Electro-hydraulic composite recycling and regeneration integrated hoist system

Abstract

The application provides an electro-hydraulic composite recycling integrated hoist system, comprising: an assembly controller, a transmission assembly, a first electric drive assembly, a second electric drive assembly, a hydraulic drive assembly, a sensing assembly, an electric control handle, and a load arranged on the hoist reducer; the system adopts an electro-hydraulic composite drive system, uses a power battery as a power source of the hoist system to meet the national energy-saving and emission-reducing development requirements, simultaneously uses a motor to drive a variable hydraulic pump or uses an accumulator to complete power input of the variable hydraulic pump motor, and power output of the variable hydraulic pump motor and power output of a motor generator are coupled to realize electro-hydraulic composite drive hoisting; the electro-hydraulic composite drive hoist system utilizes high power density output of the variable hydraulic pump motor in the hydraulic power system, utilizes high energy density of the power battery and good control characteristics of the motor generator in the electric power system, and can better control lifting movement of the hoist drive system.

Description

Technical Field

[0001] This invention relates to the field of hoist drive systems, specifically to an integrated electro-hydraulic composite recycling and regeneration hoist system. Background Technology

[0002] In modern engineering machinery, heavy machinery such as rotary drilling rigs and cranes all use winch systems. Traditional winch systems mostly use internal combustion engines as the power source, which inevitably causes irreversible environmental impacts. Replacing internal combustion engines with batteries as the power source for winch systems to complete the operation of fully electric winch machinery is not only an inevitable trend, but also a positive response to the national call for energy conservation and emission reduction.

[0003] Currently, the winch systems used in construction machinery are generally divided into two types: direct-drive electric motor winches and hydraulic drive winches. Both technologies have mature, independent products in the construction machinery field. However, existing direct-drive electric motor winches have low controllability and high energy consumption at near-zero speed and high torque. Furthermore, when operating at near-zero speed or stall conditions for extended periods, they generate a large amount of heat, causing irreversible damage to the electric motor. In addition, due to the limited installation space in construction machinery, the size and power of the electric motor cannot be made very large, limiting its driving capability. For work locations where power access is inconvenient, electric drive winch technology is also subject to corresponding limitations. Nowadays, some construction machinery manufacturers have adopted direct-drive electric motor winches for potential energy recovery in rotary drilling rigs and cranes. However, the large motor power required necessitates large motor and battery sizes, resulting in high investment costs. Moreover, for cranes, which have relatively low energy consumption, using direct-drive electric motor winches is even less cost-effective.

[0004] Existing hydraulic winch technology offers low energy loss and good control under stall conditions, and its instantaneous high power output can ensure smooth winch lifting. However, while valve-controlled motor systems have good control characteristics, they suffer from throttling and overflow losses. Pump-controlled motor systems, while highly efficient, have slow dynamic response, resulting in low winch lifting accuracy. Furthermore, most negative load energy cannot be recovered through the limited space of the hydraulic accumulator, and the lag in hydraulic motor pressurization makes it difficult to effectively improve the secondary slippage phenomenon. Both electric motor direct-drive winch technology and hydraulic drive winch technology currently on the market have their own advantages and disadvantages.

[0005] In view of the above, this application is hereby submitted. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide an integrated electro-hydraulic composite recycling and regeneration hoisting system, which can effectively solve the problems of low controllability and high energy consumption in the existing hoisting technology, and the generation of a large amount of heat that causes irreversible damage to the motor when it is in a near-zero speed or stall condition for a long time. In addition, the problems of throttling and overflow losses, low hoisting and lifting accuracy, and the lag of hydraulic motor pressure build-up are also difficult to effectively improve the secondary slippage phenomenon of the hoist.

[0007] This invention discloses an integrated electro-hydraulic composite recycling and regeneration hoisting system, comprising: an assembly controller, a transmission assembly, a first electric drive assembly, a second electric drive assembly, a hydraulic drive assembly, a sensing assembly, an electric control handle, and a load disposed on the transmission assembly;

[0008] The output terminal of the assembly controller is electrically connected to the control terminals of the first electric drive assembly, the second electric drive assembly, and 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; the first electric drive assembly is coaxially mechanically connected to the hydraulic drive assembly and the transmission assembly; and the second electric drive assembly is coaxially mechanically connected to the hydraulic drive assembly.

[0009] The assembly controller is configured to perform the following steps by executing a computer program stored internally thereon:

[0010] The input signal sent by the electric control handle and the parameter set collected by the sensing component are acquired in real time.

[0011] The current operating state and target speed of the load are determined based on the input signal;

[0012] When the load is determined to be in an upward state based on the operating status, the first 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 first electric drive component, the second 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 ensure that the output power of the hydraulic drive component is constant and the load is stably increased.

[0013] When the load is determined to be in a decreasing state based on the operating status, the first 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 first electric drive component, the second 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 ensure that the anti-drag torque of the hydraulic drive component is constant and the load is steadily decreased.

[0014] Preferably, the transmission component is a winch reducer.

[0015] 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 first electric drive assembly and the transmission assembly, and the displacement value of the load.

[0016] Preferably, when the load is determined to be in an increasing state based on the operating state, the first 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 in the parameter set and the gravity value of the load; or the first electric drive component, the second 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 ensure that the output power of the hydraulic drive component is constant and the load is stably increased. Specifically:

[0017] When the operating state is determined to be an ascending state, the pressure value of the hydraulic drive component and the gravity value of the load are determined according to the parameter set.

[0018] When it is determined that the gravity value of the load is lower than the preset value, the first electric drive component is controlled to drive the transmission component to rotate at the rotation speed corresponding to the target speed of the load, so as to drive the load to rise.

