Hydraulic-electric cooperative driving and energy regeneration integrated winch system and control method

Abstract

The invention belongs to the technical field of winch driving, and particularly discloses a hydraulic-electric cooperative driving and energy regeneration integrated winch system and a control method.The winch system comprises a winch speed reducer, an electric driving unit, a hydraulic driving unit and a control unit; the winch speed reducer is connected with a heavy object through a traction rope; the electric drive unit is respectively and mechanically connected with the winding speed reducer and the hydraulic drive unit; the control unit is in communication connection with a winch speed reducer, the electric drive unit and the hydraulic drive unit. The dynamic response speed is increased through a motor generator, low-speed large-torque output is achieved through a hydraulic system, and the dynamic response speed is increased by actively controlling the rotating speed of the motor generator in the electric drive unit, adjusting the output torque of a variable hydraulic pump motor in the hydraulic drive unit and conducting hydraulic-electric composite energy regulation and control. Effective driving and energy regeneration in the operation process are achieved, and motion characteristics and controllability are optimized. In addition, by reducing the complexity of the whole structure, the controllability is further improved, and the energy loss is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of hoisting drive, and more specifically, relates to a hydraulic-electric coordinated drive and energy regeneration integrated hoisting system and a control method. Background Art

[0002] Currently, the construction machinery industry is facing severe energy and environmental challenges. Climate change caused by high energy consumption and high carbon emissions, increasingly depleted fuel resources, waste disposal problems, noise and air pollution, etc., constitute an energy and environmental crisis that needs to be solved urgently. In response to these challenges, the Chinese government has issued a series of policies to promote green development in the construction machinery industry, promote energy conservation and emission reduction of construction machinery products, strengthen environmental protection supervision and policy support, and promote the industry's transformation to green and low-carbon.

[0003] The winch system of construction machinery is a key equipment for lifting and material handling. It drives the drum to rotate through a motor or hydraulic system to wind the rope or chain, thereby lifting and lowering heavy objects. The system is widely used in many fields such as construction, water conservancy, ports, factories, etc. due to its compact structure, convenient operation, high versatility, large lifting capacity, easy transfer and simple maintenance. The working characteristics of the engineering machinery winch system in the prior art include the diversity of recoverable potential energy and precise control of the lifting position of heavy objects. For example, the Chinese patent application with document number CN115744699A discloses a dual-power winch system, a control method and a pile-driving machine, wherein the dual-power winch system includes an engine, a hydraulic motor for driving the winch assembly, a control valve group for controlling the hydraulic motor, a main pump that supplies oil to the control valve group and is driven by the engine, a generator driven by the engine and connected to the power battery, a brake for braking the winch assembly, an operating handle, a motor, etc. The motor is connected to the power battery and is used to drive the winch assembly or be towed back to generate electricity; the controller controls the working mode of the brake and the motor according to the winding signal or unwinding signal of the operating handle, and controls the working state of the hydraulic motor through the control valve group according to the load condition of the motor.

[0004] The winch system of the above patent uses dual power to absorb the reduced potential energy under the working device through the motor during the unwinding operation, thereby realizing energy recovery and reducing the heating of the hydraulic system. However, the hydraulic accumulator in the traditional hydraulic-driven winch system has the problem of low energy density, which makes it difficult to effectively recover a large amount of potential energy, and relies on the engine as an energy source, which will produce significant energy pollution during the working process; in addition, the traditional electric-driven winch system has poor controllability under near-zero speed and high torque conditions, high energy consumption, and is difficult to meet the needs of precise control. At the same time, its power density is low, and it needs to occupy a large installation space to meet the working requirements. Therefore, it is urgent to explore new technical routes to improve the performance, efficiency and controllability of the winch system to cope with the increasingly severe energy and environmental challenges. Summary of the invention

[0005] In view of the above defects or improvement needs of the prior art, the present invention provides a hydraulic-electric coordinated drive and energy regeneration integrated hoisting system and control method, which improves the dynamic response speed of the overall system by utilizing the excellent control characteristics of the electric motor, and realizes the efficient output of low-speed and high torque by means of the high power density output of the hydraulic drive system, thereby promoting multi-quadrant coordinated control between the electric generator and the variable hydraulic pump motor by actively controlling the speed of the electric generator in the electric drive unit and adjusting the active output torque of the variable hydraulic pump motor in the liquid drive unit, so that the entire system has excellent motion characteristics and good controllability; secondly, through the continuous charging and discharging capability of the high energy density power battery in the electric drive unit, and the strong instantaneous input and output power of the multiple high power density accumulators and hydraulic pumps in the liquid drive unit, and using the method of hydraulic-electric composite energy control, effective driving and energy regeneration are realized during the hoisting and lifting process, and the overall structural complexity of the system is effectively reduced, the controllability of the system is significantly improved, while its work efficiency is improved and energy loss is reduced.

[0006] In order to achieve the above-mentioned object, the present invention provides, on one hand, a hydraulic-electric coordinated drive and energy regeneration integrated hoisting system, comprising: a hoisting reducer, an electric drive unit, a hydraulic drive unit and a control unit; wherein:

[0007] The winch reducer is connected to the weight through a traction rope, and is used to transmit the stable torque transmitted by the electric drive unit to achieve the control of the movement state of the weight, including rising, falling and braking, by winding or releasing the traction rope;

[0008] The electric drive unit is used to stably drive the winch reducer, and includes: a power battery, a first electric generator and a second electric generator electrically connected to the power battery, and the second electric generator is mechanically connected to the winch reducer and the hydraulic drive unit respectively;

[0009] The hydraulic drive unit is used to assist the electric drive unit in outputting torque and recovering energy, and includes: the first variable hydraulic pump motor coaxially connected to the first electric generator, and the second variable hydraulic pump motor coaxially connected to the second electric generator and the winch reducer;

[0010] The control unit is communicatively connected with the winch reducer, the electric drive unit and the hydraulic drive unit respectively, and realizes effective drive and energy regeneration during operation by actively controlling the speed of the electric generator in the electric drive unit and adjusting the output torque of the variable hydraulic pump motor in the hydraulic drive unit, as well as hydraulic-electric composite energy regulation, and improves controllability and reduces energy loss by reducing the overall structural complexity.

[0011] Furthermore, the electric drive unit further includes: a first motor controller and a second motor controller; wherein:

[0012] The power battery is electrically connected to the first motor controller, the first electric generator, the second motor controller and the second electric generator respectively; the first motor controller is electrically connected to the first electric generator and is communicatively connected to the control unit; the second motor controller is electrically connected to the second electric generator and is communicatively connected to the control unit.

[0013] Furthermore, the power battery is a lithium battery and has charging and discharging functions;

[0014] The first motor generator and the second motor generator are permanent magnet synchronous motors and have both a motor mode and a generator mode.

