 to rotate at the rotation speed corresponding to the target speed of the load 7, so as to drive the load 7 to descend. At the same time, the gravitational potential energy generated by the descent of the load 7 is converted into electrical energy and stored in the electric drive assembly.

[0046] When it is determined from the pressure value of the load 7 that the gravity of the load 7 is greater than the preset value, the electric drive component and the hydraulic drive component are controlled to drive the transmission component 6 to rotate at the rotation speed corresponding to the target speed of the load 7, so as to drive the load 7 to descend. At the same time, the gravitational potential energy generated by the descent of the load 7 is converted into electrical energy and hydraulic energy, and stored in the electric drive component and the hydraulic drive component respectively.

[0047] When it is determined from the pressure value of load 7 that the gravity of load 7 is greater than the preset value, and it is determined from the pressure value of the hydraulic drive component that the hydraulic pump of the hydraulic drive component cannot guarantee that the variable-generated anti-drag torque is constant, the electric drive component is controlled to drive the transmission component 6 to rotate at the speed corresponding to the target speed of load 7, so as to drive load 7 to descend. At the same time, the gravitational potential energy generated by the descent of load 7 is converted into electrical energy and stored in the electric drive component.

[0048] Specifically, in this embodiment, the load 7 is suspended from the transmission component 6 by a rope. When the four-quadrant composite recycling and regeneration integrated winch drive system controls the transmission component 6 to drive the load 7 down, if the weight of the load 7 is less than a preset value, the system operates in pure electric recovery mode, and the electric generator is in power generation mode. If the weight of the load 7 is greater than the preset value, the system initially operates in composite recovery mode, and the variable hydraulic pump motor is in pump mode. When the anti-drag torque generated by the variable hydraulic pump motor cannot be guaranteed to be constant, the system operates in pure electric recovery mode. At this time, the variable hydraulic pump motor idles, and the electric generator is in power generation mode.

[0049] In this embodiment, the four-quadrant composite recycling and regeneration integrated winch drive system uses the electric control handle 32 as the lifting control lever. By controlling the speed and torque of the electric generator-variable hydraulic pump motor, it stably controls the load 7 to achieve the expected lifting speed and performs integrated energy recycling and regeneration, thereby improving the energy efficiency, operability, and safety of the whole machine.

[0050] In one possible embodiment of the present invention, the transmission component 6 is a winch reducer.

[0051] Specifically, in this embodiment, the winch reducer features a compact structure, high transmission accuracy, durability, and high overall transmission efficiency, and is widely used in various fields. It should be noted that in other embodiments, other types of transmission components may be used; no specific limitations are made here, but all such solutions are within the scope of protection of this invention.

[0052] In one possible embodiment of the invention, the parameter set includes the pressure value of the hydraulic drive assembly and the gravity value of the load 7, the torque and speed values ​​of the electric drive assembly and the transmission assembly 6, and the displacement value of the load 7.

[0053] In one possible embodiment of the present invention, when it is determined that the load 7 is in an upward state based on the operating state, the electric drive component is controlled to drive the transmission component 6 to rotate at a speed corresponding to the target speed of the load 7 based on the pressure value of the hydraulic drive component in the parameter set and the gravity value of the load 7, or the electric drive component and the hydraulic drive component are controlled to jointly drive the transmission component 6 to rotate at a speed corresponding to the target speed of the load 7, so as to drive the load 7 to rise.

[0054] In one possible embodiment of the present invention, when it is determined that the load 7 is in an upward state based on the operating state, the electric drive component is controlled to drive the transmission component 6 to rotate at a speed corresponding to the target speed of the load 7, based on the pressure value of the hydraulic drive component in the parameter set and the gravity value of the load 7, or the electric drive component and the hydraulic drive component are controlled to jointly drive the transmission component 6 to rotate at a speed corresponding to the target speed of the load 7, specifically:

[0055] When the lifting state is determined to be an upward state, the pressure value of the hydraulic drive component and the gravity value of the load 7 are determined according to the parameter set.

[0056] When it is determined from the pressure value of the hydraulic drive assembly that both the pressure value of the high-pressure hydraulic accumulator and the pressure value of the low-pressure hydraulic accumulator of the hydraulic drive assembly are at a preset pressure value, or when it is determined from the pressure value of the hydraulic drive assembly that one of the pressure values ​​of the high-pressure hydraulic accumulator and the low-pressure hydraulic accumulator of the hydraulic drive assembly is higher than a preset pressure value and the other is lower than a preset pressure value, and the gravity value of the load 7 is less than a preset value, the electric drive assembly is controlled to drive the transmission assembly 6 to rotate at a speed corresponding to the target speed of the load 7, so as to drive the load 7 to rise.

[0057] When it is determined from the pressure value of the hydraulic drive assembly that the pressure value of the high-pressure hydraulic accumulator of the hydraulic drive assembly and the pressure value of the low-pressure hydraulic accumulator of the hydraulic drive assembly are both higher than a preset pressure value and lower than a preset pressure value, and the gravity value of the load 7 is greater than a preset value, the transmission assembly 6 is controlled to rotate at the rotational speed corresponding to the target speed of the load 7, so as to drive the load 7 to rise.

