A liquid-electricity cooperative driving and energy regeneration integrated hoist system and control method

Abstract

The application belongs to the technical field of winch driving, and particularly discloses a hydraulic-electricity cooperative driving and energy regeneration integrated winch system and a control method, which 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 driving unit is mechanically connected with the winch speed reducer and the hydraulic driving unit; the control unit is communicatively connected with the winch speed reducer, the electric driving unit and the hydraulic driving unit; the dynamic response speed is improved through the motor generator, the hydraulic system is used to realize low-speed large-torque output, the motor generator rotating speed in the electric driving unit and the output torque of the variable hydraulic pump motor in the hydraulic driving unit are actively controlled, and the hydraulic-electricity composite energy is regulated, so that the effective driving and energy regeneration in the operation process are realized, the motion characteristics and the controllability are optimized; in addition, the overall structural complexity is reduced, the controllability is further improved, and the energy loss is reduced.

Description

Technical Field

[0001] This invention belongs to the field of hoisting drive technology, and more specifically, relates to a hoisting system and control method that integrates hydraulic-electric coordinated drive and energy regeneration. Background Technology

[0002] Construction machinery winch systems are key pieces of equipment used for lifting and material handling. They use a motor or hydraulic system to drive a drum to rotate, thereby winding ropes or chains to lift heavy objects. These systems are widely used in construction, water conservancy, ports, factories, and many other fields due to their compact structure, ease of operation, high versatility, large lifting capacity, easy relocation, and simple maintenance. The working characteristics of existing engineering machinery winch systems include the diversity of recoverable potential energy and precise control of the lifting position of heavy objects. For example, Chinese patent application CN115744699A discloses a dual-power winch system, control method, and piling machinery. 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, and a motor. The motor is connected to the power battery and is used to drive the winch assembly or be dragged to generate electricity. The controller controls the working mode of the brake and motor according to the winding or unwinding signal of the operating handle, and controls the working state of the hydraulic motor through the control valve group according to the motor load condition.

[0003] The aforementioned patented hoisting system utilizes dual power sources. During unwinding operations, the motor absorbs the reduced potential energy beneath the working device, achieving energy recovery and reducing heat generation in the hydraulic system. However, traditional hydraulically driven hoisting systems suffer from low energy density in their hydraulic accumulators, making it difficult to effectively recover large amounts of potential energy. Furthermore, relying on the engine as an energy source results in significant energy pollution during operation. In addition, traditional electrically driven hoisting systems exhibit poor controllability under near-zero speed and high torque conditions, high energy consumption, and difficulty meeting the demands of precise control. Their low power density also necessitates a large installation space to meet operational requirements. Therefore, there is an urgent need to explore new technological approaches to improve the performance, efficiency, and operability of hoisting systems, thereby addressing the increasingly severe energy and environmental challenges. Summary of the Invention

[0004] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides an integrated hydraulic-electric co-drive and energy regeneration hoisting system and control method. By utilizing the excellent control characteristics of an electric motor to enhance the dynamic response speed of the overall system, and leveraging the high power density output of the hydraulic drive system to achieve efficient low-speed, high-torque output, the system achieves this through active control of the electric generator's speed within the electric drive unit and active adjustment of the variable displacement hydraulic pump motor's output torque within the hydraulic drive unit. This facilitates multi-quadrant coordinated control between the electric generator and the variable displacement hydraulic pump motor, resulting in excellent motion characteristics and good maneuverability. Furthermore, by utilizing the continuous charging and discharging capability of the high-energy-density power battery within the electric drive unit, and the strong instantaneous input and output power of multiple high-power-density accumulators and hydraulic pumps within the hydraulic drive unit, and employing a hydraulic-electric composite energy regulation method, effective drive and energy regeneration are achieved during the hoisting lifting process. This effectively reduces the overall structural complexity of the system, significantly improves system maneuverability, enhances its working efficiency, and reduces energy loss.

[0005] To achieve the above objectives, the present invention provides an integrated hydraulic-electric co-drive and energy regeneration hoisting system, comprising: a hoisting reducer, an electric drive unit, a hydraulic drive unit, and a control unit; wherein:

[0006] The winch reducer is connected to the heavy object via a traction rope and is used to transmit the stable torque transmitted by the electric drive unit so as to control the heavy object's motion state, including rising, falling and braking, by winding or releasing the traction rope.

[0007] 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 respectively electrically connected to the power battery, and the second electric generator is mechanically connected to the winch reducer and the hydraulic drive unit respectively.

[0008] The hydraulic drive unit is used to assist the electric drive unit in outputting torque and recovering energy. It includes: a first variable hydraulic pump motor coaxially connected to the first electric generator, and a second variable hydraulic pump motor coaxially connected to the second electric generator and the winch reducer.

[0009] The control unit is communicatively connected to the winch reducer, the electric drive unit, and the hydraulic drive unit. 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 the hydraulic-electric composite energy regulation, it achieves effective drive and energy regeneration during operation, and improves operability and reduces energy loss by reducing the overall structural complexity.

[0010] Furthermore, the electric drive unit further includes: a first motor controller and a second motor controller; wherein:

[0011] 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.

[0012] Furthermore, the power battery is a lithium battery and has charging and discharging functions;

[0013] The first electric generator and the second electric generator are permanent magnet synchronous motors and have both motor mode and generator mode.

