Hydraulic winch with capturing frame wave compensation function

Abstract

A hydraulic winch with a capture frame wave compensation function comprises a capture frame used for capturing an aircraft, a winding drum connected with the capture frame through a rope, a clutch connected with the winding drum, a first motor connected with the clutch, a second motor connected with the winding drum, and a brake connected with the first motor. The control valve group is used for controlling the first motor and the second motor to rotate; the control valve set inputs hydraulic oil into the winch ascending opening and the winch descending opening to achieve ascending and descending of the winch, and the hydraulic winch can cope with wave compensation constant tension of different capture and collision opening by arranging the first overflow valve and the second overflow valve and setting different overflow pressures at the same time. According to the utility model, the stable butt joint of the capturing frame and the aircraft is realized by setting different wave compensation constant tension, and the aircraft to be captured is prevented from being damaged.

Description

Technical Field

[0001] This utility model belongs to the field of unmanned aerial vehicle recovery, and in particular relates to a hydraulic winch with wave compensation function for capture frame. Background Technology

[0002] With the development of marine science research and technology, unmanned surface vehicles (USVs) have been widely used in various fields such as marine exploration, environmental monitoring, resource development, and security defense due to their advantages of high efficiency, safety, and cost-effectiveness. USVs can perform various tasks, such as water quality monitoring, seabed topography mapping, meteorological data collection, and search and rescue operations, playing a particularly important role in some inaccessible or dangerous sea areas.

[0003] However, in actual operation, the release and recovery of unmanned aerial vehicles (UAVs) face numerous challenges due to the complexity and unpredictability of the marine environment. Especially in adverse weather conditions, strong winds and waves increase the difficulty of operation. For example, during recovery, the relative movement between the traditional capture frame and the UAV may cause a collision, resulting in structural damage or other harm to the UAV. Furthermore, strong currents and waves make precise position control difficult, increasing uncertainty and risk during the recovery process.

[0004] Currently, common methods for recovering unmanned aerial vehicles (UAVs) include direct retrieval via a winch and retrieval using a capture frame. While the former is simple and direct, in complex sea conditions, the rope is easily subjected to wave impacts and violent swinging, affecting retrieval efficiency and potentially damaging the UAV. The latter, while providing a relatively fixed retrieval point, lacks an effective wave compensation mechanism. In larger waves, the contact force between the capture frame and the UAV is difficult to control, posing a high risk of collision. Even hydraulic winches equipped with basic wave compensation systems often lack the flexibility to adapt precisely to varying sea conditions when facing waves of different frequencies and amplitudes, still posing a risk of damaging the UAV. Utility Model Content

[0005] The purpose of this utility model is to provide a hydraulic winch with wave compensation function for the capture frame, so as to reduce the technical problem of damage caused by waves during the recovery of the vehicle.

[0006] To achieve the above objectives, the specific technical solution of this utility model for a hydraulic winch with wave compensation function for a capture frame is as follows:

[0007] A hydraulic winch with wave compensation function for capturing a capture frame includes a capture frame for capturing a vehicle, a drum connected to the capture frame by a rope, a clutch connected to the drum, a first motor connected to the clutch and a second motor connected to the drum, a brake connected to the first motor, and a control valve group for controlling the rotation of the first motor and the second motor.

[0008] The control valve group is provided with a winch lifting port and a winch lowering port. Hydraulic oil enters the control valve group through the winch lifting port to enable the hydraulic winch to drive the capture frame to rise, and hydraulic oil enters the control valve group through the winch lowering port to enable the hydraulic winch to drive the capture frame to fall.

[0009] The control valve group includes a first valve group and a second valve group that control the rotation of the first motor and the second motor respectively; the second valve group includes a first overflow valve and a second overflow valve. The overflow pressure set by the second overflow valve is used to control the wave compensation constant tension of the hydraulic winch capture frame that rises and falls with the waves. The overflow pressure set by the first overflow valve is used to control the wave compensation constant tension of the hydraulic winch vehicle that rises and falls with the waves after the capture frame docks with the vehicle to be captured.