[0058] When the gravity of the load 7 is greater than a preset value and the hydraulic motor of the hydraulic drive component is determined to be unable to output constant torque based on the pressure value of the hydraulic drive component, the transmission component 6 is controlled to rotate at the speed corresponding to the target speed of the load 7, thereby driving the load 7 to rise.

[0059] Specifically, in this embodiment, when the four-quadrant composite recycling and regeneration integrated winch drive system controls the transmission component 6 to drive the load 7 to rise, if the pressure of both the high-pressure hydraulic accumulator and the low-pressure hydraulic accumulator of the hydraulic drive component is lower than a preset value, the four-quadrant composite recycling and regeneration integrated winch drive system operates in pure electric drive mode, and the electric generator of the electric drive component is in electric state; at this time, the high-pressure hydraulic accumulator and the low-pressure hydraulic accumulator of the hydraulic drive component cannot supply oil to the variable hydraulic pump motor, and regardless of whether the gravity value of the load 7 is greater than or less than the preset value, it operates in pure electric drive mode.

[0060] In this embodiment, if the pressure value of the high-pressure hydraulic accumulator of the hydraulic drive component is higher than a preset value, and the pressure value of the low-pressure hydraulic accumulator of the hydraulic drive component is lower than a preset value, or if the pressure value of the high-pressure hydraulic accumulator of the hydraulic drive component is lower than a preset value, and the pressure value of the low-pressure hydraulic accumulator of the hydraulic drive component is higher than a preset value, and the gravity value of the load 7 is lower than a preset value, the system operates in pure electric drive mode, and the electric generator is in electric mode, as described above. If the gravity value of the load 7 is higher than a preset value, the system initially operates in compound drive mode, and the variable hydraulic pump motor is in motor mode. Until the assembly controller detects that the variable hydraulic pump motor cannot output constant torque, the system operates in pure electric drive mode, the variable hydraulic pump motor idles, and the electric generator is in electric mode.

[0061] In one possible embodiment of the present invention, the electric drive assembly includes a power battery 2, a motor controller 3, and an electric generator 4, wherein the electric generator 4 is coaxially connected to the transmission assembly 6 and the hydraulic drive assembly, the power battery 2 is electrically connected to the motor controller 3, the output terminal of the motor controller 3 is electrically connected to the control terminal of the electric generator 4, and the output terminal of the assembly controller 1 is electrically connected to the control terminal of the motor controller 3.

[0062] Specifically, in this embodiment, the electric generator 4 can be a permanent magnet synchronous motor, and the power battery 2 can be a lithium battery. The electric generator 4 can operate in both electric and power generation modes. It should be noted that in other embodiments, other types of electric generators and power batteries can also be used; no specific limitations are made here, but all such solutions are within the protection scope of this invention.

[0063] In one possible embodiment of the present invention, the hydraulic drive assembly includes a variable hydraulic actuator module 5, a high-pressure hydraulic accumulator 8, a low-pressure hydraulic accumulator 8, a first check valve 10, a second check valve 11, a first replenishing check valve 12, a second replenishing check valve 13, a first two-position two-way solenoid directional valve 14, a second two-position two-way solenoid directional valve 15, a third two-position two-way solenoid directional valve 16, a fourth two-position two-way solenoid directional valve 17, a fifth two-position two-way solenoid directional valve 18, a sixth two-position two-way solenoid directional valve 19, a first relief valve 20, a second relief valve 21, a third relief valve 22, a fourth relief valve 23, and an oil tank 24;

[0064] The oil outlets of the first overflow valve 20, the second overflow valve 21, the third overflow valve 22, and the fourth overflow valve 23, as well as the first replenishing check valve 12 and the second replenishing check valve 13, are all connected to the oil tank 24. The first oil outlet of the low-pressure hydraulic accumulator 9 is connected to the inlet of the second overflow valve 20, the second oil outlet of the low-pressure hydraulic accumulator 9 is connected to the outlet of the second check valve 11, and the third oil outlet of the low-pressure hydraulic accumulator 9 is connected to the first... A port A is connected to the first port A of the fourth two-position two-way solenoid directional valve 17, the first port A of the fifth two-position two-way solenoid directional valve 18, the oil inlet of the second check valve 11, and the second port B of the second two-position two-way solenoid directional valve 15. The first outlet of the high-pressure hydraulic accumulator 8 is connected to the oil inlet of the first relief valve 20, the second outlet of the high-pressure hydraulic accumulator 8 is connected to the outlet of the first check valve 10, and the third outlet of the high-pressure hydraulic accumulator 8 is connected to the first two-position two-way solenoid directional valve 14. The fifth two-position... The second port B of the two-way solenoid directional valve 18, the second port B of the sixth two-position two-way solenoid directional valve 19, the oil outlet of the second replenishing check valve 13, the oil inlet of the fourth relief valve 23, and the first port B of the variable hydraulic actuator module 5 are connected in pairs. The second port B of the third two-position two-way solenoid directional valve 16, the oil outlet of the first replenishing check valve 12, the oil inlet of the third relief valve 22, and the second port B of the variable hydraulic actuator module 5 are connected in pairs. The first port A of the third two-position two-way solenoid directional valve 16 and the fifth two-position... The first port A of the two-way solenoid directional valve 18, the second port B of the first two-position two-way solenoid directional valve 14, and the oil inlet of the first one-way valve 10 are connected in pairs. The output terminal of the assembly controller 1 is electrically connected to the control terminal of the first two-position two-way solenoid directional valve 14, the control terminal of the second two-position two-way solenoid directional valve 15, the control terminal of the third two-position two-way solenoid directional valve 16, the control terminal of the fourth two-position two-way solenoid directional valve 17, the control terminal of the fifth two-position two-way solenoid directional valve 18, and the control terminal of the sixth two-position two-way solenoid directional valve 19.