[0019] When it is determined that the gravity value of the load is higher than the preset value, the first electric drive component and the transmission component that drives the hydraulic drive component are controlled to rotate at the speed corresponding to the target speed of the load, so as to ensure that the output power of the hydraulic drive component is constant and the load is stably lifted.

[0020] When it is determined that the gravity value of the load is higher than the preset value, and the pressure value of the hydraulic accumulator driving the hydraulic drive component is lower than the preset threshold, or the output power of the hydraulic drive component cannot be kept constant by changing the displacement and opening of the hydraulic drive component, the first electric drive component, the second electric drive component and the transmission component driving the hydraulic drive component are controlled to rotate at the rotation speed corresponding to the target speed of the load, so as to ensure the constant output power of the hydraulic drive component and stably lift the load.

[0021] Preferably, when the load is determined to be in a decreasing state based on the operating state, the first 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 in the parameter set and the gravity value of the load; or the first electric drive component, the second 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 ensure that the anti-drag torque of the hydraulic drive component is constant and the load is steadily decreased, specifically:

[0022] When the operating state is determined to be a descent state, the pressure value of the hydraulic drive component and the gravity value of the load are determined according to the parameter set.

[0023] When it is determined that the gravity value of the load is lower than the preset value, the first electric drive component is controlled to drive the transmission component to rotate at the rotation speed corresponding to the target speed of the load, so as to drive the load to descend.

[0024] When it is determined that the gravity value of the load is higher than the preset value, the first electric drive component, the second electric drive component and the transmission component that drives the hydraulic drive component are controlled to rotate at the rotation speed corresponding to the target speed of the load, so as to ensure that the anti-drag torque of the hydraulic drive component is constant and the load is steadily reduced.

[0025] When it is determined that the gravity value of the load is higher than the preset value, and the pressure value of the hydraulic accumulator driving the hydraulic drive component is lower than the preset threshold, or the reverse drag torque of the hydraulic drive component cannot be kept constant by changing the displacement and opening of the hydraulic drive component, the first electric drive component and the transmission component driving the hydraulic drive component are controlled to rotate at the speed corresponding to the target speed of the load, so as to ensure that the reverse drag torque of the hydraulic drive component is constant and the load is steadily reduced.

[0026] Preferably, the first electric drive assembly includes a power battery, a first motor controller, and an electric generator, wherein the electric generator is coaxially mechanically connected to the transmission assembly and the hydraulic drive assembly, the power battery is electrically connected to the first motor controller, the output terminal of the first 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 first motor controller.

[0027] Preferably, the second electric drive assembly includes a second motor controller and a motor, wherein the motor is coaxially mechanically connected to the hydraulic drive assembly, the output terminal of the second motor controller is electrically connected to the control terminal of the motor, the output terminal of the assembly controller is electrically connected to the control terminal of the second motor controller, and the power battery is electrically connected to the second motor controller.

[0028] Preferably, the hydraulic drive assembly includes a variable hydraulic pump, a variable hydraulic pump motor, a three-position four-way solenoid directional valve, a two-position two-way solenoid directional valve, a two-position three-way solenoid directional valve, a check valve, a first replenishing check valve, a second replenishing check valve, a hydraulic accumulator, a hydraulic tank, a first relief valve, a second relief valve, a third relief valve, and a fourth relief valve.

[0029] The variable displacement hydraulic pump has the following components: its first outlet connected to the third port of the three-position four-way solenoid directional valve; its second outlet connected to the inlet of the first relief valve; its third outlet connected to the sensing assembly; and the inlet of the variable displacement hydraulic pump, the outlet of the first relief valve, the outlet of the second relief valve, the outlet of the third relief valve, the outlet of the fourth relief valve, the first port of the first replenishing check valve, and the first port of the second replenishing check valve all connected to the hydraulic oil tank. The first port of the three-position four-way solenoid directional valve is connected to the first port of the two-position three-way solenoid directional valve. The first outlet of the hydraulic accumulator is connected to the inlet of the second relief valve; the second outlet of the hydraulic accumulator is connected to the second port of the check valve; the third outlet of the hydraulic accumulator is connected to the second port of the second two-position two-way solenoid directional valve; and the fourth outlet of the hydraulic accumulator is connected to the sensing assembly. The components are connected as follows: the third port of the two-position three-way solenoid directional valve, the first port of the two-position two-way solenoid directional valve, and the first port of the check valve are connected in pairs; the second port of the variable hydraulic pump motor, the sensing component, the oil inlet of the third relief valve, the second port of the first replenishing check valve, and the second port of the two-position three-way solenoid directional valve are connected in pairs; the first port of the variable hydraulic pump motor, the sensing component, the oil inlet of the fourth relief valve, the second port of the second replenishing check valve, and the second port of the three-position four-way solenoid directional valve are connected in pairs; the electric generator is connected to the transmission component; the shaft ends of the electric generator and the transmission component are connected to the sensing component; and the output terminal of the assembly controller is electrically connected to the control terminals of the three-position four-way solenoid directional valve, the two-position two-way solenoid directional valve, the two-position three-way solenoid directional valve, the variable hydraulic pump, and the variable hydraulic pump motor.

[0030] Preferably, the sensing component includes a first pressure sensor disposed at the outlet of the variable hydraulic pump, a second pressure sensor disposed at the outlet of the hydraulic accumulator, a third pressure sensor disposed at the second interface of the variable hydraulic pump motor, a fourth pressure sensor disposed at the first interface of the variable hydraulic pump motor, and a fifth pressure sensor at the connection between the load and the transmission component.

[0031] The variable hydraulic pump's third outlet is connected to the first pressure sensor, the hydraulic accumulator's fourth outlet is connected to the second pressure sensor, the variable hydraulic pump motor's second port, the third pressure sensor, the third relief valve's inlet, the first replenishing check valve's second port, and the two-position three-way solenoid directional valve's second port are connected in pairs, the variable hydraulic pump motor's first port, the fourth pressure sensor, the fourth relief valve's inlet, the second replenishing check valve's second port, and the three-position four-way solenoid directional valve's second port are connected in pairs, and the outputs of the first pressure sensor, the second pressure sensor, the third pressure sensor, the fourth pressure sensor, and the fifth pressure sensor are electrically connected to the assembly controller's input.