[0010] As a further improvement of this utility model, the first valve group includes a first solenoid valve, a second solenoid valve, a first shuttle valve, a first balance valve, and a second balance valve; hydraulic oil enters the control valve group through the winch lifting port, then enters the first valve group through the first solenoid valve, and enters the second valve group through the second solenoid valve; the oil outlet of the first solenoid valve is connected to the first shuttle valve and the first balance valve respectively; the two oil outlets of the first shuttle valve are connected to the brake and the X port of the second valve group respectively, and the oil outlet of the first balance valve is connected to the A port of the first motor; hydraulic oil enters the first valve group through the winch lowering port and flows to the second balance valve and the first shuttle valve, and the oil outlet of the second balance valve is connected to the B port of the first motor.

[0011] As a further improvement of this utility model, the second valve group includes a second shuttle valve, a first hydraulic lock, a second hydraulic lock, a pressure reducing valve, a second check valve, a third solenoid valve, a fourth solenoid valve, a first relief valve, a fifth solenoid valve, a second relief valve, and a second motor solenoid valve; the opening and closing of the fourth solenoid valve controls the hydraulic oil to enter the first relief valve, and the opening and closing of the fifth solenoid valve controls the hydraulic oil to enter the second relief valve. The second motor is equipped with a second motor solenoid valve; the hydraulic oil entering through port X of the second valve group flows sequentially through the pressure reducing valve and the second check valve to the third solenoid valve, the fourth solenoid valve, the fifth solenoid valve, and port A of the second motor; the oil outlet of the second solenoid valve is connected to the oil inlet of the second shuttle valve and the first hydraulic lock, respectively; the oil outlet of the second shuttle valve is connected to the clutch; the oil outlet of the first hydraulic lock is connected to the third solenoid valve, the fourth solenoid valve, the fifth solenoid valve, and port A of the second motor, respectively; the oil outlet of the third solenoid valve is connected to the second hydraulic lock and port B of the second motor, respectively.

[0012] As a further improvement of this utility model, the first valve group further includes a first check valve, which is connected between the winch descent port and the second valve group to prevent hydraulic oil from the winch descent port from entering the second valve group.

[0013] As a further improvement of this utility model, the oil inlet of the second hydraulic lock is connected to the first check valve, and the oil outlet of the second hydraulic lock is connected to the oil outlet of the third solenoid valve and the B port of the second motor, respectively.

[0014] As a further improvement of this utility model, the brake is a normally closed brake. Hydraulic oil enters the brake, the brake disengages from the first motor, and the first motor enters a brakeless state.

[0015] As a further improvement of this utility model, the clutch is a normally closed clutch, hydraulic oil enters the clutch, the clutch disengages from the drum, and the drum is driven only by the second motor.

[0016] As a further improvement of this utility model, the control valve group also includes an oil replenishment circuit, which connects the first motor and the second motor, as well as the oil tank, for replenishing oil from the oil tank after hydraulic oil leaks from the first motor and the second motor.

[0017] Beneficial effects:

[0018] By setting up a wave-compensated constant tension mechanism, the relative motion between the capture frame and the unmanned vehicle under the action of waves can be effectively reduced, avoiding damage to the vehicle due to impact and improving the safety of the unmanned vehicle recovery process.

[0019] By setting different overflow pressures using the first and second overflow valves, the wave compensation function of the capture frame under different working conditions is realized, ensuring that constant tension can be maintained whether under no-load or load conditions, thus enhancing the stability and reliability of the system operation.

[0020] The control valve assembly integrates multiple solenoid valves, balance valves, hydraulic locks, and other components, forming a complex and precise control logic. This design not only precisely controls the actions of the first and second motors but also ensures efficient operation of the hydraulic system under different operating modes through the coordinated work of the first and second valve assemblies.

[0021] The normally closed brake and clutch design allows the winch to automatically switch from braking to driving without manual intervention, simplifying the operation process and reducing the workload of operators.

[0022] By rationally configuring the various components of the hydraulic system, especially the design of the oil replenishment circuit, hydraulic oil lost due to leakage can be replenished in a timely manner, avoiding equipment wear caused by lack of oil, thereby extending the overall service life of the hydraulic winch.

[0023] This hydraulic winch system can dynamically adjust the position of the capture frame according to different sea conditions, enabling the unmanned vehicle to carry out recovery operations smoothly in any wave environment, greatly expanding its application scenarios and improving the adaptability and flexibility of the equipment.