[0065] Specifically, in this embodiment, the variable hydraulic actuator module 5 can be a variable hydraulic pump motor, which can operate in both pump and motor modes. It should be noted that in other embodiments, other types of variable hydraulic actuator modules can also be used; no specific limitations are made here, but all such solutions are within the protection scope of this invention.

[0066] In this embodiment, when the load increases, if the pressures of both the high-pressure hydraulic accumulator 8 and the low-pressure hydraulic accumulator 9 are lower than preset values, the system operates in pure electric drive mode. The electric generator 4 is in electric state, meaning the assembly controller 1 controls the motor controller 3 to use the power battery 2 as energy to drive the electric generator 4 to achieve the power required to increase the load. Simultaneously, the first two-position two-way solenoid valve 14, the second two-position two-way solenoid valve 15, the fourth two-position two-way solenoid valve 17, and the fifth two-position two-way solenoid valve 18 are all de-energized. Then, the system is controlled... The third two-position two-way solenoid directional valve 16 and the sixth two-position two-way solenoid directional valve 19 are both energized and in a fully open state. The electric generator 4 drives the transmission assembly 6 to lift the load 7 on one hand, and drives the variable hydraulic pump motor to idle on the other hand. The first replenishing oil check valve 12, the second replenishing oil check valve 13, the third overflow valve 22, and the fourth overflow valve 23 work as needed. The speed of the electric generator 4 is directly controlled by adjusting the opening of the electric control handle 32 to achieve the target speed for the lifting of the load 7 and complete the lifting motion.

[0067] If the weight of the load 7 is greater than a preset value, and the pressure of the high-pressure hydraulic accumulator 8 is higher than a preset value while the pressure of the low-pressure hydraulic accumulator 9 is lower than a preset value, then the assembly controller 1 controls the motor controller 3 to drive the electric generator 4 to output a certain power using the power battery 2 as energy. Simultaneously, it controls the first two-position two-way solenoid valve 14, the third two-position two-way solenoid valve 16, and the fifth two-position two-way solenoid valve 18 to be energized and in an open state. Specifically, the first two-position two-way solenoid valve 14 and the third two-position two-way solenoid valve 16 are fully open when energized, while the other two-position two-way solenoid valves are de-energized. With the electrical outlet closed, the hydraulic oil in the prime-number high-pressure hydraulic accumulator 8 flows through the first two-position two-way solenoid valve 14 and the third two-position two-way solenoid valve 16 to the second port B of the variable hydraulic pump motor 5. At this time, the variable hydraulic pump motor is in motor operation mode. After the oil pressure is reduced, it returns to the low-pressure hydraulic accumulator 9 through the fifth two-position two-way solenoid valve 18 and the second check valve 11. Because the pressure in the high-pressure hydraulic accumulator 8 and the low-pressure hydraulic accumulator 9 changes continuously during the oil flow, the pressure at both ends of the variable hydraulic pump motor also changes. Therefore, it is necessary to control the displacement of the variable hydraulic pump motor and the variable hydraulic pump... The opening size of the fifth two-position two-way solenoid directional valve 18, connected to the first interface A of the motor, ensures that the output torque at both ends of the variable hydraulic pump motor remains constant, thereby outputting residual power to achieve stable load lifting. When it is impossible to maintain the output torque of the variable hydraulic pump motor at a certain level to achieve constant power output by changing the displacement of the variable hydraulic pump motor and the opening size of the fifth two-position two-way solenoid directional valve 18, the assembly controller 1 controls the first two-position two-way solenoid directional valve 14, the second two-position two-way solenoid directional valve 15, the fourth two-position two-way solenoid directional valve 17, and the fifth two-position two-way solenoid directional valve 18 to be in a de-energized state. Then, the third two-position two-way solenoid directional valve 16 and the sixth two-position two-way solenoid directional valve 19 are energized and in a fully open state. The electric generator 4 outputs power to drive the transmission assembly 6 to lift the load 7 on one hand, and drives the variable hydraulic pump motor to run in an idle state on the other hand. The first oil replenishment check valve 12, the second oil replenishment check valve 13, the first overflow valve 20, the second overflow valve 21, the third overflow valve 22, and the fourth overflow valve 23 work as needed. The speed of the electric generator 4 is directly controlled by adjusting the opening of the electric control handle 32 to achieve the target speed for the lifting of the load 7, thus completing the lifting motion.