[0014] Furthermore, the hydraulic drive unit further includes: a high-pressure accumulator, a low-pressure accumulator, a first two-position three-way solenoid directional valve, a second two-position three-way solenoid directional valve, a first two-position two-way solenoid directional valve, a second two-position two-way solenoid directional valve, a first check valve, a hydraulic oil tank, a second check valve, a first relief valve, a second relief 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 directional valve. The A port of the first variable hydraulic pump motor is connected to the B port of the first two-position two-way solenoid directional 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 solenoid directional 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 three-way solenoid directional valve, and its outlet is equipped 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 directional valve is connected, and its outlet is equipped with the fourth pressure sensor; the B port of the first two-position three-way solenoid directional valve is connected to the A port of the first two-position two-way solenoid directional valve; the B port of the second two-position three-way solenoid directional valve is connected to the A port of the second two-position two-way solenoid directional valve; the hydraulic oil tank is connected to the inlet of the first variable hydraulic pump motor, the T port of the second two-position three-way solenoid directional valve, the A port of the first check valve, the A port of the second check valve, the outlet of the first relief valve, and the outlet of the second relief valve; the A port and B port of the second variable hydraulic pump motor are respectively equipped 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 directional valve, the second two-position three-way solenoid directional valve, the first two-position two-way solenoid directional valve, the second two-position two-way solenoid directional valve, the first pressure sensor, the second pressure sensor, the third pressure sensor, and the fourth pressure sensor are respectively communicatively connected to the control unit.

[0015] Furthermore, both the first variable hydraulic pump motor and the second variable hydraulic pump motor include a hydraulic pump mode and a motor mode.

[0016] Furthermore, the control unit includes: an assembly controller and a control handle; the assembly controller is communicatively connected to 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 directional valve, the second two-position three-way solenoid directional valve, the first two-position two-way solenoid directional valve, the second two-position two-way solenoid directional valve, the first pressure sensor, the second pressure sensor, the third pressure sensor, the fourth pressure sensor, and the control handle.

[0017] 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;

[0018] The hydraulic oil tank also includes a level sensor and a fifth pressure sensor. The level sensor and the fifth pressure sensor can respectively collect the hydraulic oil level and pressure value in the hydraulic oil tank and send the collected signals to the assembly controller.

[0019] Another aspect of the present invention provides a control method for an integrated hydraulic-electric co-drive and energy regeneration hoisting system, implemented using the hoisting system described above, comprising the following steps:

[0020] S1: The assembly controller receives active commands from the control handle in real time, analyzes the operator's target, and determines the subsequent movement state and speed requirements of the heavy object; at the same time, the assembly controller receives signals collected by the first motor controller, the second motor controller, and multiple sensors in real time to determine the current movement state and speed of the heavy object.

[0021] S2: When the assembly controller receives the active command from the control handle and determines that the subsequent movement state of the heavy object is upward, 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 hydraulic pump mode, the second variable hydraulic pump motor is in hydraulic motor mode, and the first electric generator and the second electric generator are in motor mode. Then, the controller outputs a speed signal value to the second motor controller, so that the second electric generator outputs the target speed value and drives the second variable hydraulic pump motor to output the same speed.

[0022] S3: When the assembly controller receives the active command from the control handle and determines that the subsequent movement state of the heavy object is descent, 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 hydraulic motor mode, the second variable hydraulic pump motor is in hydraulic pump mode, and the first electric generator and the second electric generator are in generator mode. Then, the controller outputs a speed signal value to the second motor controller, so that the second electric generator outputs the target speed value and drives the second variable hydraulic pump motor to output the same speed.

[0023] S4: When the assembly controller does not receive the active command 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. At the same time, it controls the first two-position two-way solenoid directional valve and the second two-position two-way solenoid directional valve to be de-energized and in the right position, so that the hydraulic drive unit is in a locked state. Then, the second electric generator is put into a zero-torque mode to release torque, and the internal braking device of the winch reducer is engaged to apply the brake.

[0024] S5: Depending on the operational requirements and environment, steps S2 to S4 are performed intermittently to complete the hoisting of the heavy object.

[0025] Further, in step S2, the power battery serves as the main energy source for the hoisting system. The first variable hydraulic pump motor operates as a hydraulic pump, the second variable hydraulic pump motor operates as a hydraulic motor, and the first and second electric generators operate as electric motors. Simultaneously, during the rotation of the second variable hydraulic pump motor in conjunction with the second electric generator, the assembly controller de-energizes the first two-position three-way solenoid valve to the right position, while energizing the second two-position three-way solenoid valve, the first two-position two-way solenoid valve, and the second two-position two-way solenoid valve to the left position. This allows the hydraulic oil in the high-pressure accumulator to reach port A of the second variable hydraulic pump motor via the first two-position three-way solenoid valve and the first two-position two-way solenoid valve, and after pressure reduction, flows from port B of the second variable hydraulic pump motor through the second two-position two-way solenoid valve and the second two-position three-way solenoid valve before returning to the low-pressure accumulator. Wherein:

[0026] 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 directional valve to be energized and placed 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 to the second variable hydraulic pump motor.

[0027] 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 valve to de-energize and be in the right position, so that the hydraulic oil in the passage flows back to the hydraulic oil tank.