[0024] In summary, this utility model provides a hydraulic winch solution that is compact, easy to operate, and has strong wave compensation capabilities. It not only solves the problems existing in traditional recovery methods, but also significantly improves the efficiency and safety of unmanned aerial vehicle recovery operations. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of a hydraulic winch structure with wave compensation function for a capture frame according to the present invention;

[0026] The markings in the diagram are as follows: 10, Clutch; 20, Brake; 30, First Motor; 40, Second Motor; 50, First Valve Assembly; 51, First Solenoid Valve; 52, Second Solenoid Valve; 53, First Shuttle Valve; 54, First Balance Valve; 55, Second Balance Valve; 56, First Check Valve; 60, Second Valve Assembly; 61, Second Shuttle Valve; 62, First Hydraulic Lock; 63, Second Hydraulic Lock; 64, Pressure Reducing Valve; 65, Second Check Valve; 66, Third Solenoid Valve; 67, Fourth Solenoid Valve; 68, First Relief Valve; 69, Fifth Solenoid Valve; 610, Second Relief Valve; 611, Second Motor Solenoid Valve; 70, Winch Lifting Port; 80, Winch Lowering Port; 90, Oil Tank. Detailed Implementation

[0027] To enhance understanding of this utility model, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. These embodiments are only used to explain the present utility model and do not constitute a limitation on the scope of protection of the present utility model.

[0028] Implementation example:

[0029] like Figure 1 The diagram shows a hydraulic winch with wave compensation function for a capture frame. The hydraulic winch, located on a mother ship, uses a rope wound around a drum (not shown) to raise and lower a capture frame (not shown) towards the sea surface for the capture and release of heavy unmanned aerial vehicles (UAVs). A first motor 30 is connected to the drum via a normally closed clutch 10. When hydraulic oil enters the clutch 10, it disconnects from the drum, and the drum is driven only by the second motor 40. The first motor 30 is connected to a normally closed brake 20. When hydraulic oil enters the brake 20, it disengages from the first motor 30, putting the first motor 30 into a brakeless state. The first motor 30 and the second motor 40 are connected to an oil tank 90 via a replenishment line, allowing hydraulic oil to be replenished when leakage occurs.

[0030] The first motor 30 and the second motor 40 are controlled by the first valve group 50 and the second valve group 60, respectively. The oil inlets of the first solenoid valve 51 and the second solenoid valve 52 in the first valve group 50 are connected to the winch hoisting port 70. The second solenoid valve 52 controls the hydraulic oil to enter the second valve group 60 from the winch hoisting port 70. The hydraulic oil passing through the first solenoid valve 51 flows to the first shuttle valve 53 and the first balance valve 54. The hydraulic oil entering the first shuttle valve 53 flows to the brake 20 and the X port of the second valve group, while the hydraulic oil entering the first balance valve 54 flows to the A port of the first motor. The hydraulic oil entering through the winch descent port 80 flows to the first shuttle valve 53 and the second balance valve 55. The hydraulic oil entering the first shuttle valve 53 flows to the brake 20 and the X port of the second valve group, while the hydraulic oil entering the second balance valve 55 flows to the B port of the first motor. The first check valve 56 prevents hydraulic oil from flowing from the second valve group to the first valve group.

[0031] In the second valve group 60, the first relief valve 68 and the second relief valve 610 are controlled by the fourth solenoid valve 68 and the fifth solenoid valve 610, respectively, to allow hydraulic oil to enter. The third solenoid valve 66 controls the hydraulic oil to enter the second motor port B. Hydraulic oil entering the second valve group 60 through the second solenoid valve 52 flows to the second shuttle valve 61 and the first hydraulic lock 62. Hydraulic oil passing through the second shuttle valve 61 flows to the clutch 10, and hydraulic oil passing through the first hydraulic lock 62 flows to the third solenoid valve 66, the fourth solenoid valve 67, the fifth solenoid valve 69, and the second motor port A. Hydraulic oil entering the second valve group 60 through port X passes sequentially through the pressure reducing valve 64 and the second check valve 65 before flowing to the third solenoid valve 66, the fourth solenoid valve 67, the fifth solenoid valve 69, and the second motor port A. The second motor 40 is equipped with a second motor solenoid valve 611.

[0032] A control method for a hydraulic winch with wave compensation function for a capture frame includes a lifting method and a lowering method for controlling the lifting and lowering of the hydraulic winch, a wave compensation method for controlling the capture frame to rise and fall with the waves, and a wave compensation method for controlling the capture frame to rise and fall with the waves together with the target vehicle after docking.