[0032] Preferably, the sensing component further includes a speed sensor, a torque sensor, and a displacement sensor disposed at the connection between the load and the transmission component, wherein the shaft ends of the electric generator and the transmission component are connected to the speed sensor and the torque sensor, and the output ends of the speed sensor, the torque sensor, and the displacement sensor are electrically connected to the input end of the assembly controller.

[0033] In summary, this embodiment provides an integrated electro-hydraulic hybrid recovery and regeneration hoisting system. This system employs an electro-hydraulic hybrid drive system, using a power battery as the energy source for the hoisting system, which aligns with national energy conservation and emission reduction requirements. Simultaneously, an electric motor drives a variable hydraulic pump, or an accumulator provides power input to the variable hydraulic pump / motor. The power output of the variable hydraulic pump / motor is coupled with the power output of the electric motor / generator to achieve electro-hydraulic hybrid drive hoisting. This electro-hydraulic hybrid drive hoisting system utilizes both the high power density output of the variable hydraulic pump / motor in the hydraulic power system and the high energy density of the power battery and the good control characteristics of the electric motor / generator in the electric power system, enabling better control of the hoisting drive system's lifting and lowering motion. This solves the problems of low controllability and high energy consumption in existing hoisting technologies, the generation of large amounts of heat that can cause irreversible damage to the electric motor when operating at near-zero speed or stalled conditions for extended periods, and the difficulties in effectively mitigating secondary slippage due to throttling and overflow losses, low hoisting and lowering accuracy, and the lag in hydraulic motor pressure build-up. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of an integrated electro-hydraulic composite recycling and regeneration hoisting system provided in an embodiment of the present invention.

[0035] Figure 2This is a schematic diagram of the control logic flow of an integrated electro-hydraulic composite recycling and regeneration hoisting system provided in an embodiment of the present invention. Detailed Implementation

[0036] 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.

[0037] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0038] Please see Figures 1 to 2 The first embodiment of the present invention provides an integrated electro-hydraulic composite recycling and regeneration hoisting system, including: an assembly controller 2, a transmission assembly 30, a first electric drive assembly, a second electric drive assembly, a hydraulic drive assembly, a sensing assembly, an electric control handle 1, and a load 31 disposed on the transmission assembly 30.

[0039] The output terminal of the assembly controller 2 is electrically connected to the control terminals of the first electric drive assembly, the second electric drive assembly, and 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 1. The first electric drive assembly is coaxially mechanically connected to the hydraulic drive assembly and the transmission assembly 30. The second electric drive assembly is coaxially mechanically connected to the hydraulic drive assembly.

[0040] The assembly controller 2 is configured to perform the following steps by executing a computer program stored internally thereon:

[0041] S101, real-time acquisition of the input signal sent by the electric control handle 1 and the parameter set collected by the sensing component;

[0042] S102, determine the current operating state and target speed of the load 31 based on the input signal;

[0043] S103, when it is determined that the load is in an upward state based on the operating state, the first electric drive component is controlled to drive the transmission component 30 to rotate at the rotational speed corresponding to the target speed of the load 31 based on the pressure value of the hydraulic drive component in the parameter set and the gravity value of the load 31, or the first electric drive component, the second electric drive component and the hydraulic drive component are controlled to jointly drive the transmission component 30 to rotate at the rotational speed corresponding to the target speed of the load 31, so as to ensure that the output power of the hydraulic drive component is constant and the load is stably increased;

[0044] Specifically, step S103 includes: when the operating state is determined to be an ascending state, determining the pressure value of the hydraulic drive component and the gravity value of the load based on the parameter set;

[0045] When it is determined that the gravity value of the load 31 is lower than the preset value, the first electric drive assembly is controlled to drive the transmission assembly 30 to rotate at the rotation speed corresponding to the target speed of the load 31, so as to drive the load 31 to rise.

[0046] When it is determined that the gravity value of the load 31 is higher than the preset value, the first electric drive component and the transmission component 30 that drives the hydraulic drive component are controlled to rotate at the rotation speed corresponding to the target speed of the load 31, so as to ensure that the output power of the hydraulic drive component is constant and the load is stably lifted.

[0047] When it is determined that the gravity value of the load 31 is higher than the preset value, and the pressure value of the hydraulic accumulator driving the hydraulic drive component is lower than the preset threshold, or the output power of the hydraulic drive component cannot be kept constant by changing the displacement and opening of the hydraulic drive component, the transmission component 30 driven by the first electric drive component, the second electric drive component and the hydraulic drive component are controlled to rotate at the rotation speed corresponding to the target speed of the load 31, so as to ensure the constant output power of the hydraulic drive component and stably lift the load 31.

[0048] S104, when it is determined that the load 31 is in a descending state based on the operating state, the first electric drive component is controlled to drive the transmission component 30 to rotate at a speed corresponding to the target speed of the load 31, based on the pressure value of the hydraulic drive component in the parameter set and the gravity value of the load 31, or the first electric drive component, the second electric drive component, and the hydraulic drive component are controlled to jointly drive the transmission component 30 to rotate at a speed corresponding to the target speed of the load 31, so as to ensure that the anti-drag torque of the hydraulic drive component is constant and the load 31 is descended stably.

[0049] Specifically, step S104 includes: when it is determined that the operating state is a descending state, determining the pressure value of the hydraulic drive component and the gravity value of the load 31 according to the parameter set;

[0050] When it is determined that the gravity value of the load 31 is lower than the preset value, the first electric drive assembly is controlled to drive the transmission assembly 30 to rotate at the rotation speed corresponding to the target speed of the load 31, so as to drive the load 31 to descend.