[0028] Furthermore, the power battery serves as the primary energy source for the hoisting system. The first variable hydraulic pump motor operates in hydraulic motor mode, the second variable hydraulic pump motor operates in hydraulic pump mode, and the first and second electric generators operate in generator mode. Simultaneously, during the rotation of the second variable hydraulic pump motor in conjunction with the second electric generator, the assembly controller de-energizes the first two-position three-way solenoid valve to the right position, while energizing the second two-position three-way solenoid valve, the first two-position two-way solenoid valve, and the second two-position two-way solenoid valve to the left position. This allows the hydraulic oil in the low-pressure accumulator to reach port B of the second variable hydraulic pump motor via the second two-position three-way solenoid valve and the second two-position two-way solenoid valve, respectively. After being pressurized, the oil flows from port A of the second variable hydraulic pump motor through the first two-position two-way solenoid valve and the first two-position three-way solenoid valve, respectively, before returning to the high-pressure accumulator. Wherein:

[0029] 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 directional valve to be energized and placed in the right position, so that the hydraulic oil tank directly supplies hydraulic energy to the second variable hydraulic pump motor.

[0030] 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 directional valve to be energized to the left position, so that the hydraulic oil in the passage flows through the first variable hydraulic pump motor and returns to the hydraulic oil tank, thereby causing 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 maintains a certain back pressure by controlling the displacement of the first variable hydraulic pump motor.

[0031] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0032] 1. The hoisting 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 achieves efficient low-speed, high-torque output by leveraging the high power density output of the hydraulic drive system. Through active control of the electric generator speed in the electric drive unit and active adjustment of the output torque of the variable hydraulic pump motor in the hydraulic drive unit, multi-quadrant coordinated control between the electric generator and the variable hydraulic pump motor is achieved, resulting in excellent motion characteristics and good maneuverability of the entire system. Furthermore, by utilizing 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 multiple high-power-density accumulators and hydraulic pumps in the hydraulic drive unit, and employing a hydraulic-electric composite energy regulation method, effective drive and energy regeneration are achieved during the hoisting lifting process. This effectively reduces the overall structural complexity of the system, significantly improves system maneuverability, enhances its working efficiency, and reduces energy loss.

[0033] 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 by the first motor controller and the second motor controller respectively. At the same time, the first motor controller and the second motor controller are connected to the control unit 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 and ensure the stable operation of the hoisting reducer and the hydraulic drive unit during the operation of the hoisting system.

[0034] 3. The hoisting system of the present invention monitors the hydraulic pressure in the middle section of the hydraulic drive unit through the first pressure sensor and the second pressure sensor, and monitors the hydraulic pressure at both ends of the hydraulic drive unit through the third pressure sensor and the fourth pressure sensor, respectively, to obtain a complete picture of the internal working state of the hydraulic drive unit. This information is then used by the control unit to determine the working mode of the hoisting system. The control unit then regulates the first two-position three-way solenoid directional valve, the second two-position three-way solenoid directional valve, the first two-position two-way solenoid directional valve, and the second two-position two-way solenoid directional valve to regulate the changes in the internal oil circuit of the hydraulic drive unit. It also regulates the first variable hydraulic pump motor and the second variable hydraulic pump motor to actively output a constant proportional torque, thereby coordinating with the electric drive unit to complete the operation requirements of the heavy object and regenerate energy, reducing energy consumption.

[0035] 4. The hoisting system of the present invention inputs the acquisition 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, as well as the active command of the control handle, into the assembly controller as input signals. The assembly controller 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 directional valve, the second two-position three-way solenoid directional valve, the first two-position two-way solenoid directional valve, and the second two-position two-way solenoid directional valve to coordinate the electric drive unit and the hydraulic drive unit to complete the lifting and lowering operation of the heavy object. Furthermore, based on the specific acquisition signals and the active command, the assembly controller can select the optimal operating mode in the electric drive unit and the hydraulic drive unit respectively, guided by the best energy saving and controllability, and switch them in real time during operation to achieve the purpose of combining controllability and energy saving.

[0036] 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, by reducing intermediate links, energy loss is reduced, and the overall response speed of the hoisting system is effectively improved, thereby enhancing the operability of the hoisting system. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the principle of the integrated hydraulic-electric co-drive and energy regeneration hoisting system according to an embodiment of the present invention;

[0038] Figure 2 This is a flowchart illustrating the steps of the control method for the integrated hydraulic-electric drive and energy regeneration hoisting system according to an embodiment of the present invention.

[0039] Figure 3 This is a schematic diagram of the assembly controller according to an embodiment of the present invention.

[0040] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically:

[0041] 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-voltage accumulator, 10-Low-voltage accumulator, 11-First two-position three-way solenoid directional valve, 12-Second two-position three-way solenoid directional valve, 13-First two-position two-way solenoid directional valve, 14-Second two-position two-way solenoid directional valve, 15-First check valve, 16-Hydraulic oil tank, 17-Second check valve, 18-First relief valve, 19-Second relief 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 Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0043] Example 1

[0044] like Figure 1As shown, Embodiment 1 of the present invention provides a winch system integrating hydraulic-electric co-drive and energy regeneration, comprising: 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 via 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 an electric generator, and achieves efficient low-speed, high-torque output by leveraging the high power density output of the hydraulic drive system, thereby controlling the electric motor within the electric drive unit. Active control of the generator speed and adjustment of the active output torque of the variable hydraulic pump motor in the hydraulic drive unit facilitate multi-quadrant coordinated control between the electric generator and the variable hydraulic pump motor, thereby enabling the entire system to have excellent motion characteristics and good maneuverability. 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 multiple high-power-density energy accumulators and hydraulic pumps in the hydraulic drive unit, and by using the method of hydraulic-electric composite energy regulation, effective drive and energy regeneration are achieved during the hoisting and lifting process. This effectively reduces the overall structural complexity of the system, significantly improves the system's maneuverability, enhances its working efficiency, and reduces energy loss.

