Electro-hydraulic servo integrated winch hydraulic system and its control method

Abstract

This invention relates to an electro-hydraulic servo integrated winch hydraulic system and its control method, belonging to the field of hydraulic control system technology, and particularly to an electro-hydraulic servo integrated winch hydraulic system and its control method. The invention includes: a servo motor, a bidirectional hydraulic pump, a two-position four-way solenoid directional valve, a sequence valve, a hydraulic motor, an oil tank, main oil circuit A, main oil circuit B, a hydraulic lock, a replenishing valve, and a safety valve; the output shaft of the servo motor is connected to the input end of the bidirectional hydraulic pump; the two ports of the bidirectional hydraulic pump are respectively connected to the two ports of the hydraulic motor through main oil circuit A and main oil circuit B; the sequence valve is located on main oil circuit B; the oil tank is connected to main oil circuit A and main oil circuit B; the hydraulic lock is located on main oil circuit A and main oil circuit B; the two-position four-way solenoid directional valve is connected to main oil circuit A, the oil tank, and the hydraulic lock; the replenishing valve is connected in series between the two ports of the bidirectional hydraulic pump and the oil tank; the safety valve is connected in series between the two ports of the bidirectional hydraulic pump and the oil tank.

Description

Technical Field

[0001] This invention relates to an electro-hydraulic servo integrated winch hydraulic system and its control method, and particularly to an electro-hydraulic servo integrated winch hydraulic system and its control method. Background Technology

[0002] Winches are widely used in the machinery field. They are typically driven by a motor reducer or a hydraulic system. Traditional winch hydraulic systems use an electric motor to drive a hydraulic pump, with servo valves controlling the direction and flow rate of the hydraulic oil. These systems often have multiple directional control valves depending on their function. Insufficient hydraulic oil cleanliness can cause wear and sealing problems in these valves, leading to severe internal leakage and reduced efficiency. Furthermore, the presence of multiple directional control valves increases the number of objects controlled by the hydraulic system's electrical control unit, making control more difficult and increasing the likelihood of system failure.

[0003] The reversing action of a winch is typically controlled by a three-position four-way directional valve. The function and sealing performance of this valve affect the winch's motion characteristics and flexibility. Furthermore, the presence of this valve complicates the winch's hydraulic system piping, increases the difficulty of controlling the winch's electrical control system, and increases the size of the winch pump station module during integrated design. Additionally, due to the unidirectional force application of the winch, the hydraulic system needs to restrict the winch's rope-releasing action.

[0004] In view of the problems existing in the above-mentioned existing technologies, it is necessary to study and design a new electro-hydraulic servo integrated winch hydraulic system and its control method to overcome the problems existing in the existing technologies. Summary of the Invention

[0005] To address the technical problems of traditional hydraulic control systems, such as high requirements for oil cleanliness, frequent sealing issues and internal leakage in directional valves, low efficiency, and numerous controllable objects in the electrical control section, this invention provides an electro-hydraulic servo integrated winch hydraulic system and its control method. This invention primarily utilizes a servo motor to directly drive a bidirectional hydraulic pump, changing the hydraulic oil flow rate and direction, thereby eliminating the need for a servo directional valve in the servo winch hydraulic system and reducing the number of controllable objects in the electrical control section.

[0006] The technical means employed in this invention are as follows:

[0007] An electro-hydraulic servo integrated winch hydraulic system includes: a servo motor, a bidirectional hydraulic pump, a two-position four-way solenoid directional valve, a sequence valve, a hydraulic motor, an oil tank, main oil circuit A, main oil circuit B, a hydraulic lock, a replenishing valve, and a safety valve.

[0008] Furthermore, the output shaft of the servo motor is connected to the input end of the bidirectional hydraulic pump;

[0009] Furthermore, the two ports of the bidirectional hydraulic pump are connected to the two ports of the hydraulic motor through main oil circuit A and main oil circuit B, respectively;

[0010] Furthermore, the sequence valve is located on the main oil circuit B;

[0011] Furthermore, the fuel tank is connected to main fuel line A and main fuel line B;

[0012] Furthermore, hydraulic locks are installed on main oil circuit A and main oil circuit B;

[0013] Furthermore, the two-position four-way solenoid directional valve is connected to the main oil circuit A, the oil tank, and the hydraulic lock;

[0014] Furthermore, the replenishing valve is connected in series between the two ports of the bidirectional hydraulic pump and the oil tank;

[0015] Furthermore, a safety valve is connected in series between the oil ports on both sides of the bidirectional hydraulic pump and the oil tank.