[0051] When it is determined that the gravity value of the load 31 is higher than the preset value, the first electric drive assembly, the second electric drive assembly and the transmission assembly 30 that drives the hydraulic drive assembly are controlled to rotate at the rotation speed corresponding to the target speed of the load 31, so as to ensure that the anti-drag torque of the hydraulic drive assembly is constant and the load 31 is steadily lowered.

[0052] When it is determined that the gravity value of the load 31 is higher than the preset value, and the pressure value of the hydraulic accumulator driving the hydraulic drive component is lower than the preset threshold, or the reverse drag torque of the hydraulic drive component cannot be kept constant by changing the displacement and opening of the hydraulic drive component, the first electric drive component and the transmission component 30 driving the hydraulic drive component are controlled to rotate at the speed corresponding to the target speed of the load 31, so as to ensure that the reverse drag torque of the hydraulic drive component is constant and the load 31 is steadily lowered.

[0053] Specifically, in this embodiment, the parameter set includes the pressure value of the hydraulic drive assembly, the gravity value of the load 31, the torque and speed values ​​of the first electric drive assembly and the transmission assembly 30, and the displacement value of the load 31. The detected signals and the input signal of the electric control handle 1 are all input to the assembly controller 2. The assembly controller 2 will determine the system operating mode based on the detected signals and the input signal of the electric control handle 1, and then output the signals to each of the two-position two-way solenoid directional valves, two-position three-way solenoid directional valves, three-position four-way solenoid directional valves, variable hydraulic pump motors, variable hydraulic pumps, the motor controller of the first electric drive assembly, and the motor controller of the second electric drive assembly, in order to achieve the target motion.

[0054] The electro-hydraulic composite recovery and regeneration integrated winch system uses the electric control handle 1 as the lifting speed control lever. By controlling the speed and torque of the electric generator-variable hydraulic pump motor, it stably controls the load 31 to achieve the expected lifting speed and performs integrated energy recovery and regeneration, improving the overall energy efficiency, operability, and safety of the machine. In simple terms, firstly, the assembly controller 2 collects the opening signal of the electric control handle 1 in real time, analyzes the operator's intention, and determines the lifting status and speed requirements. Simultaneously, the first, second, third, fourth, and fifth pressure sensors of the sensing component collect the current variable hydraulic pump outlet pressure, hydraulic accumulator pressure, pressure at both ends of the variable hydraulic pump motor, and the weight of the load 31, respectively, to obtain the pressure status of the entire electro-hydraulic composite recovery and regeneration integrated winch system. Secondly, the assembly controller 2 identifies the intended operation and, in conjunction with the current pressure of the electro-hydraulic composite recycling and regeneration integrated hoisting system, selects the optimal mode from five operating modes—pure electric drive, electro-hydraulic composite drive, locking, pure electric recycling, and electro-hydraulic composite recycling—with the goal of maximizing energy efficiency and controllability. It then switches between these modes in real time during operation to achieve a balance between controllability and energy efficiency.

[0055] In one possible embodiment of the present invention, the transmission assembly 30 is a winch reducer.

[0056] 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.

[0057] In one possible embodiment of the present invention, the sensing component includes a first pressure sensor 22 disposed at the outlet of the variable hydraulic pump 8 of the hydraulic drive component, a second pressure sensor 23 disposed at the outlet of the hydraulic accumulator 16 of the hydraulic drive component, a third pressure sensor 24 disposed at the second interface B of the variable hydraulic pump motor 9 of the hydraulic drive component, a fourth pressure sensor 25 disposed at the first interface A of the variable hydraulic pump motor 9 of the hydraulic drive component, and a fifth pressure sensor 29 at the connection between the load 31 and the transmission component 30.

[0058] In this configuration, the third outlet of the variable hydraulic pump 8 of the hydraulic drive assembly is connected to the first pressure sensor 22; the fourth oil outlet of the hydraulic accumulator 16 of the hydraulic drive assembly is connected to the second pressure sensor 23; the second port B of the variable hydraulic pump motor 9 of the hydraulic drive assembly, the third pressure sensor 24, the oil inlet of the third relief valve 20 of the hydraulic drive assembly, the second port B of the first replenishing check valve 14 of the hydraulic drive assembly, and the second port B of the two-position three-way solenoid directional valve 12 of the hydraulic drive assembly are connected in pairs; the variable hydraulic pump of the hydraulic drive assembly... The first interface A of the motor 9, the fourth pressure sensor 25, the oil inlet of the fourth overflow valve 21 of the hydraulic drive assembly, the second interface B of the second oil replenishment check valve 15 of the hydraulic drive assembly, and the second interface of the three-position four-way solenoid directional valve 10 of the hydraulic drive assembly are connected in pairs. The output terminals of the first pressure sensor 22, the second pressure sensor 23, the third pressure sensor 24, the fourth pressure sensor 25, and the fifth pressure sensor 29 are electrically connected to the input terminal of the assembly controller 2.

[0059] In one possible embodiment of the present invention, the sensing component further includes a speed sensor 26, a torque sensor 27, and a displacement sensor 28 disposed at the connection between the load 31 and the transmission assembly 30, wherein the shaft ends of the electric generator 6 of the first electric drive and the transmission assembly 30 are connected to the speed sensor 26 and the torque sensor 27, and the output ends of the speed sensor 26, the torque sensor 27, and the displacement sensor 28 are electrically connected to the input end of the assembly controller 2.