[0068] Similarly, if the pressure value of the high-pressure hydraulic accumulator 8 is lower than the preset value and the pressure value of the low-pressure hydraulic accumulator 9 is higher than the preset value, then the assembly controller 1 controls the motor controller 3 to drive the electric generator 4 to output a certain power using the power battery 2 as energy. Simultaneously, it controls the second two-position two-way solenoid valve 15, the fourth two-position two-way solenoid valve 17, and the sixth two-position two-way solenoid valve 19 to be energized and in an open state. Specifically, the second two-position two-way solenoid valve 15 and the sixth two-position two-way solenoid valve 19 are fully open when energized, while the other two-position two-way solenoid valves are closed when de-energized, thus ensuring that... The hydraulic oil in the high-pressure hydraulic accumulator 8 reaches the second port B of the variable hydraulic pump motor through the second two-position two-way solenoid valve 15 and the fourth two-position two-way solenoid valve 17. At this time, the variable hydraulic pump motor is in motor operation mode. After the oil pressure is reduced, it returns to the low-pressure hydraulic accumulator through the sixth two-position two-way solenoid valve 19 and the first check valve 10. Since the pressure in the high-pressure hydraulic accumulator 8 and the low-pressure hydraulic accumulator 9 changes continuously during the oil flow, the pressure at both ends of the variable hydraulic pump motor also changes. Therefore, it is necessary to control the displacement of the variable hydraulic pump motor 5 and the second port of the variable hydraulic pump motor. The opening size of the fourth two-position two-way solenoid directional valve 17 connected to B is used to ensure that the output torque at both ends of the variable hydraulic pump motor is constant, thereby outputting residual power to achieve stable load lifting. When the displacement of the variable hydraulic pump motor and the opening size of the fourth two-position two-way solenoid directional valve 17 cannot be changed to keep the output torque at both ends of the variable hydraulic pump motor 5 at a certain level so as to output constant power, the assembly controller 1 controls the first two-position two-way solenoid directional valve 14, the second two-position two-way solenoid directional valve 15, the fourth two-position two-way solenoid directional valve 17, and the fifth two-position two-way solenoid directional valve 18 to be in a de-energized state. The third two-position two-way solenoid directional valve 16 and the sixth two-position two-way solenoid directional valve 19 are both energized and in a fully open state. The electric generator 4 outputs power separately to drive the transmission assembly 6 to lift the load 7, and drives the variable hydraulic pump motor 5 to run in an idle state. The first oil replenishment check valve 12, the second oil replenishment check valve 13, the first relief valve 20, the second relief valve 21, the third relief valve 22, and the fourth relief valve 23 work as needed. The speed of the electric generator 4 is directly controlled by adjusting the opening of the electric control handle 32 to achieve the target speed for the load 7 to rise, thus completing the lifting motion.

[0069] In this embodiment, the load is controlled to decrease. If the weight of the load 7 is less than a preset value, the assembly controller 1 controls the motor controller 3 to use the power battery 2 as an energy source to control the electric generator 4 to achieve the power required to decrease the load. At the same time, the first two-position two-way solenoid valve 14, the second two-position two-way solenoid valve 15, the fourth two-position two-way solenoid valve 17, and the fifth two-position two-way solenoid valve 18 are de-energized, while the third two-position two-way solenoid valve 16 and the sixth two-position two-way solenoid valve 19 are energized and fully open. The electric generator 4 drives the transmission assembly 6 to decrease the load 7 on one hand, and drives the variable displacement hydraulic pump motor to idle on the other hand. The first oil replenishment check valve 12, the second oil replenishment check valve 13, the third overflow valve 22, and the fourth overflow valve 23 work as needed. The opening degree of the electric control handle 32 is adjusted to directly control the speed of the electric generator 4 to achieve the target speed for decreasing the load 7, thus completing the decreasing motion.