[0045] Specifically, 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 so as to control the motion state of the weight 21, including rising, falling and braking, by winding or releasing the traction rope.

[0046] 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. It is primarily made of multi-strand steel wire rope or synthetic fiber rope. It should be noted that in other embodiments, traction ropes made of other materials may also be used; this is not specifically limited here, but all such solutions are within the scope of protection of this invention.

[0047] Preferably, the winch reducer 20 further includes a braking device, which is communicatively connected to the control unit. This braking device includes a mechanical brake or an electromagnetic brake to achieve stable braking of the winch reducer 20. It should be noted that other types of braking devices may be used in other embodiments; these are not specifically limited here, but all such solutions are within the protection scope of this invention.

[0048] Specifically, the electric drive unit is mechanically connected to the winch reducer 20 and the hydraulic drive unit, respectively, to stably drive the winch reducer 20 and stably recover energy during the descent of the weight 21, while improving 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 hydraulic 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 hydraulic drive unit, respectively. During use, the power battery 2 provides power to ensure the stable operation of the electric drive unit. Secondly, the first motor controller 3 and the second motor controller 7 control the output torque of the first electric generator 4 and the second electric generator 8, respectively. At the same time, the first motor controller 3 and the second motor controller 7 communicate with the control unit 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 and ensure the stable operation of the winch reducer 20 and the hydraulic drive unit during the operation of the winch system.

[0049] Preferably, the power battery 2 is a lithium battery with charging and discharging capabilities. It is communicatively connected to the control unit and electrically connected to an external power source. When its reserve power is below a threshold, it receives power from the external power source through the control unit to ensure stable operation of the electric drive unit. It should be noted that other types of power batteries may be used in other embodiments; no specific limitation is made here, but all such solutions are within the scope of protection of this invention.

[0050] Preferably, the first electric generator 4 and the second electric generator 8 are permanent magnet synchronous motors and simultaneously possess both motor mode and generator mode, used to stabilize output torque and recover energy and transmit it to the power battery 2. It should be noted that in other embodiments, other types of electric generators may also be used; no specific limitation is made here, but these solutions are all within the protection scope of this invention.

[0051] 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 loss.

[0052] Specifically, the hydraulic drive unit is mechanically connected to the electric drive unit and communicatively connected to the control unit, used 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 directional valve 11, a second two-position three-way solenoid directional valve 12, a first two-position two-way solenoid directional valve 13, a second two-position two-way solenoid directional 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. Its outlet is connected to port A of the first two-position three-way solenoid directional valve 11; port A of the second variable hydraulic pump motor 6, port B of the first two-position two-way solenoid directional valve 13, port B of the first check valve 15, and the oil inlet of the first relief valve 18 are connected in pairs; port B of the second variable hydraulic pump motor 6, port B of the second two-position two-way solenoid directional valve 14, port B of the second check valve 17, and the oil inlet of the second relief valve 19 are connected in pairs; the outlet of the high-pressure accumulator 9 is connected to port T of the first two-position three-way solenoid directional valve 11, and its outlet is equipped with the third pressure sensor 24; the low-pressure accumulator... The outlet of device 10 is connected to port A of the second two-position three-way solenoid directional valve 12, and its outlet is equipped with the fourth pressure sensor 25; port B of the first two-position three-way solenoid directional valve 11 is connected to port A of the first two-position two-way solenoid directional valve 13; port B of the second two-position three-way solenoid directional valve 12 is connected to port A of the second two-position two-way solenoid directional valve 14; the hydraulic oil tank 16 is connected to the inlet of the first variable hydraulic pump motor 5, port T of the second two-position three-way solenoid directional valve 12, port A of the first check valve 15, port A of the second check valve 17, and the outlet of the first relief valve 18. The outlet of the second relief valve 19 is connected; the A port and B port of the second variable hydraulic pump motor 6 are respectively equipped 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 directional valve 11, the second two-position three-way solenoid directional valve 12, the first two-position two-way solenoid directional valve 13, the second two-position two-way solenoid directional 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.During operation, the hydraulic pressure in the middle section of the hydraulic drive 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 drive unit is monitored by the third pressure sensor 24 and the fourth pressure sensor 25, respectively, to obtain a complete picture of the internal working state of the hydraulic drive unit. This information is then used by the control unit to determine the working mode of the hoisting system. The control unit then regulates the first two-position three-way solenoid directional valve 11, the second two-position three-way solenoid directional valve 12, the first two-position two-way solenoid directional valve 13, and the second two-position two-way solenoid directional valve 14 to regulate the changes in the oil circuit inside the hydraulic drive unit. It also regulates the first variable hydraulic pump motor 5 and the second variable hydraulic pump motor 6 to actively output a constant proportional torque, thereby coordinating with the electric drive unit to meet the operational requirements of the heavy object 21 and regenerate energy, thus reducing energy consumption.

[0053] 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.