[0033] When controlling the winch to lift, the first solenoid valve 51 and the third solenoid valve 66 are opened, while the second solenoid valve 52, the fourth solenoid valve 67, the fifth solenoid valve 69, and the second motor solenoid valve 611 are closed. Hydraulic oil enters the first valve group 50 through the winch lifting port 70, and flows sequentially through the first solenoid valve 51 to the first shuttle valve 53 and the first balance valve 54. The hydraulic oil passing through the first balance valve 54 flows to the first motor A port, and the hydraulic oil passing through the first shuttle valve 54 flows to the brake 20 and the second valve group X port. The hydraulic oil entering the brake 20 opens it, putting the first motor in a brakeless state. The hydraulic oil entering the first motor A port drives the output shaft of the first motor 30 to rotate forward, which in turn drives the winch drum to rotate forward. The rope wound on the drum performs a lifting motion, hoisting the capture device. Meanwhile, the hydraulic oil flowing to port X of the second valve group enters ports A and B of the second motor in sequence through pressure reducing valve 64, second check valve 65, and third solenoid valve 66. When the motor is fully loaded and in lifting condition, brake 20 is opened, first motor 30 drives drum to rotate forward, and second motor 40 follows the drum to rotate. Considering that there is leakage of hydraulic oil in second motor 40, in order to prevent vacuum from occurring inside second motor 40 when it rotates, an oil replenishment circuit is set up.

[0034] When the winch is lowered, the first solenoid valve 51 and the third solenoid valve 66 are opened, while the second solenoid valve 52, the fourth solenoid valve 67, the fifth solenoid valve 69, and the second motor solenoid valve 611 are closed. The control method is similar to that during winch hoisting. Hydraulic oil enters the first valve group 50 from the winch descent port 80, then flows into the first motor port B and the brake 20, putting the first motor 30 in a brake-free state and driving the drum to reverse. Hydraulic oil entering the second valve group X port flows into the second motor ports A and B, causing the second motor 40 to rotate with the drum.

[0035] In the wave compensation method for the capture frame, the first solenoid valve 51, the third solenoid valve 66, and the fourth solenoid valve 67 are closed, while the second solenoid valve 52, the fifth solenoid valve 69, and the second motor solenoid valve 611 are opened. The overflow pressure of the second relief valve 610 is set, which is the constant tension for wave compensation of the winch's capture frame. Hydraulic oil enters the first valve group 50 from the winch's riser port 70, and then flows through the second solenoid valve 52 and the second shuttle valve 61 to the clutch 10 and the first hydraulic lock 62, respectively. The hydraulic oil entering the clutch 10 disengages the first motor 30 from the drum, leaving the drum driven only by the second motor 40. The hydraulic oil entering the first hydraulic lock 62 flows to the second motor port A and the second relief valve 610, respectively. If the wave subsides at this time, the entire weight of the capture frame acts on the rope wound on the drum, tightening the rope. At this point, the hydraulic winch experiences a force greater than the set constant tension for wave compensation of the capture frame, causing the capture frame to fall under its own weight, reversing the winch, and allowing the hydraulic oil to flow out through the second relief valve 610. If the waves surge up at this time, the capture frame will be lifted by the waves, and the rope wound on the drum will loosen. At this time, the force on the hydraulic winch will be less than the set constant tension for wave compensation of the capture frame. The hydraulic oil will flow into port A of the second motor, driving the second motor to rotate 40 degrees forward, thereby driving the drum to rotate forward, tightening the rope, and pulling the capture frame tight.

[0036] In the wave compensation method for the aircraft, the capture frame is now connected to the aircraft to be captured. The first solenoid valve 51, the third solenoid valve 66, and the fifth solenoid valve 69 are closed, while the second solenoid valve 52, the fourth solenoid valve 67, and the second motor solenoid valve 611 are opened. The overflow pressure of the first overflow valve 68 is set, which is the constant tension for wave compensation of the winch. Hydraulic oil enters the first valve group 50 from the winch hoisting port 70, and then flows through the second solenoid valve 52 and the second shuttle valve 61 to the clutch 10 and the first hydraulic lock 62, respectively. The hydraulic oil entering the clutch 10 disengages the first motor 30 from the drum, leaving the drum driven only by the second motor 40. The hydraulic oil entering the first hydraulic lock 62 flows to the second motor A port and the first overflow valve 68, respectively. If the waves are subsiding, the entire weight of the docked capture frame and the vehicle will act on the rope wound on the drum, tightening the rope. At this point, the hydraulic winch will experience a force greater than the set wave compensation constant tension, causing the docked capture frame and vehicle to fall under their own weight, reversing the winch and allowing hydraulic oil to flow out through the first overflow valve 68. If the waves are rising, the docked capture frame and vehicle will be lifted by the waves, loosening the rope wound on the drum. At this point, the hydraulic winch will experience a force less than the set wave compensation constant tension, allowing hydraulic oil to flow into port A of the second motor, driving the second motor 40 to rotate forward. This, in turn, causes the drum to rotate forward, tightening the rope and tautning the docked capture frame and vehicle.