[0016] Furthermore, the hydraulic lock includes: a pilot-operated check valve A and a pilot-operated check valve B;

[0017] Furthermore, the hydraulic check valve A is installed on the main oil circuit A;

[0018] Furthermore, the hydraulic check valve B is installed on the main oil circuit B.

[0019] Furthermore, the two inlets of the two-position four-way solenoid directional valve are connected to the main oil circuit A and the oil tank respectively, one outlet is blocked, and the other outlet is connected to the control port of the hydraulic control check valve B; so that one of the control ports of the hydraulic lock can switch between high-pressure oil and oil tank.

[0020] Furthermore, the replenishing valve includes: check valve A and check valve B;

[0021] Furthermore, check valve A is connected in series between port A of the bidirectional hydraulic pump and the oil tank;

[0022] Furthermore, the one-way valve B is connected in series between the B port of the two-way hydraulic pump and the oil tank;

[0023] Furthermore, it allows the hydraulic oil from the tank to the input circuit of the bidirectional hydraulic pump to flow freely; when the hydraulic system leaks or other issues that reduce the amount of hydraulic oil in the pipeline, the suction port of the bidirectional hydraulic pump can replenish the pipeline from the tank through the replenishment valve.

[0024] Furthermore, the safety valve includes: relief valve A and relief valve B;

[0025] Furthermore, overflow valve A is connected in series between main oil circuit A and the oil tank;

[0026] Furthermore, the overflow valve B is connected in series between the main oil circuit B and the oil tank;

[0027] Furthermore, adjust relief valve A and relief valve B to appropriate opening pressures. When the winch load is too high, the oil discharged by the bidirectional hydraulic pump returns to the oil tank through relief valve A and relief valve B, protecting the oil circuit.

[0028] Furthermore, the sequence valve, acting as a balance valve, is connected in series between the hydraulic control check valve B and the hydraulic motor. When the hydraulic motor drives the winch to release the rope, this oil port serves as the drain port for the hydraulic motor. At this time, the sequence valve can limit the rope release speed of the winch and prevent the winch from overspeeding.

[0029] Furthermore, pressure sensors are installed at the inlet and outlet of the hydraulic motor, which can provide real-time feedback of the hydraulic motor's inlet / outlet oil pressure to the control system. The control system can then control the servo motor or issue an alarm based on the hydraulic motor's inlet / outlet oil pressure as needed.

[0030] Furthermore, the control method of the electro-hydraulic servo integrated winch hydraulic system is divided into three processes: the winch rope winding process, the winch rope unwinding process, and the end of the winch rope unwinding action.

[0031] Furthermore, the winch rope winding process is as follows: the right side of the two-position four-way solenoid directional valve is energized, the right position of the two-position four-way solenoid directional valve is open, and the control port of the hydraulic control check valve B is connected to the main oil circuit A; the bidirectional hydraulic pump discharges oil to the main oil circuit B, and the high-pressure oil causes the hydraulic control check valve A and the hydraulic control check valve B to open. The high-pressure oil passes through the sequence valve without obstruction and enters the hydraulic motor, driving the hydraulic motor to drive the winch to wind up the rope.

[0032] Furthermore, the winch rope release process is as follows: the right side of the two-position four-way solenoid directional valve is energized, the right position of the two-position four-way solenoid directional valve is open, and the control port of the hydraulic control check valve B is connected to the main oil circuit A; the bidirectional hydraulic pump discharges oil to the main oil circuit A, and the high-pressure oil causes the hydraulic control check valve A and the hydraulic control check valve B to open. After the high-pressure oil enters the hydraulic motor, it drives the hydraulic motor to drive the winch to release the rope; at this time, the sequence valve at the outlet of the hydraulic motor prevents the speed of the hydraulic motor from exceeding the speed limit.

[0033] Furthermore, the winch's rope-releasing action ends; the coil of the two-position four-way solenoid directional valve is de-energized, and the two-position four-way solenoid directional valve is in the left position under the action of the spring; at this time, the control port of the hydraulic control check valve B is connected to the oil tank, and the hydraulic control check valve B is quickly closed under the action of the hydraulic motor's oil discharge pressure, so that the hydraulic motor stops rotating quickly and avoids the winch from slipping.

[0034] Compared with the prior art, the present invention has the following advantages:

[0035] 1. The electro-hydraulic servo integrated winch hydraulic system provided by the present invention directly controls the speed and direction of the hydraulic system by a servo motor, reducing the difficulty of coordinated control of various electrical control components of the hydraulic system;

[0036] 2. The electro-hydraulic servo integrated winch hydraulic system provided by the present invention uses a servo motor to directly control the speed and direction of the hydraulic pump, so that the hydraulic system can obtain a large speed range and a fast response speed.