[0015] Furthermore, the hydraulic drive unit also includes: a high-pressure accumulator, a low-pressure accumulator, a first two-position three-way solenoid reversing valve, a second two-position three-way solenoid reversing valve, a first two-position two-way solenoid reversing valve, a second two-position two-way solenoid reversing valve, a first check valve, a hydraulic oil tank, a second check valve, a first overflow valve, a second overflow valve, a first pressure sensor, a second pressure sensor, a third pressure sensor and a fourth pressure sensor; wherein the first variable hydraulic pump motor is mechanically connected to the first electric generator, and its outlet is connected to the first two-position three-way solenoid reversing valve The A port of the second variable hydraulic pump motor, the B port of the first two-position two-way electromagnetic reversing valve, the B port of the first check valve and the oil inlet of the first relief valve are connected in pairs; the B port of the second variable hydraulic pump motor, the B port of the second two-position two-way electromagnetic reversing valve, the B port of the second check valve and the oil inlet of the second relief valve are connected in pairs; the outlet of the high-pressure accumulator is connected to the T port of the first two-position two-way electromagnetic reversing valve, and the outlet thereof is provided with the third pressure sensor; the outlet of the low-pressure accumulator is connected to the second The A port of the two-position three-way solenoid reversing valve is connected, and the fourth pressure sensor is arranged at its outlet; the B port of the first two-position three-way solenoid reversing valve is connected to the A port of the first two-position two-way solenoid reversing valve; the B port of the second two-position three-way solenoid reversing valve is connected to the A port of the second two-position two-way solenoid reversing valve; the hydraulic oil tank is respectively connected to the oil inlet of the first variable hydraulic pump motor, the T port of the second two-position three-way solenoid reversing valve, the A port of the first check valve, the A port of the second check valve, the outlet of the first overflow valve and the outlet of the second overflow valve; the A port and the B port of the second variable hydraulic pump motor are respectively provided with the first pressure sensor and the second pressure sensor; the first variable hydraulic pump motor, the second variable hydraulic pump motor, the first two-position three-way solenoid reversing valve, the second two-position three-way solenoid reversing valve, the first two-position two-way solenoid reversing valve, the second two-position two-way solenoid reversing valve, the first pressure sensor, the second pressure sensor, the third pressure sensor and the fourth pressure sensor are respectively connected to the control unit for communication.

[0016] Furthermore, the first variable hydraulic pump-motor and the second variable hydraulic pump-motor both include a hydraulic pump mode and a motor mode.

[0017] Furthermore, the control unit includes: an assembly controller and a control handle; the assembly controller is respectively communicated with the first motor controller, the first variable hydraulic pump motor, the second variable hydraulic pump motor, the second motor controller, the first two-position three-way solenoid reversing valve, the second two-position three-way solenoid reversing valve, the first two-position two-way solenoid reversing valve, the second two-position two-way solenoid reversing valve, the first pressure sensor, the second pressure sensor, the third pressure sensor, the fourth pressure sensor and the control handle.

[0018] Furthermore, the winch reducer also includes a speed sensor, which can collect the rising or falling speed of the traction rope and send the collected signal to the assembly controller;

[0019] The hydraulic oil tank also includes a liquid level sensor and a fifth pressure sensor, which can respectively collect the hydraulic oil level and pressure value in the hydraulic oil tank and send the collected signals to the assembly controller.

[0020] Another aspect of the present invention provides a control method for a hydraulic-electric coordinated drive and energy regeneration integrated hoisting system, which is implemented by applying the hoisting system as described above, and comprises the following steps:

[0021] S1: The assembly controller receives active instructions from the control handle in real time, analyzes the operator's goals, and determines the subsequent motion state and speed requirements of the heavy object; at the same time, the assembly controller receives the collected signals from the first motor controller, the second motor controller and multiple sensors in real time to determine the current motion state and speed of the heavy object;

[0022] S2: When the assembly controller receives an active instruction from the control handle and determines that the subsequent movement state of the weight is rising, the assembly controller sends a signal to the electric drive unit and the hydraulic drive unit, so that the first variable hydraulic pump motor is in a hydraulic pump state, the second variable hydraulic pump motor is in a hydraulic motor state, and the first electric generator and the second electric generator are in a motor state. After that, the speed signal value is output to the second motor controller, so that the second electric generator outputs a target speed value and drives the second variable hydraulic pump motor to output the same speed;

[0023] S3: When the assembly controller receives an active instruction from the control handle and determines that the subsequent movement state of the heavy object is descending, the assembly controller sends a signal to the electric drive unit and the hydraulic drive unit, so that the first variable hydraulic pump motor is in a hydraulic motor working state, the second variable hydraulic pump motor is in a hydraulic pump working state, and the first electric generator and the second electric generator are in a generator state, and then outputs a speed signal value to the second motor controller, so that the second electric generator outputs a target speed value and drives the second variable hydraulic pump motor to output the same speed;

[0024] S4: When the assembly controller does not receive an active instruction from the control handle and determines that the subsequent movement state of the heavy object is braking, the assembly controller controls the second electric generator to be in a zero speed state through the second motor controller, and at the same time, controls the first two-position two-way solenoid reversing valve and the second two-position two-way solenoid reversing valve to be de-energized and in the right position, so that the hydraulic unit is in a locked state, and then the second electric generator is in a zero torque mode to remove the torque, and the internal brake device of the winch reducer is braked;

[0025] S5: According to the operation requirements and environment, steps S2 to S4 are performed alternately to complete the lifting of the heavy object.

[0026] Further, in step S2, the power battery is used as the main energy source of the hoisting system, the first variable hydraulic pump motor is in the hydraulic pump working state, the second variable hydraulic pump motor is in the hydraulic motor working state, and the first electric generator and the second electric generator are in the motor state; at the same time, when the second variable hydraulic pump motor rotates in coordination with the second electric generator, the assembly controller controls the first two-position three-way solenoid reversing valve to be de-energized and in the right position, and the second two-position three-way solenoid reversing valve, the first two-position two-way solenoid reversing valve, and the second two-position two-way solenoid reversing valve to be energized and in the left position, so that the hydraulic oil in the high-pressure accumulator passes through the first two-position three-way solenoid reversing valve and the first two-position two-way solenoid reversing valve to reach the A port of the second variable hydraulic pump motor respectively, and after being reduced in pressure, flows from the B port of the second variable hydraulic pump motor through the second two-position two-way solenoid reversing valve and the second two-position three-way solenoid reversing valve and returns to the low-pressure accumulator; wherein:

[0027] When the hydraulic oil pressure at the outlet of the high-pressure accumulator is lower than the set threshold pressure, the assembly controller controls the first two-position three-way solenoid reversing valve to be energized in the left position, and the first motor controller controls the first electric generator to output a certain power to drive the first variable hydraulic pump motor and the hydraulic oil tank to provide hydraulic energy for the second variable hydraulic pump motor;

[0028] When the hydraulic oil pressure at the outlet of the low-pressure accumulator is higher than the set threshold pressure, the assembly controller controls the second two-position three-way solenoid reversing valve to be de-energized and in the right position, so that the hydraulic oil in the passage flows back to the hydraulic oil tank.

[0029] Furthermore, the power battery serves as the main energy source of the hoisting system, the first variable hydraulic pump motor is in a hydraulic motor working state, the second variable hydraulic pump motor is in a hydraulic pump working state, and the first electric generator and the second electric generator are in a generator state; at the same time, when the second variable hydraulic pump motor rotates in coordination with the second electric generator, the assembly controller controls the first two-position three-way solenoid reversing valve to be de-energized and in the right position, and the second two-position three-way solenoid reversing valve, the first two-position two-way solenoid reversing valve, and the second two-position two-way solenoid reversing valve to be energized and in the left position, so that the hydraulic oil in the low-pressure accumulator passes through the second two-position three-way solenoid reversing valve and the second two-position two-way solenoid reversing valve to reach the B port of the second variable hydraulic pump motor, and after being pressurized, flows from the A port of the second variable hydraulic pump motor through the first two-position two-way solenoid reversing valve and the first two-position three-way solenoid reversing valve and then returns to the high-pressure accumulator; wherein:

[0030] When the hydraulic oil pressure at the outlet of the low-pressure accumulator is lower than the set threshold pressure, the assembly controller controls the second two-position three-way solenoid reversing valve to be energized in the right position, so that the hydraulic oil tank directly provides hydraulic energy to the second variable hydraulic pump motor;

[0031] When the hydraulic oil pressure at the outlet of the high-pressure accumulator is higher than the set threshold pressure, the assembly controller controls the first two-position three-way solenoid reversing valve to be energized in the left position, so that the hydraulic oil in the passage flows through the first variable hydraulic pump motor and then returns to the hydraulic oil tank, thereby enabling the first variable hydraulic pump motor to drive the first electric generator to rotate to generate electricity and recover energy to the power battery, and maintaining a certain back pressure by controlling the displacement of the first variable hydraulic pump motor.