[0037] Common wave-compensated hydraulic winches typically use a hydraulic motor connected to a reducer to drive the drum rotation, achieving low-speed, high-torque operation (full-load take-off and landing). Wave compensation primarily utilizes a variable displacement mechanism to reduce the hydraulic motor's displacement, achieving high-speed, low-torque operation. However, commercially available variable displacement motors are generally only 30% of their full displacement. This means that in wave compensation mode, the cable tension is 30% of that in full-load take-off and landing, and the cable speed is 333% of that in full-load take-off and landing. Using this wave-compensated hydraulic winch, deploying a 9-ton unmanned aerial vehicle (UAV) at 48 m / min with a hydraulic system pressure of 20 MPa, the constant tension when switching to wave compensation mode is approximately 9 ÷ 3 = 3 tons, with a speed of 48 x 3 = 144 m / min and a hydraulic system pressure of 20 MPa. Even if the hydraulic system pressure is reduced to 10 MPa, the minimum constant tension is only 1.5 tons. Excessive constant tension could easily pull the UAV out of the water, failing to achieve wave compensation. Therefore, a dual-motor wave-compensating hydraulic winch was adopted. The motor displacement has no specific proportional constraint and can theoretically achieve any ratio. After testing, the wave-compensating constant tension of the aircraft was set to approximately 1 ton, with a hydraulic system pressure of 20 MPa, resulting in significant wave-following performance.

[0038] The capture frame of the capture vehicle weighs 400 kg, therefore the dual-motor wave-compensated hydraulic winch needs to add a wave compensation function, namely the capture frame wave compensation function. The second motor is designed as a variable motor. The constant tension of the capture frame is approximately 1 ÷ 3 = 333 kg, and the hydraulic system pressure is 20 MPa. By lowering the hydraulic system pressure to 10 MPa, the minimum constant tension is 150 kg. After testing, the wave compensation constant tension of the capture frame can be set at around 200 kg, with a hydraulic system pressure of 12 MPa, resulting in a significant wave-following effect.

[0039] When recovering the vehicle, first lower the capture frame to approximately 3 meters directly above the vehicle. At this point, activate the wave compensation function of the capture frame, which is initially in standby mode. Continue lowering the capture frame. When it reaches the back of the vehicle, the tension on the ropes connecting the capture frame suddenly decreases, automatically activating the wave compensation function. The capture frame will rise and fall with the vehicle, ensuring synchronized vertical movement and significantly improving the efficiency of the capture frame in capturing the vehicle. This also prevents repeated impacts between the capture frame and the vehicle. The capture frame can then be operated to capture and lock the vehicle. Once the capture frame and vehicle are successfully docked, the wave compensation function of the capture frame automatically deactivates, while the wave compensation function of the vehicle automatically activates, remaining in standby mode. As the waves surge, the wave compensation function of the vehicle automatically activates, providing a constant tension to both the docked capture frame and the vehicle. This prevents the vehicle from moving erratically due to wave surging and causing unnecessary collisions, greatly improving the safety and stability of the vehicle's deployment and retrieval. Then, locate a wave crest and operate the hydraulic winch to lift the vehicle. The wave compensation function will automatically cancel, and the hydraulic winch will retract the capture frame and the vehicle into position together. The process of lowering the vehicle is exactly the reverse of the recovery process.

[0040] The hydraulic winch control system of this utility model is suitable for the deployment and retrieval of heavy unmanned aerial vehicles (UAVs) weighing 9 tons or more. The wave compensation function of the capture frame allows the capture frame to rise and fall with the UAV, ensuring that the UAV and the capture frame move synchronously in the height direction, which greatly improves the efficiency of the capture frame in capturing the UAV and also avoids repeated collisions between the capture frame and the UAV. The wave compensation function of the UAV provides a constant tension to the capture frame and the UAV after docking, preventing the wave surge from pushing the UAV to move randomly and causing unnecessary collisions, which greatly improves the safety and stability of the UAV deployment and retrieval. The two wave compensation functions are interlocked and do not interfere with each other.