[0037] 3. The electro-hydraulic servo integrated winch hydraulic system provided by the present invention replaces the function of the servo directional valve with a servo motor, thereby reducing the number of control objects in the electrical control part of the winch hydraulic system and reducing the complexity of the control system.

[0038] 4. The electro-hydraulic servo integrated winch hydraulic system provided by the present invention reduces the requirements of the hydraulic system on the cleanliness of the hydraulic oil by eliminating the servo reversing valve, thereby improving the reliability of the hydraulic system, reducing internal leakage of the hydraulic system, and improving the efficiency of the winch hydraulic system.

[0039] 5. The electro-hydraulic servo integrated winch hydraulic system provided by the present invention uses a two-position four-way solenoid directional valve to control the control oil chamber of the hydraulic lock to unload oil, so that the winch can quickly stop the hydraulic motor from rotating when the rope is unloaded, thus preventing the rope from slipping.

[0040] In summary, the technical solution of this invention solves the problems of high requirements for oil cleanliness, poor sealing of directional valves, serious internal leakage, low efficiency, and multiple control objects in the electrical control part of the hydraulic system in the prior art. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a diagram of the electro-hydraulic servo system in the rope retraction and extension state of the present invention;

[0043] Figure 2 This is a diagram of the electro-hydraulic servo system at the end of the rope-releasing action of the present invention.

[0044] In the diagram: 1. Servo motor; 2. Two-way hydraulic pump; 3. Check valve A; 4. Relief valve A; 5. Hydraulic control check valve A; 6. Check valve B; 7. Relief valve B; 8. Hydraulic control check valve B; 9. Two-position four-way solenoid directional valve; 10. Sequence valve; 11. Hydraulic motor; 12. Pressure sensor; 13. Oil tank; 14. Oil circuit A; 15. Main oil circuit B. Detailed Implementation

[0045] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0046] 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 some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. 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.

[0047] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0048] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0049] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0050] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0051] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0052] like Figure 1 , 2 As shown, the present invention provides an electro-hydraulic servo integrated winch hydraulic system comprising: a servo motor 1, a bidirectional hydraulic pump 2, a two-position four-way solenoid directional valve 9, a sequence valve 10, a hydraulic motor 11, an oil tank 13, a main oil circuit A14, a main oil circuit B15, a hydraulic lock, a replenishing valve, and a safety valve; the output shaft of the servo motor 1 is connected to the input end of the bidirectional hydraulic pump 2; the two oil ports of the bidirectional hydraulic pump 2 are respectively connected to the two oil ports of the hydraulic motor 11 through the main oil circuit A14 and the main oil circuit B15; the sequence valve 10 is disposed on the main oil circuit B15; the oil tank 13 is connected to the main oil circuit A14 and the main oil circuit B15; the hydraulic lock is disposed on the main oil circuit A14 and the main oil circuit B15; the two-position four-way solenoid directional valve 9 is connected to the main oil circuit A14, the oil tank 13, and the hydraulic lock; the replenishing valve is connected in series between the two oil ports of the bidirectional hydraulic pump 2 and the oil tank 13; the safety valve is connected in series between the two oil ports of the bidirectional hydraulic pump 2 and the oil tank 13.

[0053] The hydraulic lock includes: a pilot-operated check valve A5 and a pilot-operated check valve B8; the pilot-operated check valve A5 is located on the main oil circuit A5; the pilot-operated check valve B8 is located on the main oil circuit B8.

[0054] The two inlets of the two-position four-way solenoid directional valve are connected to the main oil circuit A14 and the oil tank 13 respectively. One outlet is blocked, and the other outlet is connected to the control port of the hydraulic control check valve B8, so that one of the control ports of the hydraulic lock can switch between high-pressure oil and oil tank.

[0055] The replenishing valve includes: check valve A3 and check valve B6; check valve A3 is connected in series between port A of the bidirectional hydraulic pump 2 and oil tank 13; check valve B6 is connected in series between port B of the bidirectional hydraulic pump 2 and oil tank 13; allowing hydraulic oil from oil tank 13 to the input oil circuit of bidirectional hydraulic pump 2 to flow freely; when the hydraulic system leaks or other situations that reduce the amount of hydraulic oil in the pipeline, the suction port of bidirectional hydraulic pump 2 can replenish oil to the pipeline from the oil tank through the replenishing valve.