[0032] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0033] 1. The winch system of the present invention improves the dynamic response speed of the overall system by utilizing the excellent control characteristics of the electric motor, and realizes the efficient output of low-speed and high torque by means of the high power density output of the hydraulic drive system, thereby promoting multi-quadrant coordinated control between the electric generator and the variable hydraulic pump motor by actively controlling the rotation speed of the electric generator in the electric drive unit and adjusting the active output torque of the variable hydraulic pump motor in the liquid drive unit, so that the entire system has excellent motion characteristics and good controllability; secondly, through the continuous charging and discharging capability of the high energy density power battery in the electric drive unit, and the strong instantaneous input and output power of the multiple high power density accumulators and hydraulic pumps in the liquid drive unit, and using the method of liquid-electric composite energy control, effective driving and energy regeneration are realized during the winch lifting process, and the overall structural complexity of the system is effectively reduced, while the system controllability is significantly improved, its working efficiency is improved, and energy loss is reduced.

[0034] 2. The hoisting system of the present invention is powered by the power battery to ensure stable operation of the electric drive unit; secondly, the output torque of the first electric generator and the second electric generator are controlled respectively by the first motor controller and the second motor controller, and at the same time, the first motor controller and the second motor controller are connected to the control unit through communication to transmit the real-time collected motor speed and torque signals to the control unit, thereby making full use of the excellent control characteristics of the electric motor to improve the dynamic response speed of the overall system to ensure stable operation of the hoisting reducer and the hydraulic drive unit during the operation of the hoisting system.

[0035] 3. The winch system of the present invention monitors the hydraulic pressure in the middle section of the hydraulic unit through the first pressure sensor and the second pressure sensor, and monitors the hydraulic pressure at both ends of the hydraulic unit through the third pressure sensor and the fourth pressure sensor, respectively, so as to fully obtain the internal working state of the hydraulic drive unit, and is used for the control unit to determine the working mode of the winch system, so as to control the first two-position three-way solenoid reversing valve, the second two-position three-way solenoid reversing valve, the first two-position two-way solenoid reversing valve and the second two-position two-way solenoid reversing valve through the control unit to control the changes in the internal oil circuit of the hydraulic unit, and control the first variable hydraulic pump motor and the second variable hydraulic pump motor to actively output a constant proportional torque, so as to achieve the coordinated operation requirements of the heavy object and energy regeneration with the electric drive unit, thereby reducing energy consumption.

[0036] 4. The winch system of the present invention inputs the collected signals of the first motor controller, the second motor controller, the first pressure sensor, the second pressure sensor, the third pressure sensor and the fourth pressure sensor and the active instructions of the control handle as input signals into the assembly controller, and outputs signals to the first motor controller, the second motor controller, the first variable hydraulic pump motor, the second variable hydraulic pump motor, the first two-position three-way solenoid reversing valve, the second two-position three-way solenoid reversing valve, the first two-position two-way solenoid reversing valve and the second two-position two-way solenoid reversing valve through the assembly controller to coordinate the electric drive unit and the liquid drive unit to complete the lifting operation of the heavy object, and, according to the specific collected signals and the active instructions, the assembly controller can be guided by the best energy saving and controllability, select the best operating mode in the electric drive unit and the liquid drive unit respectively, and switch in real time during the working process to achieve the purpose of combining controllability and energy saving.

[0037] 5. The hoisting system of the present invention effectively reduces production costs by simplifying the design and manufacturing of the electric drive unit and the hydraulic drive unit. At the same time, it reduces energy losses by reducing intermediate links and effectively improves the overall response speed of the hoisting system, thereby improving the controllability of the hoisting system. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the principle of the hydraulic-electric coordinated drive and energy regeneration integrated winch system according to an embodiment of the present invention;

[0039] Figure 2 It is a schematic diagram of the steps of the control method of the hydraulic-electric coordinated drive and energy regeneration integrated winch system according to an embodiment of the present invention;

[0040] Figure 3 It is a schematic diagram of the structure of the assembly controller according to an embodiment of the present invention.

[0041] In all the drawings, the same reference numerals represent the same technical features, specifically:

[0042] 1-assembly controller, 2-power battery, 3-first motor controller, 4-first electric generator, 5-first variable hydraulic pump motor, 6-second variable hydraulic pump motor, 7-second motor controller, 8-second electric generator, 9-high-pressure accumulator, 10-low-pressure accumulator, 11-first two-position three-way solenoid reversing valve, 12-second two-position three-way solenoid reversing valve, 13-first two-position two-way solenoid reversing valve, 14-second two-position two-way solenoid reversing valve, 15-first one-way valve, 16-hydraulic oil tank, 17-second one-way valve, 18-first overflow valve, 19-second overflow valve, 20-winch reducer, 21-weight, 22-first pressure sensor, 23-second pressure sensor, 24-third pressure sensor, 25-fourth pressure sensor, 26-control handle, 101-processor, 102-communication bus, 103-user interface, 104-network interface, 105-memory. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0044] Example 1

[0045] like Figure 1As shown, embodiment 1 of the present invention provides an integrated winch system of hydraulic-electric cooperative drive and energy regeneration, including: a winch reducer 20, an electric drive unit, a hydraulic drive unit and a control unit; the winch reducer 20 is connected to a weight 21 through a traction rope; the electric drive unit is mechanically connected to the winch reducer 20 and the hydraulic drive unit respectively; the control unit is communicatively connected to the winch reducer 20, the electric drive unit and the hydraulic drive unit respectively; the winch system of the present invention improves the dynamic response speed of the overall system by utilizing the excellent control characteristics of the electric generator, and realizes the efficient output of low speed and high torque by means of the high power density output of the hydraulic drive system, thereby controlling the electric motor in the electric drive unit The active control of the generator speed and the adjustment of the active output torque of the variable hydraulic pump motor in the liquid drive unit promote the multi-quadrant coordinated control between the electric generator and the variable hydraulic pump motor, so that the whole system has excellent motion characteristics and good controllability; secondly, through the continuous charging and discharging capability of the high energy density power battery 2 in the electric drive unit, and the strong instantaneous input and output power of the multiple high power density accumulators and hydraulic pumps in the liquid drive unit, and the use of the liquid-electric composite energy control method, effective driving and energy regeneration in the hoisting and lifting process are realized, and the overall structural complexity of the system is effectively reduced, which significantly improves the system controllability while improving its work efficiency and reducing energy loss.

[0046] Specifically, the winch reducer 20 is connected to the weight 21 through a traction rope, and is used to transfer the stable torque transmitted by the electric drive unit to achieve control of the movement state of the weight 21 including rising, falling and braking by winding or releasing the traction rope.

[0047] Preferably, one end of the traction rope is detachably connected to the winch reducer, and the other end is detachably connected to the weight 21, and the traction rope is mainly made of a plurality of steel wire ropes or synthetic fiber ropes. It should be noted that in other embodiments, traction ropes made of other materials may also be used, which are not specifically limited here, but these solutions are within the protection scope of the present invention.