[0041] It is understood that this utility model has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this utility model. Furthermore, under the teachings of this utility model, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of this utility model.

Claims

1. A hydraulic winch with wave compensation function for a capture frame, characterized in that, It includes a capture frame for capturing a vehicle, a drum connected to the capture frame by a rope, a clutch connected to the drum, a first motor connected to the clutch and a second motor connected to the drum, a brake connected to the first motor, and a control valve assembly for controlling the rotation of the first motor and the second motor. The control valve group is provided with a winch lifting port and a winch lowering port. Hydraulic oil enters the control valve group through the winch lifting port to enable the hydraulic winch to drive the capture frame to rise, and hydraulic oil enters the control valve group through the winch lowering port to enable the hydraulic winch to drive the capture frame to fall. The control valve group includes a first valve group and a second valve group that control the rotation of the first motor and the second motor respectively; the second valve group includes a first overflow valve and a second overflow valve. The overflow pressure set by the second overflow valve is used to control the wave compensation constant tension of the hydraulic winch capture frame that rises and falls with the waves. The overflow pressure set by the first overflow valve is used to control the wave compensation constant tension of the hydraulic winch vehicle that rises and falls with the waves after the capture frame docks with the vehicle to be captured. The first valve group includes a first solenoid valve, a second solenoid valve, a first shuttle valve, a first balance valve, and a second balance valve. Hydraulic oil enters the control valve group through the winch lifting port, then enters the first valve group through the first solenoid valve, and then enters the second valve group through the second solenoid valve. The outlet of the first solenoid valve is connected to the first shuttle valve and the first balance valve. The two outlets of the first shuttle valve are connected to the brake and the X port of the second valve group, respectively. The outlet of the first balance valve is connected to the A port of the first motor. Hydraulic oil enters the first valve group through the winch lowering port and flows to the second balance valve and the first shuttle valve. The outlet of the second balance valve is connected to the B port of the first motor. The second valve group includes a second shuttle valve, a first hydraulic lock, a second hydraulic lock, a pressure reducing valve, a second check valve, a third solenoid valve, a fourth solenoid valve, a first relief valve, a fifth solenoid valve, a second relief valve, and a second motor solenoid valve. The opening and closing of the fourth solenoid valve controls the hydraulic oil to enter the first relief valve, and the opening and closing of the fifth solenoid valve controls the hydraulic oil to enter the second relief valve. The second motor is equipped with a second motor solenoid valve. The hydraulic oil entering through port X of the second valve group flows sequentially through the pressure reducing valve and the second check valve to the third solenoid valve, the fourth solenoid valve, the fifth solenoid valve, and port A of the second motor. The outlet of the second solenoid valve is connected to the inlet of the second shuttle valve and the first hydraulic lock, respectively. The outlet of the second shuttle valve is connected to the clutch. The outlet of the first hydraulic lock is connected to the third solenoid valve, the fourth solenoid valve, the fifth solenoid valve, and port A of the second motor. The outlet of the third solenoid valve is connected to the second hydraulic lock and port B of the second motor. The first valve group also includes a first check valve, which is connected between the winch descent port and the second valve group to prevent hydraulic oil from the winch descent port from entering the second valve group; The oil inlet of the second hydraulic lock is connected to the first check valve, and the oil outlet of the second hydraulic lock is connected to the oil outlet of the third solenoid valve and the B port of the second motor, respectively.

2. The hydraulic winch with wave compensation function for capturing frame according to claim 1, characterized in that, The brake is a normally closed brake. When hydraulic oil enters the brake, the brake disengages from the first motor, and the first motor enters a brakeless state.

3. The hydraulic winch with wave compensation function for capturing frame according to claim 1, characterized in that, The clutch is a normally closed clutch. Hydraulic oil enters the clutch, and the clutch disengages from the drum. The drum is driven only by the second motor.

4. The hydraulic winch with wave compensation function for capturing frame according to claim 1, characterized in that, The control valve assembly also includes an oil replenishment circuit, which connects the first motor and the second motor, as well as the oil tank, for replenishing oil from the oil tank after hydraulic oil leaks from the first motor and the second motor.

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