[0060] Specifically, in this embodiment, the pressure of the hydraulic accumulator 16 of the hydraulic drive assembly is detected by the second pressure sensor 23; the pressures of the first port A and the second port B of the variable hydraulic pump motor 9 of the hydraulic drive assembly are detected by the fourth pressure sensor 25 and the third pressure sensor 24, respectively; the outlet pressure of the variable hydraulic pump 8 of the hydraulic drive assembly is detected by the first pressure sensor 22; the weight of the load 31 is detected by the fifth pressure sensor 29; the power required for the movement of the load 31 is detected by the speed sensor 26 and the torque sensor 27 and calculated in the assembly controller 2; and the lifting displacement of the load 31 is detected by the displacement sensor 28. The fifth pressure sensor 29 determines whether the load 31 is lightly or heavily loaded by detecting its weight.

[0061] In one possible embodiment of the present invention, the first electric drive assembly includes a power battery 3, a first motor controller 4, and an electric generator 6, wherein the electric generator 6 is coaxially mechanically connected to the transmission assembly 30 and the hydraulic drive assembly, the power battery 3 is electrically connected to the first motor controller 4, the output terminal of the first motor controller 4 is electrically connected to the control terminal of the electric generator 6, and the output terminal of the assembly controller 2 is electrically connected to the control terminal of the first motor controller 4.

[0062] Specifically, in this embodiment, the power battery 3 can be a lithium battery, and the electric generator 6 can be a permanent magnet synchronous motor. It should be noted that in other embodiments, other types of power batteries and electric generators can also be used. No specific limitation is made here, but these solutions are all within the protection scope of this invention.

[0063] In one possible embodiment of the present invention, the second electric drive assembly includes a second motor controller 5 and a motor 7, wherein the motor 7 is coaxially mechanically connected to the hydraulic drive assembly, the output terminal of the second motor controller 5 is electrically connected to the control terminal of the motor 7, the output terminal of the assembly controller 2 is electrically connected to the control terminal of the second motor controller 5, and the power battery 3 is electrically connected to the second motor controller 5.

[0064] In one possible embodiment of the present invention, the hydraulic drive assembly includes a variable hydraulic pump 8, a variable hydraulic pump motor 9, a three-position four-way solenoid directional valve 10, a two-position two-way solenoid directional valve 11, a two-position three-way solenoid directional valve 12, a check valve 13, a first replenishing check valve 14, a second replenishing check valve 15, a hydraulic accumulator 16, a hydraulic oil tank 17, a first relief valve 18, a second relief valve 19, a third relief valve 20, and a fourth relief valve 21.

[0065] The first outlet of the variable hydraulic pump 8 is connected to the third port P of the three-position four-way solenoid directional valve 10; the second outlet of the variable hydraulic pump 8 is connected to the inlet of the first relief valve 18; the third outlet of the variable hydraulic pump 8 is connected to the sensing component; the inlet of the variable hydraulic pump 8, the outlet of the first relief valve 18, the outlet of the second relief valve 19, the outlet of the third relief valve 20, the outlet of the fourth relief valve 21, the first port A of the first replenishing check valve 14, and the second replenishing check valve 15 are all connected to the sensor assembly. The first port A of the directional valve 15 is connected to the hydraulic oil tank 17. The first port A of the three-position four-way solenoid directional valve 10 is connected to the first port A of the two-position three-way solenoid directional valve 12. The first outlet of the hydraulic accumulator 16 is connected to the inlet of the second relief valve 19. The second outlet of the hydraulic accumulator 16 is connected to the second port B of the check valve 13. The third outlet of the hydraulic accumulator 16 is connected to the second port B of the second two-position two-way solenoid directional valve 11. The fourth outlet of the hydraulic accumulator 16 is connected to the... The sensing components are connected in pairs: the third port T of the two-position three-way solenoid directional valve 12, the first port A of the two-position two-way solenoid directional valve 11, and the first port A of the check valve 13 are connected in pairs; the second port B of the variable hydraulic pump motor 9, the sensing components, the oil inlet of the third relief valve 20, the second port B of the first replenishing check valve 14, and the second port B of the two-position three-way solenoid directional valve 12 are connected in pairs; the first port A of the variable hydraulic pump motor 9, the sensing components, the oil inlet of the fourth relief valve 21, and the second... The second port of the replenishing check valve 15 and the second port B of the three-position four-way solenoid directional valve 10 are connected in pairs. The electric generator 6 is connected to the transmission assembly 30. The shaft ends of the electric generator 6 and the transmission assembly 30 are connected to the sensing assembly. The output end of the assembly controller 2 is electrically connected to the control end of the three-position four-way solenoid directional valve 10, the control end of the two-position two-way solenoid directional valve 11, the control end of the two-position three-way solenoid directional valve 12, the control end of the variable hydraulic pump 8, and the control end of the variable hydraulic pump motor 9.

[0066] Specifically, in this embodiment, when the load 31 needs to be raised, if the load 31 is lightly loaded at this time, the electro-hydraulic composite recycling and regeneration integrated hoisting system operates in pure electric drive mode, and the electric generator 6 operates in electric state. The assembly controller 2 controls the first motor controller 4 to drive the electric generator 6 using the power battery 3 as energy to achieve the power required to lift the heavy object. At the same time, it controls the three-position four-way solenoid valve 10 to be in the neutral position, the two-position three-way solenoid valve 12 to be in the energized state, and the two-position two-way solenoid valve 11 to be in the de-energized state, so that the variable hydraulic pump motor 9 can run idle. The electric generator 6 drives the transmission assembly 30 to lift the load 31 on the one hand, and drives the variable hydraulic pump motor 9 to run idle on the other hand. The first oil replenishment check valve 14, the second oil replenishment check valve 15, the first relief valve 18, the second relief valve 19, the third relief valve 20, and the fourth relief valve 21 work as needed. The electric control handle 1 directly controls the speed of the electric generator 6 to achieve the target speed for lifting the load 31, thus completing the lifting motion.