[0048] Preferably, the winch reducer 20 further includes a braking device, which is communicatively connected to the control unit and includes a mechanical brake or an electromagnetic brake to achieve stable braking of the winch reducer 20. It should be noted that in other embodiments, other types of braking devices may also be used, which are not specifically limited here, but these solutions are within the protection scope of the present invention.

[0049] Specifically, the electric drive unit is mechanically connected to the winch reducer 20 and the liquid drive unit respectively, so as to stably drive the winch reducer 20 and stably recover energy during the descent of the weight 21, and at the same time, improve the dynamic response speed of the overall system. The electric drive unit includes: a power battery 2, a first motor controller 3, a first electric generator 4, a second motor controller 7 and a second electric generator 8; the power battery 2 is electrically connected to the first motor controller 3, the first electric generator 4, the second motor controller 7 and the second electric generator 8 respectively; the first motor controller 3 is electrically connected to the first electric generator 4 and is communicatively connected to the control unit; the first electric generator 4 is mechanically connected to the liquid drive unit; the second motor controller 7 is electrically connected to the second electric generator 8 and is communicatively connected to the control unit; the second electric generator 8 is mechanically connected to the winch reducer 20 and the liquid drive unit respectively. During use, the power battery 2 is used to supply energy to ensure stable operation of the electric drive unit; secondly, the output torques of the first electric generator 4 and the second electric generator 8 are respectively controlled by the first motor controller 3 and the second motor controller 7. At the same time, the first motor controller 3 and the second motor controller 7 are connected to the control unit through communication to transmit the real-time collected motor speed and torque signals to the control unit, thereby making full use of the excellent control characteristics of the electric motor to improve the dynamic response speed of the overall system to ensure the stable operation of the winch reducer 20 and the hydraulic drive unit during the operation of the winch system.

[0050] Preferably, the power battery 2 is a lithium battery with charging and discharging functions, which is communicatively connected to the control unit and electrically connected to the external power supply, and is used to receive energy from the external power supply through the control unit when its reserve power is lower than a threshold value, so as to ensure the stable operation of the electric drive unit. It should be noted that in other embodiments, other types of power batteries can also be used, which are not specifically limited here, but these solutions are all within the protection scope of the present invention.

[0051] Preferably, the first motor generator 4 and the second motor generator 8 are permanent magnet synchronous motors and have both motor mode and generator mode, so as to stabilize the output torque and recover and transmit energy to the power battery 2. It should be noted that in other embodiments, other types of motor generators may also be used, which are not specifically limited here, but these solutions are within the protection scope of the present invention.

[0052] Preferably, the second electric generator 8 is coaxially connected to the winch reducer 20 to make the overall layout more compact. At the same time, direct drive is adopted to reduce intermediate links and energy losses.

[0053] Specifically, the hydraulic drive unit is mechanically connected to the electric drive unit and is communicatively connected to the control unit, so as to assist the electric drive unit in outputting torque and recovering energy. The hydraulic drive unit includes: a first variable hydraulic pump motor 5, a second variable hydraulic pump motor 6, a high-pressure accumulator 9, a low-pressure accumulator 10, a first two-position three-way solenoid reversing valve 11, a second two-position three-way solenoid reversing valve 12, a first two-position two-way solenoid reversing valve 13, a second two-position two-way solenoid reversing valve 14, a first non-return valve 15, a hydraulic oil tank 16, a second non-return valve 17, a first overflow valve 18, a second overflow valve 19, a first pressure sensor 22, a second pressure sensor 23, a third pressure sensor 24 and a fourth pressure sensor 25; wherein, the first variable hydraulic pump motor 5 is mechanically connected to the first electric generator 4, Its outlet is connected to the A port of the first two-position three-way electromagnetic reversing valve 11; the A port of the second variable hydraulic pump motor 6, the B port of the first two-position two-way electromagnetic reversing valve 13, the B port of the first check valve 15 and the oil inlet of the first overflow valve 18 are connected in pairs; the B port of the second variable hydraulic pump motor 6, the B port of the second two-position two-way electromagnetic reversing valve 14, the B port of the second check valve 17 and the oil inlet of the second overflow valve 19 are connected in pairs; the outlet of the high-pressure accumulator 9 is connected to the T port of the first two-position two-way electromagnetic reversing valve 11, and the outlet of the high-pressure accumulator 9 is provided with the third pressure sensor 24; the low-pressure accumulator The outlet of the device 10 is connected to the A port of the second two-position three-way solenoid reversing valve 12, and the outlet thereof is provided with the fourth pressure sensor 25; the B port of the first two-position three-way solenoid reversing valve 11 is connected to the A port of the first two-position two-way solenoid reversing valve 13; the B port of the second two-position three-way solenoid reversing valve 12 is connected to the A port of the second two-position two-way solenoid reversing valve 14; the hydraulic oil tank 16 is respectively connected to the oil inlet of the first variable hydraulic pump motor 5, the T port of the second two-position three-way solenoid reversing valve 12, the A port of the first check valve 15, the A port of the second check valve 17, the outlet of the first overflow valve 18 and The outlet connection of the second overflow valve 19; the A port and the B port of the second variable hydraulic pump motor 6 are respectively provided with the first pressure sensor 22 and the second pressure sensor 23; the first variable hydraulic pump motor 5, the second variable hydraulic pump motor 6, the first two-position three-way solenoid reversing valve 11, the second two-position three-way solenoid reversing valve 12, the first two-position two-way solenoid reversing valve 13, the second two-position two-way solenoid reversing valve 14, the first pressure sensor 22, the second pressure sensor 23, the third pressure sensor 24 and the fourth pressure sensor 25 are respectively communicated with the control unit.During use, the hydraulic pressure in the middle section of the hydraulic unit is monitored by the first pressure sensor 22 and the second pressure sensor 23, and the hydraulic pressure at both ends of the hydraulic unit is monitored by the third pressure sensor 24 and the fourth pressure sensor 25, so as to fully obtain the internal working state of the hydraulic drive unit, and is used for the control unit to determine the working mode of the winch system, so that the first two-position three-way solenoid reversing valve 11, the second two-position three-way solenoid reversing valve 12, the first two-position two-way solenoid reversing valve 13 and the second two-position two-way solenoid reversing valve 14 are regulated by the control unit to regulate the changes in the internal oil circuit of the hydraulic unit, and the first variable hydraulic pump motor 5 and the second variable hydraulic pump motor 6 are regulated to actively output a constant proportional torque, so as to achieve the coordinated operation requirements of the heavy object 21 and energy regeneration with the electric drive unit, thereby reducing energy consumption.

[0054] It should be understood that the pressures at ports A and B of the second variable hydraulic pump motor 6 are monitored by the first pressure sensor 22 and the second pressure sensor 23 respectively; the pressure of the high-pressure accumulator 9 is monitored by the third pressure sensor 24; and the pressure of the low-pressure accumulator 10 is monitored by the fourth pressure sensor 25.

[0055] Preferably, the first variable hydraulic pump motor 5 and the second variable hydraulic pump motor 6 both include a hydraulic pump mode and a motor mode, which are used to adjust the output flow and pressure through their displacement, thereby adjusting the speed and load of the first electric generator 4 and the second electric generator 8 and reducing energy consumption.

[0056] Preferably, the first variable hydraulic pump motor 5 is coaxially connected to the first electric generator 4 to make the overall layout more compact. At the same time, direct drive is adopted to reduce intermediate links and energy losses.