[0070] If the weight of the load 7 is greater than a preset value, and the pressure of the high-pressure hydraulic accumulator 8 is less than the pressure of the low-pressure hydraulic accumulator 9, then the assembly controller 1 controls the motor controller 3 to use the power battery 2 as energy to control the electric generator 4 to be in a generating state. Simultaneously, it controls the first two-position two-way solenoid valve 14, the fourth two-position two-way solenoid valve 17, and the sixth two-position two-way solenoid valve 19 to be energized and in an open state. Specifically, the first two-position two-way solenoid valve 14 and the sixth two-position two-way solenoid valve 19 are fully open when energized, while the other two-position two-way solenoid valves are de-energized. When the valve is closed, the hydraulic oil in the high-pressure hydraulic accumulator 8 flows through the first two-position two-way solenoid valve 14 and the sixth two-position two-way solenoid valve 19 to the first port A of the variable hydraulic pump motor. At this time, the variable hydraulic pump motor is in pump mode. After the oil pressure is reduced, it returns to the low-pressure hydraulic accumulator 9 through the fourth two-position two-way solenoid valve 17 and the second check valve 11. Because the pressure in the high-pressure hydraulic accumulator 8 and the low-pressure hydraulic accumulator 9 changes continuously during the oil flow, the pressure at both ends of the variable hydraulic pump motor also changes. Therefore, it is necessary to control the displacement of the variable hydraulic pump motor and the... The opening size of the fourth two-position two-way solenoid directional valve 17, connected to the second interface B of the variable hydraulic pump motor, is adjusted to ensure a constant back-draft torque at both ends of the variable hydraulic pump motor, thereby achieving stable load lifting. When it is impossible to maintain the back-draft torque generated by the variable hydraulic pump motor at a certain magnitude by changing the displacement of the variable hydraulic pump motor and the opening size of the fourth two-position two-way solenoid directional valve 17, the assembly controller 1 controls the first two-position two-way solenoid directional valve 14, the second two-position two-way solenoid directional valve 15, the fourth two-position two-way solenoid directional valve 17, and the fifth two-position two-way solenoid directional valve 18 to be in a de-energized state. The third two-position two-way solenoid directional valve 16 and the sixth two-position two-way solenoid directional valve 19 are both energized and in a fully open state. The electric generator 4 drives the transmission assembly 6 to lift the load 7 on one hand, and drives the variable hydraulic pump motor to run in an idle state on the other hand. The first oil replenishment check valve 12, the second oil replenishment check valve 13, the first relief valve 20, the second relief valve 21, the third relief valve 22, and the fourth relief valve 23 work as needed. The speed of the electric generator 4 is directly controlled by adjusting the opening of the electric control handle 32 to achieve the target speed for the descent of the load 7, thus completing the descent movement.

[0071] If the pressure value of the high-pressure hydraulic accumulator 8 is greater than the pressure value of the low-pressure hydraulic accumulator 9, then the assembly controller 1 controls the motor controller 3 to use the power battery 2 as energy to control the electric generator 4 to be in a generating state. Simultaneously, it controls the second two-position two-way solenoid valve 15, the third two-position two-way solenoid valve 16, and the sixth two-position two-way solenoid valve 19 to be energized and in an open state. Specifically, the second two-position two-way solenoid valve 15 and the fifth two-position two-way solenoid valve 18 are fully open when energized, while the other two-position two-way solenoid valves are closed when de-energized, thus ensuring the high-pressure hydraulic... Hydraulic oil in the high-pressure accumulator 8 reaches the first port A of the variable hydraulic pump motor through the second two-position two-way solenoid directional valve 15 and the fifth two-position two-way solenoid directional valve 18. At this time, the variable hydraulic pump motor is in pump mode. After the oil pressure is reduced, it returns to the low-pressure hydraulic accumulator 9 through the third two-position two-way solenoid directional valve 16 and the second one-way valve 11. Since the pressure in the high-pressure hydraulic accumulator 8 and the low-pressure hydraulic accumulator 9 changes continuously during the oil flow, the pressure at both ends of the variable hydraulic pump motor also changes. Therefore, it is necessary to control the displacement of the variable hydraulic pump motor and the first port A of the variable hydraulic pump motor. The opening size of the third two-position two-way solenoid directional valve 16 connected to interface B ensures a constant reverse torque generated by the variable hydraulic pump motor to achieve stable load lifting. When it is impossible to maintain the reverse torque generated by the variable hydraulic pump motor at a certain level by changing the displacement of the variable hydraulic pump motor and the opening size of the third two-position two-way solenoid directional valve 16, the assembly controller 1 controls the first two-position two-way solenoid directional valve 14, the second two-position two-way solenoid directional valve 15, the fourth two-position two-way solenoid directional valve 17, and the fifth two-position two-way solenoid directional valve 18 to be in a de-energized state. The third two-position two-way solenoid directional valve 16 and the sixth two-position two-way solenoid directional valve 19 are both energized and in a fully open state. The electric generator 4 drives the transmission assembly 6 to lower the load 7 on one hand, and drives the variable hydraulic pump motor to idle on the other hand. The first replenishing check valve 12, the second replenishing check valve 13, the first overflow valve 20, the second overflow valve 21, the third overflow valve 22, and the fourth overflow valve 23 work as needed. The speed of the electric generator 4 is directly controlled by adjusting the opening of the electric control handle 32 to achieve the target speed for lowering the load 7, thus completing the lowering motion.

[0072] In this embodiment, when the assembly controller 1 does not detect the input signal of the electric control handle 32, it determines that it is in a locked state. At this time, the assembly controller 1 controls the motor controller 3 to use the power battery 2 as energy to control the electric generator 4 to be in a locked state. At the same time, it controls the first two-position two-way solenoid valve 14, the second two-position two-way solenoid valve 15, the third two-position two-way solenoid valve 16, the fourth two-position two-way solenoid valve 17, the fifth two-position two-way solenoid valve 18, and the sixth two-position two-way solenoid valve 19 to be de-energized and closed, thus completing the movement locking of the load 7.