[0067] If the load 31 is under heavy load at this time, the electro-hydraulic composite recycling and regeneration integrated hoisting system operates in electro-hydraulic composite drive mode. The variable hydraulic pump motor 9 is in hydraulic motor mode, and the electric generator 6 is in electric mode, jointly outputting the required power. The assembly controller 2 controls the first motor controller 4 to drive the electric generator 6 to output a certain power using the power battery 3 as energy, and controls the second motor controller 5 to keep the motor 7 at zero speed. It controls the three-position four-way solenoid valve 10 to be in the left position, the two-position three-way solenoid valve 12 to be in the de-energized state, and the two-position two-way solenoid valve 11 to be in the energized state, so that the hydraulic oil in the hydraulic accumulator 16 reaches the second port B of the variable hydraulic pump motor 9 through the two-position two-way solenoid valve 11 and the two-position three-way solenoid valve 12. At this time, the variable... When the hydraulic pump motor 9 is in hydraulic motor mode, the hydraulic fluid returns to the hydraulic oil tank 17 through the second port B of the three-position four-way solenoid directional valve 10 after the oil pressure is reduced. Since the pressure in the hydraulic accumulator 16 changes continuously during the flow of the hydraulic fluid, the pressure difference between the two ends of the variable hydraulic pump motor 9 also changes. Therefore, it is necessary to control the displacement of the variable hydraulic pump motor 9, as well as the opening size of the two-position two-way solenoid directional valve 11 and the three-position four-way solenoid directional valve 10, to ensure that the output torque of the variable hydraulic pump motor 9 is constant and thus outputs the remaining power to achieve stable lifting of heavy objects.When the pressure of the hydraulic accumulator 16 is lower than a set threshold, or when it is impossible to maintain the output torque of the variable hydraulic pump motor 9 at a certain level to achieve constant output power by changing the displacement of the variable hydraulic pump motor 9 and the opening size of the two-position two-way solenoid valve 11 and the three-position four-way solenoid valve 10, the assembly controller 2 can control the two-position three-way solenoid valve 12 to be energized and the two-position two-way solenoid valve 11 to be de-energized. Simultaneously, the second motor controller 5 is controlled to use the power battery 3 as a power source to power the motor 7 to control the variable hydraulic pump 8. By controlling the speed of the motor 7 and the displacement of the variable hydraulic pump 8, the variable hydraulic pump 8 outputs pressurized oil to the variable hydraulic pump. At the second port B of the pump motor 9, the variable hydraulic pump motor 9 is still in hydraulic motor mode. After the oil pressure is reduced, it returns to the hydraulic oil tank 17 through the second port B of the three-position four-way solenoid directional valve 10. By controlling the displacement of the variable hydraulic pump 8, the speed of the motor 7, and the displacement of the variable hydraulic pump motor 9, the output torque at both ends of the variable hydraulic pump motor 9 is kept constant, thereby outputting the remaining power to achieve stable lifting of the heavy object. The first oil replenishing check valve 14, the second oil replenishing check valve 15, the first overflow valve 18, the second overflow valve 19, the third overflow valve 20, and the fourth overflow valve 21 work as needed. The electric control handle 1 directly controls the speed of the electric generator 6 to achieve the target speed for the load 31 to rise, thus completing the lifting motion.

[0068] In this embodiment, when the load 31 needs to be lowered, if the load 31 is lightly loaded, the electro-hydraulic composite recycling and regeneration integrated hoisting system operates in pure electric recovery mode, and the electric generator 6 is in power generation mode. The assembly controller 2 controls the first motor controller 4 to use the power battery 3 as energy to control the electric generator 6 to achieve the power required to lower the heavy object. At the same time, it controls the three-position four-way solenoid valve 10 to be in the neutral position, the two-position three-way solenoid valve 12 to be in the energized state, and the two-position two-way solenoid valve 11 to be in the de-energized state, so that the variable hydraulic pump motor 9 can idle. The electric generator 6 drives the transmission component 30 to lower the load 31 on the one hand, and drives the variable hydraulic pump motor 9 to idle on the other hand. The first oil replenishment check valve 14, the second oil replenishment check valve 15, the first overflow valve 18, the second overflow valve 19, the third overflow valve 20, and the fourth overflow valve 21 work as needed. The electric control handle 1 directly controls the speed of the electric generator 6 to achieve the target speed for lowering the load 31, thus completing the lowering motion.

[0069] If the load 31 is under heavy load at this time, the electro-hydraulic composite recycling and regeneration integrated winch system initially operates in electro-hydraulic composite recycling mode, and the variable hydraulic pump motor 9 is in pump mode. When it is impossible to guarantee that the reverse drag torque generated by the variable hydraulic pump motor 9 is constant, the electro-hydraulic composite recycling and regeneration integrated winch system operates in pure electric recycling mode, and the variable hydraulic pump motor 9 idles. Meanwhile, the electric generator 6 is in the power generation state. The assembly controller 2 controls the first motor controller 4 to power the electric generator 6 using the power battery 3 as energy, and controls the second motor controller 5 to power the electric motor 7, controlling the variable hydraulic pump 8. It controls the three-position four-way solenoid valve 10 to the right position, the two-position three-way solenoid valve to be energized, and the two-position two-way solenoid valve to be de-energized. By controlling the speed of the electric motor 7 and the displacement of the variable hydraulic pump 8, the variable hydraulic pump 8 outputs pressurized oil to the first port A of the variable hydraulic pump motor 9. At this time, the variable hydraulic pump motor 9 is in hydraulic pump operation. After the oil pressure is increased, it returns to the hydraulic accumulator 16 through the two-position three-way solenoid valve 12 and the check valve 13. Because the pressure in the hydraulic accumulator 16 changes continuously during oil flow, the pressure at both ends of the variable hydraulic pump motor 9 also changes. Therefore, it is necessary to control the displacement of the variable hydraulic pump motor 9 and the opening of the two-position three-way solenoid valve 12. The variable displacement hydraulic pump motor 9 is adjusted to ensure a constant reverse torque at both ends, thus achieving stable lifting of the load. When the reverse torque generated by the variable displacement hydraulic pump motor 9 cannot be maintained at a certain level by changing the displacement of the variable displacement hydraulic pump motor 9 or the opening of the two-position three-way solenoid valve 12, or when the hydraulic accumulator 16 reaches a set pressure threshold, the assembly controller 2 controls the second motor controller 5 to keep the motor 7 at zero speed and the three-position four-way solenoid valve in the neutral position. The electric generator 6 drives the transmission assembly 30 to lower the load 31 on one hand, and drives the variable displacement hydraulic pump motor 9 to idle on the other hand. The first replenishing check valve 14, the second replenishing check valve 15, the first overflow valve 18, the second overflow valve 19, the third overflow valve 20, and the fourth overflow valve 21 work as needed. The electric control handle 1 directly controls the speed of the electric generator 6 to achieve the target speed for lowering the load 31, thus completing the lowering motion.