[0056] The safety valves include: relief valve A4 and relief valve B7; relief valve A4 is connected in series between the main oil circuit A14 and the oil tank 13; relief valve B7 is connected in series between the main oil circuit B15 and the oil tank 13; adjust relief valve A4 and relief valve B7 to a suitable opening pressure, and when the winch load is too high, the oil discharged by the bidirectional hydraulic pump 2 returns to the oil tank 13 through relief valve A4 and relief valve B7 to protect the oil circuit.

[0057] The sequence valve 10 acts as a balance valve, connected in series between the hydraulic control check valve B6 and the hydraulic motor 11. When the hydraulic motor 11 drives the winch to release the rope, this oil port serves as the drain port of the hydraulic motor 11. At this time, the sequence valve 10 can limit the rope release speed of the winch and prevent the winch from overspeeding.

[0058] Pressure sensors 12 are installed at the inlet and outlet of the hydraulic motor 11, which can provide real-time feedback of the inlet / outlet oil pressure of the hydraulic motor 11 to the control system. The control system can control the servo motor 1 or issue an alarm based on the inlet / outlet oil pressure of the hydraulic motor 11 as needed.

[0059] The control method of the electro-hydraulic servo integrated winch hydraulic system is divided into three processes: winch rope winding process, winch rope unwinding process, and winch rope unwinding action completion.

[0060] The winch rope winding process is as follows: the right side of the two-position four-way solenoid valve 9 is energized, the right position of the two-position four-way solenoid valve 9 is open, and the control port of the hydraulic control check valve B8 is connected to the main oil circuit A14; the bidirectional hydraulic pump 2 discharges oil to the main oil circuit B15, and the high-pressure oil causes the hydraulic control check valve A5 and the hydraulic control check valve B8 to open. The high-pressure oil passes through the sequence valve 10 without obstruction and enters the hydraulic motor 11, driving the hydraulic motor 11 to drive the winch to wind up the rope.

[0061] The winch rope release process is as follows: the right side of the two-position four-way solenoid valve 9 is energized, the right position of the two-position four-way solenoid valve 9 is open, and the control port of the hydraulic check valve B8 is connected to the main oil circuit A14; the bidirectional hydraulic pump 2 discharges oil to the main oil circuit A, and the high-pressure oil causes the hydraulic check valve A5 and the hydraulic check valve B8 to open. After the high-pressure oil enters the hydraulic motor 11, it drives the hydraulic motor 11 to drive the winch to release the rope; at this time, the sequence valve 10 at the outlet of the hydraulic motor 11 prevents the speed of the hydraulic motor 11 from exceeding the speed limit.