[0054] Preferably, both the first variable hydraulic pump motor 5 and the second variable hydraulic pump motor 6 include a hydraulic pump mode and a motor mode, which are used to adjust the output flow and pressure by means of their displacement, thereby adjusting the speed and load of the first electric generator 4 and the second electric generator 8 and reducing energy consumption.

[0055] 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 loss.

[0056] 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 loss.

[0057] Preferably, the power battery 2 is electrically connected to the electrical components in the liquid drive unit to ensure stable function.

[0058] Specifically, the control unit is communicatively connected to the winch reducer 20, the electric drive unit, and the hydraulic drive unit, respectively, for overall control of the winch system's operation process. The control unit includes: an assembly controller 1 and a control handle 26; the assembly controller 1 is communicatively 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 directional valve 11, the second two-position three-way solenoid directional valve 12, the first two-position two-way solenoid directional valve 13, the second two-position two-way solenoid directional 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 signals collected by 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, as well as the active commands from the control handle 26, are input to the assembly controller 1. The assembly controller 1 then 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 valve 11, the second two-position three-way solenoid valve 12, the first two-position two-way solenoid valve 13, and the second two-position two-way solenoid valve 14 to coordinate the electric drive unit and the hydraulic drive unit to complete the lifting and lowering operation of the heavy object 21. Furthermore, based on the specific collected signals and active commands, the assembly controller 1 can select the optimal operating mode in the electric drive unit and the hydraulic drive unit, respectively, with optimal energy saving and operability as the guiding principle, and switch between them in real time during operation to achieve both operability and energy saving.

[0059] It is understood that the first pressure sensor 22 and the second pressure sensor 23 respectively collect the hydraulic oil pressure values ​​at ports A and B of the second variable hydraulic pump motor 6 in real time, the third pressure sensor 24 collects the hydraulic oil pressure value at the outlet of the high-pressure accumulator 9 in real time, and the fourth pressure sensor 25 collects the hydraulic oil pressure value at the outlet of the low-pressure accumulator 10 in real time.

[0060] In an optional embodiment, the winch reducer 20 further includes a speed sensor that can collect the rising or falling speed of the traction rope and send the collected signal to the assembly controller 1 to further enhance the monitoring of the motion state of the heavy object 21 and ensure the safety of the winch system.

[0061] In an optional embodiment, the hydraulic oil tank 16 further includes a level sensor and a fifth pressure sensor. The 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 to enhance the safety of the hoisting system.

[0062] It is 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 acquired signals, and controls the working state of the electric drive unit and the hydraulic drive unit; the control handle 26 is an active controller, which converts relevant instructions from the 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 adjustment, and respectively realizes the rise, fall, hovering and movement speed control of the heavy object 21.

[0063] It is understandable that the internal structure of the electric drive unit and the hydraulic drive unit is simple, thereby simplifying design and manufacturing, effectively reducing production costs. At the same time, by reducing intermediate links, energy loss is reduced, and the overall response speed of the hoisting system is effectively improved, thereby enhancing the operability of the hoisting system.

[0064] Example 2

[0065] like Figures 1 to 3 As shown, based on Embodiment 1, Embodiment 2 of the present invention provides a control method for an integrated hydraulic-electric co-drive and energy regeneration hoisting system, comprising the following steps:

[0066] S1: The assembly controller 1 receives active commands from the control handle 26 in real time, analyzes the operator's target, and determines the subsequent movement state and speed requirements of the heavy object 21; at the same time, the assembly controller 1 receives the acquisition signals from the first motor controller 3, the second motor controller 7 and multiple sensors in real time, and determines the current movement state and speed of the heavy object 21.

[0067] S2: When the assembly controller 1 receives the active command from the control handle 26 and determines that the subsequent movement state of the weight 21 is upward, 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 hydraulic pump mode, the second variable hydraulic pump motor 6 is in hydraulic motor mode, and the first electric generator 4 and the second electric generator 8 are in electric motor mode. Then, it outputs a speed signal value 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.

[0068] S3: When the assembly controller 1 receives the active command from the control handle 26 and determines that the subsequent movement state of the weight 21 is descent, 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 hydraulic motor mode, the second variable hydraulic pump motor 6 is in hydraulic pump mode, and the first electric generator 4 and the second electric generator 8 are in generator mode. Then, it outputs a speed signal value 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.

[0069] S4: When the assembly controller 1 does not receive the active command 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. At the same time, it controls the first two-position two-way solenoid valve 13 and the second two-position two-way solenoid valve 14 to be de-energized and in the right position, so that the hydraulic drive unit is in a locked state. Then, the second electric generator 8 is put into a zero-torque mode to release torque, and the internal braking device of the winch reducer 20 is engaged for braking.

[0070] S5: Depending on the operational requirements and environment, steps S2 to S4 are performed intermittently to complete the hoisting of the heavy object 21.

[0071] Specifically, the multiple sensors mentioned 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 inside the winch reducer 20, a level sensor inside the hydraulic oil tank 16, and a fifth pressure sensor, in order to achieve comprehensive monitoring of the operating status of the winch system, improve safety, and reduce maintenance difficulty.