[0070] In this embodiment, when the assembly controller 2 does not detect the input signal of the electric control handle 1, it determines that it is in a locked state. At this time, the assembly controller 2 controls the first motor controller 4 to use the power battery 3 as energy to control the electric generator 6 to be in a locked state, controls the second motor controller 5 to make the motor 7 at zero speed, and simultaneously controls the three-position four-way solenoid valve 10 to be in the neutral position, the two-position two-way solenoid valve 11 to be in a de-energized state, and the two-position three-way solenoid valve 12 to be in a de-energized state, thereby completing the movement locking of the load 31.

[0071] In summary, the electro-hydraulic composite recycling and regeneration integrated winch system utilizes the excellent control characteristics of electric drive to prevent secondary slippage of heavy objects and the high power density output of hydraulic drive to achieve high-efficiency output at low speeds and with high torque. The active control of the electric generator 6 and the passive control of the variable hydraulic pump motor 9 achieve multi-quadrant coordinated control of the electric generator and variable hydraulic pump motor, enabling the rope to achieve good motion characteristics. Simultaneously, the electro-hydraulic composite recycling and regeneration integrated winch system also utilizes the continuous charging and discharging capability of the high-energy-density power battery and the strong instantaneous input and output power of the high-power-density accumulator and hydraulic pump. Through a hybrid electro-hydraulic energy regulation method, it achieves effective drive and energy regeneration during the winch lifting process, improving energy efficiency while ensuring operability. This effectively solves the problems of low controllability and high energy consumption in existing winch technologies. Furthermore, when operating at near-zero speed or stall conditions for extended periods, the large amount of heat generated can cause irreversible damage to the motor. Additionally, throttling and overflow losses, low winch lifting accuracy, and the lag in hydraulic motor pressure build-up also make it difficult to effectively address the secondary slippage phenomenon.

[0072] 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. An integrated electro-hydraulic composite recycling and regeneration hoisting system, characterized in that, include: The assembly controller, transmission assembly, first electric drive assembly, second electric drive assembly, hydraulic drive assembly, sensing assembly, electric control handle, and load disposed on the transmission assembly; The output terminal of the assembly controller is electrically connected to the control terminals of the first electric drive assembly, the second electric drive assembly, and 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; the first electric drive assembly is coaxially mechanically connected to the hydraulic drive assembly and the transmission assembly; and the second electric drive assembly is coaxially mechanically connected to the hydraulic drive assembly. The assembly controller is configured to perform the following steps by executing a computer program stored internally: The input 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 input signal; When the load is determined to be in an upward state based on the operating status, the first 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 first electric drive component, the second 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 ensure that the output power of the hydraulic drive component is constant and the load is stably increased. When the load is determined to be in a decreasing state based on the operating status, the first 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 first electric drive component, the second 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 ensure that the anti-drag torque of the hydraulic drive component is constant and the load is steadily decreased. The hydraulic drive assembly includes a variable hydraulic pump, a variable hydraulic pump motor, a three-position four-way solenoid directional valve, a two-position two-way solenoid directional valve, a two-position three-way solenoid directional valve, a check valve, a first replenishing check valve, a second replenishing check valve, a hydraulic accumulator, a hydraulic oil tank, a first relief valve, a second relief valve, a third relief valve, and a fourth relief valve. The variable displacement hydraulic pump has the following components: its first outlet connected to the third port of the three-position four-way solenoid directional valve; its second outlet connected to the inlet of the first relief valve; its third outlet connected to the sensing component; and the inlet of the variable displacement hydraulic pump, the outlet of the first relief valve, the outlet of the second relief valve, the outlet of the third relief valve, the outlet of the fourth relief valve, the first port of the first replenishing check valve, and the first port of the second replenishing check valve all connected to the hydraulic oil tank. The first port of the three-position four-way solenoid directional valve is connected to the first port of the two-position three-way solenoid directional valve. The first outlet of the hydraulic accumulator is connected to the inlet of the second relief valve. The second outlet of the hydraulic accumulator is connected to the second port of the check valve. The third outlet of the hydraulic accumulator is connected to the second port of the two-position two-way solenoid directional valve. The fourth outlet of the hydraulic accumulator is connected to the sensing component. The components are connected as follows: the third port of the two-position three-way solenoid directional valve, the first port of the two-position two-way solenoid directional valve, and the first port of the check valve are connected in pairs; the second port of the variable hydraulic pump motor, the sensing component, the oil inlet of the third relief valve, the second port of the first replenishing check valve, and the second port of the two-position three-way solenoid directional valve are connected in pairs; the first port of the variable hydraulic pump motor, the sensing component, the oil inlet of the fourth relief valve, the second port of the second replenishing check valve, and the second port of the three-position four-way solenoid directional valve are connected in pairs; the electric generator is connected to the transmission component; the shaft ends of the electric generator and the transmission component are connected to the sensing component; and the output end of the assembly controller is electrically connected to the control ends of the three-position four-way solenoid directional valve, the two-position two-way solenoid directional valve, the two-position three-way solenoid directional valve, the variable hydraulic pump, and the variable hydraulic pump motor.