[0062] When the winch's rope-releasing action ends, the coil of the two-position four-way solenoid valve 9 is de-energized, and the two-position four-way solenoid valve 9 is opened to the left position under the action of the spring; at this time, the control port of the hydraulic check valve B8 is connected to the oil tank 13, and the hydraulic check valve B8 is quickly closed under the action of the hydraulic motor 11's oil discharge pressure, so that the hydraulic motor 11 stops rotating quickly and avoids the winch from slipping.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a hydraulic system of an electro-hydraulic servo integrated winch, characterized in that: The hydraulic system includes: a servo motor (1), a two-way hydraulic pump (2), a two-position four-way solenoid directional valve (9), a sequence valve (10), a hydraulic motor (11), an oil tank (13), a main oil circuit A (14), a main oil circuit B (15), a hydraulic lock, a replenishing valve, and a safety valve; The output shaft of the servo motor (1) is connected to the input end of the bidirectional hydraulic pump (2); The two oil ports of the bidirectional hydraulic pump (2) are connected to the two oil ports of the hydraulic motor (11) through the main oil circuit A (14) and the main oil circuit B (15), respectively; The sequence valve (10) is installed on the main oil circuit B (15); The oil tank (13) is connected to the main oil line A (14) and the main oil line B (15); The hydraulic lock is installed on the main oil circuit A (14) and the main oil circuit B (15); the hydraulic lock includes: a hydraulic control check valve A (5) and a hydraulic control check valve B (8); the hydraulic control check valve A (5) is installed on the main oil circuit A (14); the hydraulic control check valve B (8) is installed on the main oil circuit B (15); The two-position four-way solenoid directional valve (9) is connected to the main oil circuit A (14), the oil tank (13) and the hydraulic lock; the two oil inlets of the two-position four-way solenoid directional valve (9) are connected to the main oil circuit A (14) and the oil tank (13) respectively, one oil outlet is blocked, and the other oil outlet is connected to the control oil port of the hydraulic control check valve B (8); so that one of the control ports of the hydraulic lock can switch between high pressure oil and oil tank. The replenishing valve is connected in series between the two ports of the bidirectional hydraulic pump (2) and the oil tank (13); The safety valve is connected in series between the oil ports on both sides of the bidirectional hydraulic pump (2) and the oil tank (13); The control method of the electro-hydraulic servo integrated winch hydraulic system is divided into three processes: winch rope winding process, winch rope unwinding process, and end of winch rope unwinding action. The winch rope winding process is as follows: the right side of the two-position four-way solenoid valve (9) is energized, the right position of the two-position four-way solenoid valve (9) is open, and the control port of the hydraulic control check valve B (8) is connected to the main oil circuit A (14); the two-way hydraulic pump (2) discharges oil to the main oil circuit B (15), and the high-pressure oil causes the hydraulic control check valve A (5) and the hydraulic control check valve B (8) to open. The high-pressure oil passes through the sequence valve (10) without obstruction and enters the hydraulic motor (11), driving the hydraulic motor (11) to drive the winch to wind up the rope; The winch rope release process is as follows: the right side of the two-position four-way solenoid valve (9) is energized, the right position of the two-position four-way solenoid valve (9) is open, and the control port of the hydraulic control check valve B (8) is connected to the main oil circuit A (14); the two-way hydraulic pump (2) discharges oil to the main oil circuit A, and the high-pressure oil causes the hydraulic control check valve A (5) and the hydraulic control check valve B (8) to open. After the high-pressure oil enters the hydraulic motor (11), it drives the hydraulic motor (11) to drive the winch to release the rope; at this time, the sequence valve (10) at the outlet of the hydraulic motor (11) prevents the speed of the hydraulic motor (11) from exceeding the speed limit. The winch rope release action ends; the coil of the two-position four-way solenoid valve (9) is de-energized, and the two-position four-way solenoid valve (9) is in the left position under the action of the spring; at this time, the control port of the hydraulic control check valve B (8) is connected to the oil tank (13), and the hydraulic control check valve B (8) is quickly closed under the action of the hydraulic motor (11) discharge oil pressure, so that the hydraulic motor (11) stops rotating quickly and avoids the winch rope slippage phenomenon.

2. The control method for the electro-hydraulic servo integrated winch hydraulic system according to claim 1, characterized in that: The oil replenishment valve includes: one-way valve A (3) and one-way valve B (6); The one-way valve A (3) is connected in series between the A port of the two-way hydraulic pump (2) and the oil tank (13); The one-way valve B (6) is connected in series between the B port of the two-way hydraulic pump (2) and the oil tank (13); Hydraulic oil can flow freely from the oil tank (13) to the input oil circuit of the bidirectional hydraulic pump (2); when the hydraulic system leaks or other situations that reduce the amount of hydraulic oil in the pipeline, the oil suction port of the bidirectional hydraulic pump (2) can replenish the pipeline from the oil tank through the oil replenishment valve.

3. The control method for the electro-hydraulic servo integrated winch hydraulic system according to claim 1, characterized in that: The safety valves include: relief valve A (4) and relief valve B (7); The overflow valve A (4) is connected in series between the main oil circuit A (14) and the oil tank (13); The overflow valve B (7) is connected in series between the main oil circuit B (15) and the oil tank (13); Adjust overflow valve A (4) and overflow valve B (7) to the appropriate opening pressure. When the winch load is too high, the two-way hydraulic pump (2) discharges oil through overflow valve A (4) and overflow valve B (7) back to the oil tank (13) to protect the oil circuit.

4. The control method for the electro-hydraulic servo integrated winch hydraulic system according to claim 1, characterized in that: The sequence valve (10) is used as a balance valve and is connected in series between the hydraulic control check valve B (6) and the hydraulic motor (11). When the hydraulic motor (11) drives the winch to release the rope, the oil port is used as the oil outlet of the hydraulic motor (11). At this time, the sequence valve (10) can limit the speed of the winch releasing the rope and prevent the winch from overspeeding.

5. The control method for the electro-hydraulic servo integrated winch hydraulic system according to claim 4, characterized in that: The hydraulic motor (11) is equipped with a pressure sensor (12) at the oil inlet and outlet, which can provide real-time feedback of the hydraulic motor (11) oil inlet / outlet pressure to the control system. The control system can control the servo motor (1) or issue an alarm based on the hydraulic motor (11) oil inlet / outlet pressure as needed.

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