[0072] Specifically, in step S2, the power battery 2 serves as the main energy source for the hoisting system. The first variable hydraulic pump motor 5 operates as a hydraulic pump, the second variable hydraulic pump motor 6 operates as a hydraulic motor, and the first electric generator 4 and the second electric generator 8 operate as electric motors. Simultaneously, while the second variable hydraulic pump motor 6 rotates in conjunction with the second electric generator 8, the assembly controller 1 de-energizes the first two-position three-way solenoid valve 11 to the right position, and energizes the second two-position three-way solenoid valve 12, the first two-position two-way solenoid valve 13, and the second two-position two-way solenoid valve 14 to the left position. This allows the hydraulic oil in the high-pressure accumulator 9 to reach the second variable hydraulic pump motor 6 via the first two-position three-way solenoid valve 11 and the first two-position two-way solenoid valve 13, respectively. The hydraulic oil flows from port B of the second variable hydraulic pump motor 6 through the second two-position two-way solenoid valve 14 and the second two-position three-way solenoid valve 12 after pressure reduction, and then returns to the low-pressure accumulator 10. Specifically: 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 valve 11 to be energized and 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 to 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 valve 12 to be de-energized and in the right position, causing the hydraulic oil in the passage to flow back to the hydraulic oil tank 16. It is understood that during the lifting process of the heavy object 21, the second variable hydraulic pump motor 6 rotates along with the second electric generator 8. Therefore, the displacement of the second variable hydraulic pump motor 6 can be controlled in real time by the assembly controller 1 to adjust the pressure difference between port A and port B 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, so as to realize the coordinated operation of electric drive and hydraulic drive and output stable torque, thereby achieving a stable speed rise of the heavy object 21 and reducing energy consumption.

[0073] Specifically, in step S3, the power battery 2 serves as the main energy source for the hoisting system. The first variable hydraulic pump motor 5 is in hydraulic motor mode, the second variable hydraulic pump motor 6 is in hydraulic pump mode, and the first electric generator 4 and the second electric generator 8 are in generator mode. Simultaneously, during the rotation of the second variable hydraulic pump motor 6 in conjunction with the second electric generator 8, the assembly controller 1 de-energizes the first two-position three-way solenoid valve 11 to the right position, while energizing the second two-position three-way solenoid valve 12, the first two-position two-way solenoid valve 13, and the second two-position two-way solenoid valve 14 to the left position. This allows the hydraulic oil in the low-pressure accumulator 10 to reach port B of the second variable hydraulic pump motor 6 via the second two-position three-way solenoid valve 12 and the second two-position two-way solenoid valve 14, and after being pressurized, flows from the second variable hydraulic pump motor... Port A of 6 flows through the first two-position two-way solenoid directional valve 13 and the first two-position three-way solenoid directional valve 11, and then returns to the high-pressure accumulator 9. Specifically: 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 directional valve 12 to be energized to the right position, allowing the hydraulic oil tank 16 to directly supply 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 directional valve 11 to be energized to the left position, allowing the hydraulic oil in the passage to flow through the first variable hydraulic pump motor 5 and return to the hydraulic oil tank 16. This causes the first variable hydraulic pump motor 5 to drive the first electric generator 4 to rotate, generating electricity to recover energy for the power battery 2, and maintaining a certain back pressure by controlling the displacement of the first variable hydraulic pump motor 5. It is understood that during the descent of the weight 21, the second variable hydraulic pump motor 6 rotates along with the second electric generator 8. Therefore, the displacement of the second variable hydraulic pump motor 6 can be controlled in real time by the assembly controller 1 to adjust the pressure difference between port A and port B 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, thereby realizing the stable descent of the weight 21 and energy recovery.

[0074] Specifically, in step S4, the power battery 2 serves as the main energy source for the hoisting system. The assembly controller 1 controls the second electric generator 8 to be in a zero-speed state through the second motor controller 7. Simultaneously, it controls the first two-position two-way solenoid valve 13 and the second two-position two-way solenoid valve 14 to be de-energized and in the right position, thus locking the hydraulic drive unit. Then, the second electric generator 8 is de-torqued in a zero-torque mode, and the internal braking device of the hoisting reducer 20 engages the brake. Next, after braking the load 21, the hydraulic oil pressure in the passages of the first two-position two-way solenoid valve 13 and the second two-position two-way solenoid valve 14 is prevented from being too high through the first check valve 15, the hydraulic oil tank 16, the second check valve 17, the first overflow valve 18, and the second overflow valve 19. The system also receives signals from the first motor controller 3, the second motor controller 7, and multiple sensors in real time to ensure that the hoisting system is in normal condition after braking.

[0075] It is understandable that in step S5, due to operational requirements, environment, and possible emergencies, the heavy object 21 may exhibit at least the following motion states during hoisting: rising-braking-lowering, rising-braking-rising, and falling-braking-lowering. Therefore, steps S2, S3, and S4 need to be interspersed during this process to ensure operational safety and reduce energy loss during operation. Secondly, after the heavy object 21 is removed, the traction rope connected to the winch reducer 20 may also exhibit at least the following motion states: rising-braking-lowering, rising-braking-rising, and falling-braking-lowering, to adapt to different operational requirements.

[0076] 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, it implements the control method of the integrated hydraulic-electric co-drive and energy regeneration hoisting system in this embodiment.

[0077] In an optional embodiment, the assembly controller 1 may include a processor 101, a network interface 104, and a memory 105. Furthermore, 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 enable communication between these components. The user interface 103 may include a display screen and a keyboard. Optionally, the user interface 103 may also include a standard wired interface or a wireless interface, and can be connected to the control handle 26. The network interface 104 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 105 may be high-speed RAM or non-volatile memory, such as at least one disk storage device. Optionally, the memory 105 may also be at least one storage device located remotely from the aforementioned processor 1001. Figure 3 As shown, the memory 105, which is a computer-readable storage medium, may include an operating system, a network communication module, a user interface module, and a device control application.