[0073] In one possible embodiment of the present invention, the sensing component includes a first pressure sensor disposed at the outlet of the high-pressure hydraulic accumulator, a second pressure sensor disposed at the outlet of the low-pressure hydraulic accumulator, a third pressure sensor disposed at the variable hydraulic actuator module, a fourth pressure sensor disposed at the second interface B of the variable hydraulic actuator module, and a fifth pressure sensor disposed at the first interface A of the load.

[0074] The fourth outlet of the high-pressure hydraulic accumulator is connected to the first pressure sensor, the fourth oil outlet of the low-pressure hydraulic accumulator is connected to the second pressure sensor, the second interface B of the variable hydraulic actuator is connected to the third pressure sensor, the first interface A of the variable hydraulic actuator is connected to the fourth pressure sensor, and the input terminal of the assembly controller is electrically connected to the output terminals of the first pressure sensor, the second pressure sensor, the third pressure sensor, and the fourth pressure sensor.

[0075] In one possible embodiment of the invention, the sensing component further includes a speed sensor, a torque sensor, and a displacement sensor disposed on the load;

[0076] The connecting shaft end of the electric generator and the connecting shaft end of the transmission assembly are connected to the speed sensor and the torque sensor, and the output end of the speed sensor, the output end of the torque sensor, and the output end of the displacement sensor are electrically connected to the input end of the assembly controller.

[0077] Specifically, in this embodiment, the output signals of the displacement sensor and the electric control handle serve as the input signals of the assembly controller; the pressure of the high-pressure hydraulic accumulator 8 and the low-pressure hydraulic accumulator 9 are detected by the first pressure sensor 25 and the second pressure sensor 26, respectively; the pressure of the second port B and the first port A of the variable hydraulic pump motor are detected by the third pressure sensor 27 and the fourth pressure sensor 28, respectively; the weight of the load 7 is detected by the fifth pressure sensor 33; the power required for the movement of the load 7 is detected by the speed sensor 29 and the torque sensor 30, and calculated and obtained in the assembly controller 1; the gravity value and lifting displacement of the load 7 are detected by the displacement sensor 31 and the fifth pressure sensor 33; all the above-detected signals and the input signal of the electric control handle 32 are input to the assembly controller 1 to determine the system working mode, and then output signals to each two-position two-way solenoid valve, the motor controller 3, and the variable hydraulic pump motor to achieve the desired movement.

[0078] In summary, firstly, the assembly controller collects the handle opening signal in real time, analyzes the operator's intended action, and determines the lifting status and speed requirements. Simultaneously, it collects the current high-pressure accumulator pressure, low-pressure accumulator pressure, pressure at both ends of the variable hydraulic pump / motor, and load weight through the first, second, third, fourth, and fifth pressure sensors, respectively, to obtain the overall system pressure status. Secondly, by recognizing the operator's intended action and considering the current system pressure, the assembly controller selects the optimal mode from five operating modes—pure electric drive, hybrid drive, locking, pure electric recovery, and hybrid recovery—with the best energy efficiency and controllability as its guiding principles. It switches between these modes in real time during operation to achieve a balance between controllability and energy saving. In short, the four-quadrant composite regeneration integrated winch drive system fully combines the advantages of electric drive's excellent control characteristics and hydraulic drive's high power density. It avoids secondary slippage through the rapid torque response of the electric generator, and achieves efficient low-speed, high-torque output through the accumulator-variable hydraulic pump motor. Through coordinated active control of the electric generator's speed and torque, and passive control of the accumulator-variable hydraulic pump motor, it achieves multi-quadrant coordinated control of the electric generator-variable hydraulic pump motor, resulting in excellent driving characteristics for force, speed, and displacement across the entire power range of the rope end. Simultaneously, the system integrates the continuous charging and discharging capability of the high-energy-density power battery with the strong instantaneous input and output power of the high-power-density accumulator. Through a hybrid hydroelectric energy regulation method, it utilizes the active control of the speed and torque across the entire power range of the power battery and electric generator to achieve effective drive and energy regeneration during gradually changing positive and negative load conditions. It also utilizes the accumulator and variable hydraulic pump motor to achieve instantaneous power release and recovery during rapid changes in positive and negative loads, as well as transient load switching conditions, improving energy efficiency while ensuring operability.

[0079] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions that fall within the scope of the present invention are within the scope of protection of the present invention.