[0057] Preferably, the second variable hydraulic pump motor 6, the second electric generator 8 and the winch reducer 20 are coaxially connected to make the overall layout more compact. At the same time, direct drive is adopted to reduce intermediate links and energy losses.

[0058] Preferably, the power battery 2 is electrically connected to the electrical components in the liquid drive unit respectively to ensure stable functions.

[0059] Specifically, the control unit is respectively connected to the winch reducer 20, the electric drive unit and the hydraulic drive unit for overall control of the winch system operation process. The control unit includes: an assembly controller 1 and a control handle 26; the assembly controller 1 is respectively connected to the first motor controller 3, the first variable hydraulic pump motor 5, the second variable hydraulic pump motor 6, the second motor controller 7, the first two-position three-way solenoid reversing valve 11, the second two-position three-way solenoid reversing valve 12, the first two-position two-way solenoid reversing valve 13, the second two-position two-way solenoid reversing valve 14, the first pressure sensor 22, the second pressure sensor 23, the third pressure sensor 24, the fourth pressure sensor 25 and the control handle 26. During use, the collected signals of the first motor controller 3, the second motor controller 7, the first pressure sensor 22, the second pressure sensor 23, the third pressure sensor 24 and the fourth pressure sensor 25 and the active command of the control handle 26 are input as input signals to the assembly controller 1, and the assembly controller 1 outputs signals to the first motor controller 3, the second motor controller 7, the first variable hydraulic pump motor 5, the second variable hydraulic pump motor 6, the first two-position three-way solenoid reversing valve 11, the second two-position three-way solenoid reversing valve 12, the first two-position two-way solenoid reversing valve 13 and the second two-position two-way solenoid reversing valve 14 to coordinate the electric drive unit and the liquid drive unit to complete the lifting operation of the heavy object 21, and, according to the specific collected signals and the active commands, the assembly controller 1 can be guided by the best energy saving and controllability, select the best operating mode in the electric drive unit and the liquid drive unit respectively, and switch in real time during the working process, so as to achieve the purpose of both controllability and energy saving.

[0060] It can be understood that the first pressure sensor 22 and the second pressure sensor 23 respectively collect the hydraulic oil pressure values ​​of port A and port B of the second variable hydraulic pump motor 6 in real time, the third pressure sensor 24 collects the hydraulic oil pressure value of the high-pressure accumulator 9 outlet in real time, and the fourth pressure sensor 25 collects the hydraulic oil pressure value of the low-pressure accumulator 10 outlet in real time.

[0061] In an optional embodiment, the winch reducer 20 also includes a speed sensor, which can detect the rising or falling speed of the traction rope and send the collected signal to the assembly controller 1 to further strengthen the monitoring of the movement state of the weight 21 and ensure the safety of the winch system.

[0062] In an optional embodiment, the hydraulic oil tank 16 also includes a liquid level sensor and a fifth pressure sensor, which can respectively collect the hydraulic oil level and pressure value in the hydraulic oil tank 16 and send the collected signals to the assembly controller 1 to enhance the safety of the winch system.

[0063] It can be understood that, in the control unit, the assembly controller 1 is a passive controller, which receives relevant instructions from the control handle 26 and the collected signals to control the working states of the electric drive unit and the hydraulic drive unit; the control handle 26 is an active controller, which converts relevant instructions from construction personnel into input signals and transmits them to the assembly controller 1. The control handle 26 includes at least function buttons such as rise, fall, stop and speed regulation, and respectively realizes the rise, fall, hovering and movement speed control of the heavy object 21.

[0064] It can be understood that the internal structure of the electric drive unit and the hydraulic drive unit is simple, which simplifies the design and manufacturing and effectively reduces the production cost. At the same time, by reducing the intermediate links, energy loss is reduced, and the overall response speed of the winch system is effectively improved, thereby improving the controllability of the winch system.

[0065] Example 2

[0066] like Figures 1 to 3 As shown, based on Example 1, Example 2 of the present invention provides a control method for a hydraulic-electric coordinated drive and energy regeneration integrated hoisting system, comprising the following steps:

[0067] S1: The assembly controller 1 receives active instructions from the control handle 26 in real time, analyzes the operator's goals, and determines the subsequent motion state and speed requirements of the weight 21; at the same time, the assembly controller 1 receives the collected signals from the first motor controller 3, the second motor controller 7 and multiple sensors in real time to determine the current motion state and speed of the weight 21;

[0068] S2: When the assembly controller 1 receives the active instruction of the control handle 26 and determines that the subsequent movement state of the weight 21 is rising, the assembly controller 1 sends a signal to the electric drive unit and the hydraulic drive unit, so that the first variable hydraulic pump motor 5 is in the hydraulic pump state, the second variable hydraulic pump motor 6 is in the hydraulic motor state, and the first electric generator 4 and the second electric generator 8 are in the motor state. After that, the speed signal value is output to the second motor controller 7, so that the second electric generator 8 outputs the target speed value, and drives the second variable hydraulic pump motor 6 to output the same speed;

[0069] S3: When the assembly controller 1 receives an active instruction from the control handle 26 and determines that the subsequent movement state of the weight 21 is descending, the assembly controller 1 sends a signal to the electric drive unit and the hydraulic drive unit, so that the first variable hydraulic pump motor 5 is in a hydraulic motor working state, the second variable hydraulic pump motor 6 is in a hydraulic pump working state, and the first electric generator 4 and the second electric generator 8 are in a generator state. After that, the speed signal value is output to the second motor controller 7, so that the second electric generator 8 outputs a target speed value and drives the second variable hydraulic pump motor 6 to output the same speed;

[0070] S4: When the assembly controller 1 does not receive the active command of the control handle 26 and determines that the subsequent movement state of the weight 21 is braking, the assembly controller 1 controls the second electric generator 8 to be in a zero speed state through the second motor controller 7, and at the same time, controls the first two-position two-way electromagnetic reversing valve 13 and the second two-position two-way electromagnetic reversing valve 14 to be de-energized and both in the right position, so that the hydraulic unit is in a locked state, and then the second electric generator 8 is in a zero torque mode to remove the torque, and the internal brake device of the winch reducer 20 is braked;

[0071] S5: According to the operation requirements and environment, steps S2 to S4 are performed alternately to complete the lifting of the heavy object 21.

[0072] Specifically, the multiple sensors in step S1 include: a first pressure sensor 22, a second pressure sensor 23, a third pressure sensor 24, a fourth pressure sensor 25, a speed sensor in the winch reducer 20, a liquid level sensor in the hydraulic oil tank 16, and a fifth pressure sensor, which are used to achieve all-round monitoring of the operating status of the winch system, improve safety and reduce maintenance difficulty.