[0078] like Figure 3 In the assembly controller 1 shown, the network interface 104 provides network communication functionality; the user interface 103 is mainly used for inputting data to the control handle 26; and the processor 101 can be used to call the device control application stored in the memory 105 to achieve:

[0079] The assembly controller 1 receives active commands from the control handle 26 in real time, analyzes the operator's target, and determines the subsequent movement state and speed requirements of the weight 21. At the same time, the assembly controller 1 receives signals collected by 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 weight 21.

[0080] When the assembly controller 1 receives the active command from the control handle 26 and determines that the subsequent movement state of the weight 21 is upward, the assembly controller 1 sends signals to the electric drive unit and the hydraulic drive unit, so that the first variable hydraulic pump motor 5 is in hydraulic pump mode, the second variable hydraulic pump motor 6 is in hydraulic motor mode, and the first electric generator 4 and the second electric generator 8 are in electric motor mode. Then, it outputs a speed signal value 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.

[0081] When the assembly controller 1 receives the active command from the control handle 26 and determines that the subsequent movement state of the weight 21 is descent, the assembly controller 1 sends signals to the electric drive unit and the hydraulic drive unit, so that the first variable hydraulic pump motor 5 is in hydraulic motor mode, the second variable hydraulic pump motor 6 is in hydraulic pump mode, and the first electric generator 4 and the second electric generator 8 are in generator mode. Then, it outputs a speed signal value 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.

[0082] When the assembly controller 1 does not receive the active command 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. At the same time, it controls the first two-position two-way solenoid valve 13 and the second two-position two-way solenoid valve 14 to be de-energized and in the right position, so that the hydraulic drive unit is in a locked state. Then, the second electric generator 8 is put into a zero-torque mode to release torque, and the internal braking device of the winch reducer 20 is engaged for braking.

[0083] Depending on the operational requirements and environment, steps S2 to S4 are performed intermittently to complete the hoisting of the heavy object 21.

[0084] It should be understood that in some feasible implementations, the processor 101 described above may be a central processing unit (CPU), which 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. The general-purpose processor may be a microprocessor or any conventional processor. The memory may include read-only memory and random access memory, and provides instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory may also store device type information.

[0085] In specific implementation, the assembly controller 1 can execute the implementation methods provided by the various steps of the control method described above through its built-in functional modules. For details, please refer to the implementation methods provided by the various steps described above.

[0086] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0087] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0088] In this patent, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit it; those skilled in the art will readily understand that the above descriptions 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 should be included within the protection scope of the present invention.

Claims

1. A liquid-electricity synergic driving and energy regenerating integrated hoisting system, characterized in that, include: The unit comprises a winch reducer (20), an electric drive unit, a hydraulic drive unit, and a control unit; among which: 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 so as to control the weight (21) including rising, falling and braking motion states by winding or releasing the traction rope. The electric drive unit is used to stably drive the winch reducer (20), and includes: a power battery (2), a first electric generator (4) and a second electric generator (8) electrically connected to the power battery (2), and the second electric generator (8) is mechanically connected to the winch reducer (20) and the hydraulic drive unit respectively; the electric drive unit also includes: a first motor controller (3) and a second motor controller (7); 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 hydraulic drive unit is used to assist the electric drive unit in outputting torque and recovering energy. It includes: a first variable hydraulic pump motor (5) coaxially connected to the first electric generator (4), and a second variable hydraulic pump motor (6) coaxially connected to the second electric generator (8) and the winch reducer (20). The hydraulic drive unit further includes: a high-pressure accumulator (9), a low-pressure accumulator (10), a first two-position three-way solenoid directional valve (11), a second two-position three-way solenoid directional valve (12), a first two-position two-way solenoid directional valve (13), a second two-position two-way solenoid directional 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-position three-way solenoid directional valve (12). The A port of the three-way solenoid directional valve (11) is connected; the A port of the second variable hydraulic pump motor (6), the B port of the first two-way solenoid directional valve (13), the B port of the first check valve (15), and the oil inlet of the first relief valve (18) are connected in pairs; the B port of the second variable hydraulic pump motor (6), the B port of the second two-way solenoid directional valve (14), the B port of the second check valve (17), and the oil inlet of the second relief valve (19) are connected in pairs; the outlet of the high-pressure accumulator (9) is connected to the T port of the first two-way three-way solenoid directional valve (11), and its outlet is equipped with the third pressure sensor (24); the outlet of the low-pressure accumulator (10) is connected to the third pressure sensor (24). The first two-position three-way solenoid directional valve (12) is connected to port A, and its outlet is equipped with the fourth pressure sensor (25); port B of the first two-position three-way solenoid directional valve (11) and port A of the first two-position two-way solenoid directional valve (13) are connected; port B of the second two-position three-way solenoid directional valve (12) is connected to port A of the second two-position two-way solenoid directional valve (14); the hydraulic oil tank (16) is connected to the inlet of the first variable hydraulic pump motor (5), port T of the second two-position three-way solenoid directional valve (12), port A of the first check valve (15), port A of the second check valve (17), the outlet of the first relief valve (18), and the outlet of the second relief valve (17). The outlet of the flow valve (19) is connected; the A port and 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 directional valve (11), the second two-position three-way solenoid directional valve (12), the first two-position two-way solenoid directional valve (13), the second two-position two-way solenoid directional 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; The control unit is connected to the winch reducer (20), the electric drive unit and the hydraulic drive unit respectively. It actively controls the speed of the electric generator in the electric drive unit and adjusts the output torque of the variable hydraulic pump motor in the hydraulic drive unit, as well as the hydraulic-electric composite energy regulation. 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 valve (11), the second two-position three-way solenoid valve (12), the first two-position two-way solenoid valve (13), the second two-position two-way solenoid 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).