2. The electro-hydraulic composite recycling and regeneration integrated hoisting system according to claim 1, characterized in that, The transmission component is a winch reducer.

3. The electro-hydraulic composite recycling and regeneration integrated hoisting 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 first electric drive assembly and the transmission assembly, and the displacement value of the load.

4. The electro-hydraulic composite recycling and regeneration integrated hoisting system according to claim 3, characterized in that, When the load is determined to be in an increasing state based on the operating status, the first 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 in the parameter set and the gravity value of the load. Alternatively, the first electric drive component, the second 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 ensure that the output power of the hydraulic drive component is constant and the load is stably increased. Specifically: When the operating state is determined to be an ascending 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 that the gravity value of the load is lower than the preset value, the first electric drive component is controlled to drive the transmission component to rotate at the rotation speed corresponding to the target speed of the load, so as to drive the load to rise. When it is determined that the gravity value of the load is higher than the preset value, the first electric drive component and the transmission component that drives the hydraulic drive component are controlled to rotate at the speed corresponding to the target speed of the load, so as to ensure that the output power of the hydraulic drive component is constant and the load is stably lifted. When it is determined that the gravity value of the load is higher than the preset value, and the pressure value of the hydraulic accumulator driving the hydraulic drive component is lower than the preset threshold, or the output power of the hydraulic drive component cannot be kept constant by changing the displacement and opening of the hydraulic drive component, the first electric drive component, the second electric drive component and the transmission component driving the hydraulic drive component are controlled to rotate at the rotation speed corresponding to the target speed of the load, so as to ensure the constant output power of the hydraulic drive component and stably lift the load.

5. The electro-hydraulic composite recycling and regeneration integrated hoisting system according to claim 1, characterized in that, When the load is determined to be in a decreasing state based on the operating status, the first 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 first electric drive component, the second 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 ensure that the anti-drag torque of the hydraulic drive component is constant and the load is steadily decreased. Specifically: When the operating state is determined to be a descent 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 that the gravity value of the load is lower than the preset value, the first electric drive component is controlled to drive the transmission component to rotate at the rotation speed corresponding to the target speed of the load, so as to drive the load to descend. When it is determined that the gravity value of the load is higher than the preset value, the first electric drive component, the second electric drive component and the transmission component that drives the hydraulic drive component are controlled to rotate at the rotation speed corresponding to the target speed of the load, so as to ensure that the anti-drag torque of the hydraulic drive component is constant and the load is steadily reduced. When it is determined that the gravity value of the load is higher than the preset value, and the pressure value of the hydraulic accumulator driving the hydraulic drive component is lower than the preset threshold, or the reverse drag torque of the hydraulic drive component cannot be kept constant by changing the displacement and opening of the hydraulic drive component, the first electric drive component and the transmission component driving the hydraulic drive component are controlled to rotate at the speed corresponding to the target speed of the load, so as to ensure that the reverse drag torque of the hydraulic drive component is constant and the load is steadily reduced.

6. The electro-hydraulic composite recycling and regeneration integrated hoisting system according to claim 1, characterized in that, The first electric drive assembly includes a power battery, a first motor controller, and an electric generator. The electric generator is coaxially mechanically connected to the transmission assembly and the hydraulic drive assembly. The power battery is electrically connected to the first motor controller. The output terminal of the first 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 first motor controller.

7. The electro-hydraulic composite recycling and regeneration integrated hoisting system according to claim 6, characterized in that, The second electric drive assembly includes a second motor controller and a motor, wherein the motor is coaxially mechanically connected to the hydraulic drive assembly, the output terminal of the second motor controller is electrically connected to the control terminal of the motor, the output terminal of the assembly controller is electrically connected to the control terminal of the second motor controller, and the power battery is electrically connected to the second motor controller.

8. The electro-hydraulic composite recycling and regeneration integrated hoisting system according to claim 1, characterized in that, The sensing assembly includes a first pressure sensor disposed at the outlet of the variable hydraulic pump, a second pressure sensor disposed at the outlet of the hydraulic accumulator, a third pressure sensor disposed at the second interface of the variable hydraulic pump motor, a fourth pressure sensor disposed at the first interface of the variable hydraulic pump motor, and a fifth pressure sensor at the connection between the load and the transmission assembly. The variable hydraulic pump's third outlet is connected to the first pressure sensor, the hydraulic accumulator's fourth outlet is connected to the second pressure sensor, the variable hydraulic pump motor's second port, the third pressure sensor, the third relief valve's inlet, the first replenishing check valve's second port, and the two-position three-way solenoid directional valve's second port are connected in pairs, the variable hydraulic pump motor's first port, the fourth pressure sensor, the fourth relief valve's inlet, the second replenishing check valve's second port, and the three-position four-way solenoid directional valve's second port are connected in pairs, and the outputs of the first pressure sensor, the second pressure sensor, the third pressure sensor, the fourth pressure sensor, and the fifth pressure sensor are electrically connected to the assembly controller's input.

9. The electro-hydraulic composite recycling and regeneration integrated hoisting system according to claim 1, characterized in that, The sensing assembly further includes a speed sensor, a torque sensor, and a displacement sensor disposed at the connection between the load and the transmission assembly. The shaft ends of the electric generator and the transmission assembly are connected to the speed sensor and the torque sensor, and the output ends of the speed sensor, the torque sensor, and the displacement sensor are electrically connected to the input end of the assembly controller.

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