[0073] Specifically, in step S2, the power battery 2 serves as the main energy source of the hoisting system, the first variable hydraulic pump motor 5 is in the hydraulic pump working state, the second variable hydraulic pump motor 6 is in the hydraulic motor working state, and the first electric generator 4 and the second electric generator 8 are in the motor state; at the same time, when the second variable hydraulic pump motor 6 is rotating in coordination with the second electric generator 8, the assembly controller 1 controls the first two-position three-way solenoid reversing valve 11 to be de-energized and in the right position, and the second two-position three-way solenoid reversing valve 12, the first two-position two-way solenoid reversing valve 13, and the second two-position two-way solenoid reversing valve 14 to be energized and in the left position, so that the hydraulic oil in the high-pressure accumulator 9 passes through the first two-position three-way solenoid reversing valve 11 and the first two-position two-way solenoid reversing valve 13 respectively to reach the A of the second variable hydraulic pump motor 6. port, and after being reduced in pressure, flows from the B port of the second variable hydraulic pump motor 6 through the second two-position two-way solenoid reversing valve 14 and the second two-position three-way solenoid reversing valve 12 and then returns to the low-pressure accumulator 10; wherein: when the hydraulic oil pressure at the outlet of the high-pressure accumulator 9 is lower than the set threshold pressure, the assembly controller 1 controls the first two-position three-way solenoid reversing valve 11 to be energized in the left position, and the first motor controller 3 controls the first electric generator 4 to output a certain power to drive the first variable hydraulic pump motor 5 and the hydraulic oil tank 16 to provide hydraulic energy for the second variable hydraulic pump motor 6; when the hydraulic oil pressure at the outlet of the low-pressure accumulator 10 is higher than the set threshold pressure, the assembly controller 1 controls the second two-position three-way solenoid reversing valve 12 to be de-energized in the right position, so that the hydraulic oil in the passage flows back to the hydraulic oil tank 16. It can be understood that during the rising process of the heavy object 21, the second variable hydraulic pump motor 6 rotates following the second electric generator 8. Therefore, the displacement size can be controlled in real time by the assembly controller 1 to adjust the pressure difference between the A port and the B port of the second variable hydraulic pump motor 6, so that the second variable hydraulic pump motor 6 actively outputs a constant proportional torque, and the second electric generator 8 passively outputs the remaining proportional torque, so as to realize the coordinated operation of electric drive and hydraulic drive and output stable torque, realize the stable speed rising of the heavy object 21, and reduce energy consumption.

[0074] Specifically, in step S3, the power battery 2 serves as the main energy source of the hoisting system, the first variable hydraulic pump motor 5 is in the hydraulic motor working state, the second variable hydraulic pump motor 6 is in the hydraulic pump working state, and the first electric generator 4 and the second electric generator 8 are in the generator state; at the same time, when the second variable hydraulic pump motor 6 is rotating in coordination with the second electric generator 8, the assembly controller 1 controls the first two-position three-way solenoid reversing valve 11 to be de-energized and in the right position, and the second two-position three-way solenoid reversing valve 12, the first two-position two-way solenoid reversing valve 13, and the second two-position two-way solenoid reversing valve 14 to be energized and in the left position, so that the hydraulic oil in the low-pressure accumulator 10 passes through the second two-position three-way solenoid reversing valve 12 and the second two-position two-way solenoid reversing valve 14 to reach the B port of the second variable hydraulic pump motor 6, and after being pressurized, the hydraulic oil is discharged from the second variable hydraulic pump motor 6 to the left position. 6 flows through the first two-position two-way solenoid reversing valve 13 and the first two-position three-way solenoid reversing valve 11 respectively and then returns to the high-pressure accumulator 9; wherein: when the hydraulic oil pressure at the outlet of the low-pressure accumulator 10 is lower than the set threshold pressure, the assembly controller 1 controls the second two-position three-way solenoid reversing valve 12 to be energized in the right position, so that the hydraulic oil tank 16 directly provides hydraulic energy to the second variable hydraulic pump motor 6; when the hydraulic oil pressure at the outlet of the high-pressure accumulator 9 is higher than the set threshold pressure, the assembly controller 1 controls the first two-position three-way solenoid reversing valve 11 to be energized in the left position, so that the hydraulic oil in the passage flows through the first variable hydraulic pump motor 5 and then returns to the hydraulic oil tank 16, so that the first variable hydraulic pump motor 5 drives the first electric generator 4 to rotate to generate electricity and recover energy to the power battery 2, and the displacement of the first variable hydraulic pump motor 5 is controlled to maintain a certain back pressure. It can be understood that during the descent of the heavy object 21, the second variable hydraulic pump motor 6 rotates following the second electric generator 8. Therefore, the displacement size can be controlled in real time by the assembly controller 1 to adjust the pressure difference between the A port and the B port of the second variable hydraulic pump motor 6, so that the second variable hydraulic pump motor 6 actively outputs a constant proportional torque, while the second electric generator 8 passively outputs the remaining proportional torque and generates electricity to recover energy to the power battery 2, so as to realize the coordinated operation of electric drive and hydraulic drive and output stable torque, so as to realize the stable speed descent and energy recovery of the heavy object 21.

[0075] Specifically, in step S4, the power battery 2 serves as the main energy source of the hoisting system, and the assembly controller 1 controls the second electric generator 8 to be in a zero speed state through the second motor controller 7. At the same time, the first two-position two-way solenoid reversing valve 13 and the second two-position two-way solenoid reversing valve 14 are controlled to be in the right position when the power is off, so that the hydraulic unit is in a locked state. After that, the second electric generator 8 is in a zero torque mode and the internal brake device of the hoisting reducer 20 is braked; secondly, after the braking of the heavy object 21 is completed, the first one-way valve 15, the hydraulic oil tank 16, the second one-way valve 17, the first overflow valve 18 and the second overflow valve 19 are used to avoid excessive hydraulic oil pressure in the passages of the first two-position two-way solenoid reversing valve 13 and the second two-position two-way solenoid reversing valve 14, and the acquisition signals of the first motor controller 3, the second motor controller 7 and multiple sensors are received in real time to ensure that the hoisting system is in a normal state after braking.

[0076] It can be understood that in step S5, due to the operational requirements and environment, as well as possible emergencies, the weight 21 may experience at least the following movement states during the lifting process: rising-braking-descending, rising-braking-rising, and descending-braking-descending. Therefore, steps S2, S3, and S4 need to be interspersed in the process to ensure operational safety and reduce energy loss during operation. Secondly, when the weight 21 is removed, the traction rope connected to the winch reducer 20 may also experience at least the following movement states: rising-braking-descending, rising-braking-rising, and descending-braking-descending, to adapt to different operational requirements.

[0077] Preferably, the assembly controller 1 includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the control method of the hydraulic-electric coordinated drive and energy regeneration integrated winch system in this embodiment is implemented.

[0078] In an optional embodiment, the assembly controller 1 may include: a processor 101, a network interface 104 and a memory 105. In addition, the assembly controller 1 may also include: a user interface 103, and at least one communication bus 102. The communication bus 102 is used to achieve connection and communication between these components. The user interface 103 may include a display screen (Display), a keyboard (Keyboard), and the optional user interface 103 may also include a standard wired interface, a wireless interface, and may be connected to the control handle 26. The network interface 104 may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface). The memory 105 may be a high-speed RAM memory, or a non-volatile memory (non-volatile memory), such as at least one disk storage. The memory 105 may optionally be at least one storage device located away from the aforementioned processor 1001. As Figure 3 As shown, the memory 105 as a computer-readable storage medium may include an operating system, a network communication module, a user interface module, and a device control application program.