Claims

1. A four-quadrant composite recycling and regeneration integrated winch drive system, characterized in that, include: Assembly controller, electric drive assembly, hydraulic drive assembly, transmission assembly, sensing assembly, electric control handle, and load configured on the transmission assembly; The output terminal of the assembly controller is electrically connected to the control terminal of the electric drive assembly and the control terminal of the hydraulic drive assembly; the input terminal of the assembly controller is electrically connected to the output terminal of the sensing assembly and the output terminal of the electric control handle; and the electric drive assembly is coaxially connected to the hydraulic drive assembly and the transmission assembly. The electric drive assembly includes a power battery, a motor controller, and an electric generator. The electric generator is coaxially connected to the transmission assembly and the hydraulic drive assembly. The power battery is electrically connected to the motor controller. The output terminal of the motor controller is electrically connected to the control terminal of the electric generator. The output terminal of the assembly controller is electrically connected to the control terminal of the motor controller. The hydraulic drive assembly includes a variable displacement hydraulic actuator module, a high-pressure hydraulic accumulator, a low-pressure hydraulic accumulator, a first check valve, a second check valve, a first replenishing check valve, a second replenishing check valve, a first two-position two-way solenoid directional valve, a second two-position two-way solenoid directional valve, a third two-position two-way solenoid directional valve, a fourth two-position two-way solenoid directional valve, a fifth two-position two-way solenoid directional valve, a sixth two-position two-way solenoid directional valve, a first relief valve, a second relief valve, a third relief valve, a fourth relief valve, and an oil tank. The oil outlets of the first, second, third, and fourth overflow valves, the first replenishing check valve, and the second replenishing check valve are all connected to the oil tank. The first outlet of the low-pressure hydraulic accumulator is connected to the inlet of the second overflow valve, the second outlet of the low-pressure hydraulic accumulator is connected to the outlet of the second check valve, and the third outlet of the low-pressure hydraulic accumulator is connected to the first port of the second two-position two-way solenoid directional valve. The first ports of the fourth, fifth, and sixth two-position two-way solenoid directional valves, the inlet of the second check valve, and the second port of the second two-position two-way solenoid directional valve are connected in pairs. The first outlet of the high-pressure hydraulic accumulator is connected to the inlet of the first overflow valve, the second outlet of the high-pressure hydraulic accumulator is connected to the outlet of the first check valve, and the third outlet of the high-pressure hydraulic accumulator is connected to the first two-position two-way solenoid directional valve. The second port of the two-position two-way solenoid directional valve, the second port of the sixth two-position two-way solenoid directional valve, the outlet of the second replenishing check valve, the inlet of the fourth relief valve, and the first port of the variable hydraulic actuator module are connected in pairs. The second port of the third two-position two-way solenoid directional valve, the outlet of the first replenishing check valve, the inlet of the third relief valve, and the second port of the variable hydraulic actuator module are connected in pairs. The first port of the third two-position two-way solenoid directional valve, the first port of the fifth two-position two-way solenoid directional valve, the second port of the first two-position two-way solenoid directional valve, and the inlet of the first check valve are connected in pairs. The output terminal of the assembly controller is electrically connected to the control terminals of the first two-position two-way solenoid directional valve, the second two-position two-way solenoid directional valve, the third two-position two-way solenoid directional valve, the fourth two-position two-way solenoid directional valve, the fifth two-position two-way solenoid directional valve, and the sixth two-position two-way solenoid directional valve. The assembly controller is configured to perform the following steps by executing a computer program stored internally: The opening signal sent by the electric control handle and the parameter set collected by the sensing component are acquired in real time. The current operating state and target speed of the load are determined based on the opening signal; When the load is determined to be in a descending state based on the operating status, the electric drive component is controlled to drive the transmission component to rotate at a speed corresponding to the target speed of the load, based on the pressure value of the hydraulic drive component and the gravity value of the load in the parameter set. Alternatively, the electric drive component and the hydraulic drive component are controlled to jointly drive the transmission component to rotate at a speed corresponding to the target speed of the load, so as to drive the load to descend. At the same time, the gravitational potential energy generated by the load descent is converted into electrical energy and hydraulic energy and stored.

2. The four-quadrant composite recycling and regeneration integrated hoist drive system according to claim 1, characterized in that, The transmission component is a winch reducer.

3. The four-quadrant composite recycling and regeneration integrated hoist drive system according to claim 1, characterized in that, The parameter set includes the pressure value of the hydraulic drive assembly and the gravity value of the load, the torque and speed values ​​of the electric drive assembly and the transmission assembly, and the displacement value of the load.

4. The four-quadrant composite recycling and regeneration integrated hoist drive system according to claim 3, characterized in that, When the load is determined to be in a descending state based on the operating status, the electric drive component is controlled to drive the transmission component to rotate at a speed corresponding to the target speed of the load, based on the pressure value of the hydraulic drive component and the gravity value of the load in the parameter set. Alternatively, the electric drive component and the hydraulic drive component are controlled to jointly drive the transmission component to rotate at a speed corresponding to the target speed of the load, thereby causing the load to descend. Simultaneously, the gravitational potential energy generated by the load descent is converted into electrical energy and hydraulic energy and stored. Specifically: When the lifting state is determined to be a lowering state, the pressure value of the hydraulic drive component and the gravity value of the load in the parameter set are determined. When the load's gravity is determined to be less than a preset value based on the load's pressure value, the electric drive assembly is controlled to drive the transmission assembly to rotate at a speed corresponding to the target speed of the load, thereby causing the load to descend. At the same time, the gravitational potential energy generated by the load's descent is converted into electrical energy and stored in the electric drive assembly. When the load's gravity is determined to be greater than a preset value based on the load's pressure value, the electric drive assembly and the hydraulic drive assembly are controlled to jointly drive the transmission assembly to rotate at a speed corresponding to the target speed of the load, so as to drive the load to descend. At the same time, the gravitational potential energy generated by the load's descent is converted into electrical energy and hydraulic energy, and stored in the electric drive assembly and the hydraulic drive assembly respectively. When the load's gravity is determined to be greater than a preset value based on the load's pressure value, and the hydraulic pump of the hydraulic drive assembly is determined to be unable to guarantee that the variable-generated anti-drag torque is constant based on the pressure value of the hydraulic drive assembly, the electric drive assembly is controlled to drive the transmission assembly to rotate at a speed corresponding to the target speed of the load, so as to drive the load to descend. At the same time, the gravitational potential energy generated by the load's descent is converted into electrical energy and stored in the electric drive assembly.