2. The hoisting system according to claim 1, characterized in that, 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 electric generator (4) and the second electric generator (8) are permanent magnet synchronous motors and have both motor mode and generator mode.

4. The hoisting system according to claim 1, characterized in that, Both the first variable hydraulic pump motor (5) and the second variable hydraulic pump motor (6) include a hydraulic pump mode and a motor mode.

5. The hoisting system according to claim 2, characterized in that, The winch reducer (20) 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 (1). The hydraulic oil tank (16) also includes a level sensor and a fifth pressure sensor. The 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 signal to the assembly controller (1).

6. A control method for a winch system integrating hydraulic-electric co-drive and energy regeneration, implemented using the winch system as described in any one of claims 1-5, characterized in that, Includes the following steps: S1: The assembly controller (1) receives active commands from the control handle (26) in real time, analyzes the operator's target, and determines the subsequent movement state and speed requirements of the heavy object (21); at the same time, the assembly controller (1) receives the acquisition signals from the first motor controller (3), the second motor controller (7) and multiple sensors in real time, and judges the current movement state and speed of the heavy object (21); S2: When the assembly controller (1) receives the active command from the control handle (26) and determines that the subsequent movement state of the heavy object (21) is upward, 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 hydraulic pump mode, the second variable hydraulic pump motor (6) is in hydraulic motor mode, the first electric generator (4) and the second electric generator (8) are in motor mode. Then, 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. S3: When the assembly controller (1) receives the active command from the control handle (26) and determines that the subsequent movement state of the weight (21) is descent, 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 hydraulic motor mode, the second variable hydraulic pump motor (6) is in hydraulic pump mode, the first electric generator (4) and the second electric generator (8) are in generator mode, and then outputs a speed signal value 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. S4: When the assembly controller (1) does not receive the 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). At the same time, it controls the first two-position two-way solenoid directional valve (13) and the second two-position two-way solenoid directional valve (14) to be de-energized and in the right position, so that the hydraulic drive unit is in a locked state. Then, the second electric generator (8) is put into a zero-torque mode to release torque, and the internal braking device of the winch reducer (20) is engaged in braking. S5: Depending on the work requirements and environment, steps S2 to S4 are performed intermittently to complete the hoisting of the heavy object (21).

7. The control method according to claim 6, characterized in that, In step S2, the power battery (2) serves as the main energy source for the hoisting system. The first variable hydraulic pump motor (5) is in hydraulic pump mode, the second variable hydraulic pump motor (6) is in hydraulic motor mode, and the first electric generator (4) and the second electric generator (8) are in motor mode. Simultaneously, during the rotation of the second variable hydraulic pump motor (6) in coordination with the second electric generator (8), the assembly controller (1) controls the first two-position three-way solenoid directional valve (11) to be de-energized and in the right position, and the second two-position three-way solenoid directional valve... (12) The first two-position two-way solenoid directional valve (13) and the second two-position two-way solenoid directional valve (14) are 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 directional valve (11) and the first two-position two-way solenoid directional valve (13) to the A port of the second variable hydraulic pump motor (6), and after being depressurized, flows from the B port of the second variable hydraulic pump motor (6) through the second two-position two-way solenoid directional valve (14) and the second two-position three-way solenoid directional valve (12) and 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 directional valve (11) to be energized and placed 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 to 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 directional valve (12) to be de-energized and placed in the right position, so that the hydraulic oil in the passage flows back to the hydraulic oil tank (16).

8. The control method according to claim 7, characterized in that, In step S3, the power battery (2) serves as the main energy source for the hoisting system. The first variable hydraulic pump motor (5) is in hydraulic motor mode, the second variable hydraulic pump motor (6) is in hydraulic pump mode, and the first electric generator (4) and the second electric generator (8) are in generator mode. Simultaneously, during the rotation of the second variable hydraulic pump motor (6) in coordination with the second electric generator (8), the assembly controller (1) controls the first two-position three-way solenoid directional valve (11) to be de-energized and in the right position, and the second two-position three-way solenoid directional valve (12)... When the first two-position two-way solenoid directional valve (13) and the second two-position two-way solenoid directional valve (14) are energized and in the left position, the hydraulic oil in the low-pressure accumulator (10) passes through the second two-position three-way solenoid directional valve (12) and the second two-position two-way solenoid directional valve (14) to 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 directional valve (13) and the first two-position three-way solenoid directional 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 the set threshold pressure, the assembly controller (1) controls the second two-position three-way solenoid directional valve (12) to be energized and placed in the right position, so that the hydraulic oil tank (16) directly supplies 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 directional valve (11) to be energized and placed in the left position, so that the hydraulic oil in the passage flows through the first variable hydraulic pump motor (5) and returns to the hydraulic oil tank (16), thereby causing 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 maintain a certain back pressure by controlling the displacement of the first variable hydraulic pump motor (5).

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