[0079] like Figure 3 In the assembly controller 1 shown, the network interface 104 can provide a network communication function; the user interface 103 is mainly used as an input interface for the control handle 26; and the processor 101 can be used to call the device control application stored in the memory 105 to achieve:

[0080] The assembly controller 1 receives active instructions from the control handle 26 in real time, analyzes the operator's goals, and determines the subsequent motion state and speed requirements of the weight 21; at the same time, the assembly controller 1 receives the collected signals from the first motor controller 3, the second motor controller 7 and multiple sensors in real time to determine the current motion state and speed of the weight 21;

[0081] When the assembly controller 1 receives the active instruction of the control handle 26 and determines that the subsequent movement state of the weight 21 is rising, the assembly controller 1 sends a signal to the electric drive unit and the hydraulic drive unit, so that the first variable hydraulic pump motor 5 is in the hydraulic pump state, the second variable hydraulic pump motor 6 is in the hydraulic motor state, and the first electric generator 4 and the second electric generator 8 are in the motor state. After that, the speed signal value is output to the second motor controller 7, so that the second electric generator 8 outputs the target speed value, and drives the second variable hydraulic pump motor 6 to output the same speed;

[0082] When the assembly controller 1 receives an active instruction from the control handle 26 and determines that the subsequent movement state of the weight 21 is descending, the assembly controller 1 sends a signal to the electric drive unit and the hydraulic drive unit, so that the first variable hydraulic pump motor 5 is in a hydraulic motor working state, the second variable hydraulic pump motor 6 is in a hydraulic pump working state, and the first electric generator 4 and the second electric generator 8 are in a generator state. After that, the speed signal value is output to the second motor controller 7, so that the second electric generator 8 outputs a target speed value and drives the second variable hydraulic pump motor 6 to output the same speed;

[0083] When the assembly controller 1 does not receive an active instruction from the control handle 26 and determines that the subsequent movement state of the weight 21 is braking, the assembly controller 1 controls the second electric generator 8 to be in a zero speed state through the second motor controller 7, and at the same time, controls the first two-position two-way electromagnetic reversing valve 13 and the second two-position two-way electromagnetic reversing valve 14 to be de-energized and both in the right position, so that the hydraulic unit is in a locked state, and then the second electric generator 8 is in a zero torque mode to remove the torque, and the internal brake device of the winch reducer 20 is braked;

[0084] According to the operation requirements and environment, steps S2 to S4 are performed alternately to complete the lifting work of the heavy object 21.

[0085] It should be understood that in some feasible implementations, the processor 101 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0086] In a specific implementation, the assembly controller 1 can execute the implementation methods provided in the above-mentioned steps of the control method through its built-in functional modules. For details, please refer to the implementation methods provided in the above-mentioned steps.

[0087] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0088] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0089] In this patent, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "includes..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Those skilled in the art will readily understand that the above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A hydraulic-electric coordinated drive and energy regeneration integrated winch system, characterized in that: include: A winch reducer (20), an electric drive unit, a hydraulic drive unit and a control unit; wherein: The winch reducer (20) is connected to the weight (21) via a traction rope, and is used to transmit the stable torque transmitted by the electric drive unit to achieve control of the weight (21) in the movement state of ascending, descending and braking by winding or releasing the traction rope; The electric drive unit is used to stably drive the hoisting reducer (20), and comprises: a power battery (2), a first electric generator (4) and a second electric generator (8) electrically connected to the power battery (2), respectively, and the second electric generator (8) is mechanically connected to the hoisting reducer (20) and the hydraulic drive unit, respectively; The hydraulic drive unit is used to assist the electric drive unit in outputting torque and recovering energy, and comprises: the first variable hydraulic pump motor (5) coaxially connected to the first electric generator (4), and the second variable hydraulic pump motor (6) coaxially connected to the second electric generator (8) and the winch reducer (20); The control unit is respectively connected to the winch reducer (20), the electric drive unit and the hydraulic drive unit for communication, and realizes effective drive and energy regeneration during operation by actively controlling the rotation speed of the electric generator in the electric drive unit and adjusting the output torque of the variable hydraulic pump motor in the hydraulic drive unit, as well as hydraulic-electric composite energy regulation, and improves controllability and reduces energy loss by reducing the complexity of the overall structure.

2. The hoisting system according to claim 1, characterized in that: The electric drive unit further comprises: a first motor controller (3) and a second motor controller (7); wherein: The power battery (2) is electrically connected to the first motor controller (3), the first electric generator (4), the second motor controller (7) and the second electric generator (8) respectively; the first motor controller (3) is electrically connected to the first electric generator (4) and is communicatively connected to the control unit; the second motor controller (7) is electrically connected to the second electric generator (8) and is communicatively connected to the control unit.

3. The hoisting system according to claim 2, characterized in that: The power battery (2) is a lithium battery and has charging and discharging functions; The first motor generator (4) and the second motor generator (8) are permanent magnet synchronous motors and have both a motor mode and a generator mode.

4. The hoisting system according to claim 2, characterized in that: The hydraulic drive unit further comprises: a high-pressure accumulator (9), a low-pressure accumulator (10), a first two-position three-way electromagnetic reversing valve (11), a second two-position three-way electromagnetic reversing valve (12), a first two-position two-way electromagnetic reversing valve (13), a second two-position two-way electromagnetic reversing valve (14), a first check valve (15), a hydraulic oil tank (16), a second check valve (17), a first relief valve (18), a second relief valve (19), a first pressure sensor (22), a second pressure sensor (23), a third pressure sensor (24) and a fourth pressure sensor (25); wherein the first variable hydraulic pump motor (5) is mechanically connected to the first electric generator (4), and its outlet is connected to the first two The A port of the second variable hydraulic pump motor (6), the B port of the first two-position two-way electromagnetic reversing valve (13), the B port of the first one-way valve (15) and the oil inlet of the first overflow valve (18) are connected in pairs; the B port of the second variable hydraulic pump motor (6), the B port of the second two-position two-way electromagnetic reversing valve (14), the B port of the second one-way valve (17) and the oil inlet of the second overflow valve (19) are connected in pairs; the outlet of the high-pressure accumulator (9) is connected to the T port of the first two-position two-way electromagnetic reversing valve (11), and the outlet thereof is provided with the third pressure sensor (24); the outlet of the low-pressure accumulator (10) is connected to the T port of the first two-position two-way electromagnetic reversing valve (11), and the outlet thereof is provided with the third pressure sensor (24); the outlet of the low-pressure accumulator (10) is connected to the T port of the first two-position two-way electromagnetic reversing valve (11), and the outlet of the high-pressure accumulator (9) is connected to the T port of the first two-position two-way electromagnetic reversing valve (11). The hydraulic oil tank (16) is connected to the A port of the second two-position three-way electromagnetic reversing valve (12), and the outlet thereof is provided with the fourth pressure sensor (25); the B port of the first two-position three-way electromagnetic reversing valve (11) is connected to the A port of the first two-position two-way electromagnetic reversing valve (13); the B port of the second two-position three-way electromagnetic reversing valve (12) is connected to the A port of the second two-position two-way electromagnetic reversing valve (14); the hydraulic oil tank (16) is respectively connected to the oil inlet of the first variable hydraulic pump motor (5), the T port of the second two-position three-way electromagnetic reversing valve (12), the A port of the first check valve (15), the A port of the second check valve (17), the outlet of the first overflow valve (18) and the outlet of the second overflow valve (18). The outlet of the flow valve (19) is connected; the A port and the B port of the second variable hydraulic pump motor (6) are respectively provided with the first pressure sensor (22) and the second pressure sensor (23); the first variable hydraulic pump motor (5), the second variable hydraulic pump motor (6), the first two-position three-way solenoid reversing valve (11), the second two-position three-way solenoid reversing valve (12), the first two-position two-way solenoid reversing valve (13), the second two-position two-way solenoid reversing valve (14), the first pressure sensor (22), the second pressure sensor (23), the third pressure sensor (24) and the fourth pressure sensor (25) are respectively connected to the control unit for communication.

5. The hoisting system according to claim 4, characterized in that: The first variable hydraulic pump motor (5) and the second variable hydraulic pump motor (6) both include a hydraulic pump mode and a motor mode.