5. The four-quadrant composite recycling and regeneration integrated hoist drive system according to claim 1, characterized in that, Also includes: When the load is determined to be in an upward state based on the operating status, the electric drive component is controlled to drive the transmission component to rotate at a speed corresponding to the target speed of the load, based on the pressure value of the hydraulic drive component and the gravity value of the load in the parameter set, or the electric drive component and the hydraulic drive component are controlled to jointly drive the transmission component to rotate at a speed corresponding to the target speed of the load, so as to drive the load to rise.

6. The four-quadrant composite recycling and regeneration integrated hoist drive system according to claim 5, characterized in that, When the load is determined to be in an upward state based on the operating status, the electric drive component is controlled to drive the transmission component to rotate at a speed corresponding to the target speed of the load, based on the pressure value of the hydraulic drive component and the gravity value of the load in the parameter set; or the electric drive component and the hydraulic drive component are controlled to jointly drive the transmission component to rotate at a speed corresponding to the target speed of the load. Specifically: When the lifting state is determined to be an upward state, the pressure value of the hydraulic drive component and the gravity value of the load are determined according to the parameter set. When it is determined from the pressure value of the hydraulic drive assembly that both the pressure value of the high-pressure hydraulic accumulator and the pressure value of the low-pressure hydraulic accumulator of the hydraulic drive assembly are at a preset pressure value, or when it is determined from the pressure value of the hydraulic drive assembly that one of the pressure values ​​of the high-pressure hydraulic accumulator and the low-pressure hydraulic accumulator of the hydraulic drive assembly is higher than a preset pressure value and the other is lower than a preset pressure value, and the gravity value of the load is less than a preset value, the electric drive assembly is controlled to drive the transmission assembly to rotate at a speed corresponding to the target speed of the load, so as to drive the load to rise. When it is determined from the pressure value of the hydraulic drive assembly that the pressure value of the high-pressure hydraulic accumulator of the hydraulic drive assembly and the pressure value of the low-pressure hydraulic accumulator of the hydraulic drive assembly are both higher than a preset pressure value and lower than a preset pressure value, and the gravity value of the load is greater than a preset value, the electric drive assembly and the hydraulic drive assembly are controlled to jointly drive the transmission assembly to rotate at a speed corresponding to the target speed of the load, so as to drive the load to rise. When the gravity of the load is greater than a preset value and the hydraulic motor of the hydraulic drive component is unable to output constant torque based on the pressure value of the hydraulic drive component, the electric drive component and the hydraulic drive component are controlled to jointly drive the transmission component to rotate at a speed corresponding to the target speed of the load, so as to drive the load to rise.

7. The four-quadrant composite recycling and regeneration integrated winch drive system according to claim 1, characterized in that, The sensing components include a first pressure sensor disposed at the outlet of the high-pressure hydraulic accumulator, a second pressure sensor disposed at the outlet of the low-pressure hydraulic accumulator, a third pressure sensor disposed at the variable hydraulic actuator module, a fourth pressure sensor disposed at the second interface of the variable hydraulic actuator module, and a fifth pressure sensor disposed at the first interface of the load. The fourth outlet of the high-pressure hydraulic accumulator is connected to the first pressure sensor, the fourth oil outlet of the low-pressure hydraulic accumulator is connected to the second pressure sensor, the second interface of the variable hydraulic actuator is connected to the third pressure sensor, the first interface of the variable hydraulic actuator is connected to the fourth pressure sensor, and the input terminal of the assembly controller is electrically connected to the output terminals of the first pressure sensor, the second pressure sensor, the third pressure sensor, and the fourth pressure sensor.

8. A four-quadrant composite recycling and regeneration integrated hoist drive system according to claim 7, characterized in that, The sensing components also include a speed sensor, a torque sensor, and a displacement sensor disposed on the load; The connecting shaft end of the electric generator and the connecting shaft end of the transmission assembly are connected to the speed sensor and the torque sensor, and the output end of the speed sensor, the output end of the torque sensor, and the output end of the displacement sensor are electrically connected to the input end of the assembly controller.

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