6. The hoisting system according to claim 4, characterized in that: The control unit comprises: an assembly controller (1) and a control handle (26); the assembly controller (1) is respectively connected to the first motor controller (3), the first variable hydraulic pump motor (5), the second variable hydraulic pump motor (6), the second motor controller (7), the first two-position three-way solenoid reversing valve (11), the second two-position three-way solenoid reversing valve (12), the first two-position two-way solenoid reversing valve (13), the second two-position two-way solenoid reversing valve (14), the first pressure sensor (22), the second pressure sensor (23), the third pressure sensor (24), the fourth pressure sensor (25) and the control handle (26).

7. The hoisting system according to claim 6, characterized in that: The winch reducer (20) further comprises a speed sensor, which can collect the rising or falling speed of the traction rope and send the collected signal to the assembly controller (1); The hydraulic oil tank (16) further comprises a liquid level sensor and a fifth pressure sensor, wherein the liquid level sensor and the fifth pressure sensor can respectively collect the hydraulic oil level and pressure value in the hydraulic oil tank (16) and send the collected signals to the assembly controller (1).

8. A control method for a hydraulic-electric coordinated drive and energy regeneration integrated hoisting system, implemented by using the hoisting system according to any one of claims 1 to 7, characterized in that: The steps include: S1: The assembly controller (1) receives active instructions from the control handle (26) in real time, analyzes the operator's goals, and determines the subsequent movement state and speed requirements of the heavy object (21); at the same time, the assembly controller (1) receives collected signals from the first motor controller (3), the second motor controller (7) and multiple sensors in real time to determine the current movement state and speed of the heavy object (21); S2: When the assembly controller (1) receives an active instruction from the control handle (26) and determines that the subsequent movement state of the weight (21) is rising, the assembly controller (1) sends a signal to the electric drive unit and the hydraulic drive unit, so that the first variable hydraulic pump motor (5) is in a hydraulic pump state, the second variable hydraulic pump motor (6) is in a hydraulic motor state, and the first electric generator (4) and the second electric generator (8) are in a motor state. After that, the speed signal value is output to the second motor controller (7), so that the second electric generator (8) outputs a target speed value and drives the second variable hydraulic pump motor (6) to output the same speed; S3: When the assembly controller (1) receives an active instruction from the control handle (26) and determines that the subsequent movement state of the weight (21) is descending, the assembly controller (1) sends a signal to the electric drive unit and the hydraulic drive unit, so that the first variable hydraulic pump motor (5) is in a hydraulic motor working state, the second variable hydraulic pump motor (6) is in a hydraulic pump working state, and the first electric generator (4) and the second electric generator (8) are in a generator state. After that, the speed signal value is output to the second motor controller (7), so that the second electric generator (8) outputs a target speed value and drives the second variable hydraulic pump motor (6) to output the same speed; S4: When the assembly controller (1) does not receive an active command from the control handle (26) and determines that the subsequent movement state of the heavy object (21) is braking, the assembly controller (1) controls the second electric generator (8) to be in a zero speed state through the second motor controller (7), and at the same time, controls the first two-position two-way electromagnetic reversing valve (13) and the second two-position two-way electromagnetic reversing valve (14) to be de-energized and both in the right position, so that the hydraulic unit is in a locked state, and then the second electric generator (8) is in a zero torque mode to remove the torque, and the internal brake device of the winch reducer (20) is braked; S5: According to the operation requirements and environment, steps S2 to S4 are performed alternately to complete the lifting work of the heavy object (21).

9. The hoisting system according to claim 8, characterized in that: In step S2, the power battery (2) serves as the main energy source of the hoisting system, the first variable hydraulic pump motor (5) is in a hydraulic pump state, the second variable hydraulic pump motor (6) is in a hydraulic motor state, and the first electric generator (4) and the second electric generator (8) are in a motor state; at the same time, when the second variable hydraulic pump motor (6) rotates in coordination with the second electric generator (8), the assembly controller (1) controls the first two-position three-way solenoid reversing valve (11) to be de-energized and in the right position, and the second two-position three-way solenoid reversing valve (11) to be in the right position. (12), the first two-position two-way electromagnetic reversing valve (13) and the second two-position two-way electromagnetic reversing valve (14) are energized in the left position, so that the hydraulic oil in the high-pressure accumulator (9) passes through the first two-position three-way electromagnetic reversing valve (11) and the first two-position two-way electromagnetic reversing valve (13) to reach the A port of the second variable hydraulic pump motor (6), and after being reduced in pressure, flows from the B port of the second variable hydraulic pump motor (6) through the second two-position two-way electromagnetic reversing valve (14) and the second two-position three-way electromagnetic reversing valve (12) and then returns to the low-pressure accumulator (10); wherein: When the hydraulic oil pressure at the outlet of the high-pressure accumulator (9) is lower than a set threshold pressure, the assembly controller (1) controls the first two-position three-way electromagnetic reversing valve (11) to be energized in the left position, and the first motor controller (3) controls the first electric generator (4) to output a certain power to drive the first variable hydraulic pump motor (5) and the hydraulic oil tank (16) to provide hydraulic energy for the second variable hydraulic pump motor (6); When the hydraulic oil pressure at the outlet of the low-pressure accumulator (10) is higher than a set threshold pressure, the assembly controller (1) controls the second two-position three-way electromagnetic reversing valve (12) to be de-energized and in the right position, so that the hydraulic oil in the passage flows back to the hydraulic oil tank (16).

10. The hoisting system according to claim 9, characterized in that: In step S3, the power battery (2) serves as the main energy source of the hoisting system, the first variable hydraulic pump motor (5) is in a hydraulic motor working state, the second variable hydraulic pump motor (6) is in a hydraulic pump working state, and the first electric generator (4) and the second electric generator (8) are in a generator state; at the same time, when the second variable hydraulic pump motor (6) rotates in coordination with the second electric generator (8), the assembly controller (1) controls the first two-position three-way electromagnetic reversing valve (11) to be de-energized and in the right position, and the second two-position three-way electromagnetic reversing valve (12) to be in the right position. ), the first two-position two-way solenoid reversing valve (13) and the second two-position two-way solenoid reversing valve (14) are energized in the left position, so that the hydraulic oil in the low-pressure accumulator (10) passes through the second two-position three-way solenoid reversing valve (12) and the second two-position two-way solenoid reversing valve (14) to reach the B port of the second variable hydraulic pump motor (6), and after being pressurized, flows from the A port of the second variable hydraulic pump motor (6) through the first two-position two-way solenoid reversing valve (13) and the first two-position three-way solenoid reversing valve (11) and returns to the high-pressure accumulator (9); wherein: When the hydraulic oil pressure at the outlet of the low-pressure accumulator (10) is lower than a set threshold pressure, the assembly controller (1) controls the second two-position three-way electromagnetic reversing valve (12) to be energized in the right position, so that the hydraulic oil tank (16) directly provides hydraulic energy to the second variable hydraulic pump motor (6); When the hydraulic oil pressure at the outlet of the high-pressure accumulator (9) is higher than the set threshold pressure, the assembly controller (1) controls the first two-position three-way electromagnetic reversing valve (11) to be energized in the left position, so that the hydraulic oil in the passage flows through the first variable hydraulic pump motor (5) and then returns to the hydraulic oil tank (16), thereby enabling the first variable hydraulic pump motor (5) to drive the first electric generator (4) to rotate to generate electricity and recover energy to the power battery (2), and by controlling the displacement of the first variable hydraulic pump motor (5), a certain back pressure is maintained.

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