Sectional type flow supplementing valve group suitable for adjusting pressure of artificial muscle joint

Abstract

The invention provides a sectional type flow supplementing valve group applicable to artificial muscle joint pressure regulation. The sectional type flow supplementing valve group comprises a first flow supplementing valve, a second flow supplementing valve and a connecting mechanism, the connecting mechanism comprises a flow supplementing valve body; the first flow supplementing valve comprises a first flow supplementing valve high-pressure side valve sleeve, a first flow supplementing valve middle-position valve sleeve, a first flow supplementing valve low-pressure side valve sleeve, a first flow supplementing valve high-pressure side valve element, a first flow supplementing valve low-pressure side valve element and a first spring which are sequentially arranged in a first through hole of a flow supplementing valve body from left to right. The second flow supplementing valve comprises a second flow supplementing valve high-pressure side valve sleeve, a second flow supplementing valve middle-position valve sleeve, a second flow supplementing valve low-pressure side valve sleeve, a second flow supplementing valve high-pressure side valve element, a second flow supplementing valve low-pressure side valve element and a second spring which are sequentially arranged in a second through hole of the flow supplementing valve body from left to right. According to the technical scheme, the problems that an artificial muscle joint control valve is large in power consumption and low in speed are solved.

Description

Technical Field

[0001] The invention relates to the field of hydraulic valves, and in particular to a segmented flow-injection valve group suitable for artificial muscle joint pressure regulation. Background Art

[0002] The hydraulic system has the advantages of high energy density and high output force / mass ratio, and the hydraulic artificial muscle joint is a hydraulic actuator with water as the driving medium, which has the following advantages: 1. High system flexibility and good bionics; 2. Eco-friendly and safe; 3. Large output torque and wide range of rotation angles; 4. Easy maintenance. As one of the core components of hydraulic artificial muscle joint control, the working performance of the hydraulic differential pressure control valve, especially the flow characteristics, has an important influence on the entire system. Under the condition of fully considering the physical and chemical properties of the water medium and the working principle of the hydraulic artificial muscle joint, it is very necessary to develop a low-power, small-volume replenishment valve group that can improve the flow control of the hydraulic differential pressure control valve.

[0003] The current pressure differential control valve-controlled water pressure artificial muscle joint system mainly has the following problems: 1. The control flow entering the muscle when the joint rotates is small, and the rotation speed of the artificial muscle joint is slow; 2. The standby energy consumption is large, and there is still a large amount of flow in the system when the joint is stable; 3. The traditional integrated flow-replenishing valve has poor sealing effect, and internal leakage leads to poor control accuracy; 4. The traditional integrated flow-replenishing valve is large in size and has a low degree of integration. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a segmented flow-injection valve group suitable for artificial muscle joint pressure regulation.

[0005] The technical means adopted by the present invention are as follows:

[0006] A segmented flow-injection valve group suitable for artificial muscle joint pressure regulation comprises a first flow-injection valve, a second flow-injection valve and a connecting mechanism;

[0007] The connecting mechanism comprises a flow-injection valve body, a first mounting plate, a second mounting plate, a third mounting plate and a fourth mounting plate;

[0008] The valve body of the replenishing valve is a rectangular parallelepiped structure, wherein the first through hole of the replenishing valve body and the third through hole of the replenishing valve body are provided in the upper end thereof, and the second through hole of the replenishing valve body and the fourth through hole of the replenishing valve body are provided in the lower end thereof; the first replenishing valve is installed in the first through hole of the replenishing valve body, and the second replenishing valve is installed in the second through hole of the replenishing valve body; the first mounting plate and the third mounting plate are respectively mounted on the side surfaces of the replenishing valve body corresponding to the two ends of the first through hole of the replenishing valve body and the third through hole of the replenishing valve body; the second mounting plate and the fourth mounting plate are respectively mounted on the side surfaces of the replenishing valve body corresponding to the two ends of the second through hole of the replenishing valve body and the fourth through hole of the replenishing valve body;

[0009] The first process hole and the second process hole of the flow-replenishing valve body are provided on the upper part of the front side surface of the flow-replenishing valve body, and the third process hole and the fourth process hole of the flow-replenishing valve body are provided on the lower part; the first process hole of the flow-replenishing valve body and the second process hole of the flow-replenishing valve body correspond to the left and right ends of the first through hole of the flow-replenishing valve body and the third through hole of the flow-replenishing valve body respectively; the first process hole of the flow-replenishing valve body and the second process hole of the flow-replenishing valve body respectively connect the first through hole of the flow-replenishing valve body with the third through hole of the flow-replenishing valve body at the left and right ends; the third process hole of the flow-replenishing valve body and the fourth process hole of the flow-replenishing valve body respectively correspond to the left and right ends of the second through hole of the flow-replenishing valve body and the fourth through hole of the flow-replenishing valve body; the third process hole of the flow-replenishing valve body and the fourth process hole of the flow-replenishing valve body respectively connect the second through hole of the flow-replenishing valve body with the fourth through hole of the flow-replenishing valve body at the left and right ends;

[0010] The front side of the valve body of the replenishing valve is also provided with a first connecting hole of the valve body of the replenishing valve, a second connecting hole of the valve body of the replenishing valve, a third connecting hole of the valve body of the replenishing valve and a fourth connecting hole of the valve body of the replenishing valve; the first connecting hole of the valve body of the replenishing valve corresponds to the third through hole of the valve body of the replenishing valve Central and is connected with the third through hole of the flow replenishing valve body; the second connecting hole of the flow replenishing valve body corresponds to the middle of the fourth through hole of the flow replenishing valve body and is connected with the fourth through hole of the flow replenishing valve body; the first connecting channel and the second connecting channel are arranged inside the flow replenishing valve body along the vertical direction, and the two ends of the first connecting channel and the second connecting channel are respectively connected to the first through hole of the flow replenishing valve body and the second through hole of the flow replenishing valve body; the third connecting hole of the flow replenishing valve body and the fourth connecting hole of the flow replenishing valve body are respectively connected to the first connecting channel and the second connecting channel;

[0011] The upper side of the flow-replenishing valve body is provided with a fifth connecting hole of the flow-replenishing valve body and a fifth process hole of the flow-replenishing valve body; the fifth connecting hole of the flow-replenishing valve body is connected with the first through hole of the flow-replenishing valve body through a blind hole; the fifth process hole of the flow-replenishing valve body is connected with the first through hole of the flow-replenishing valve body, and further connected with the first connecting channel, the third connecting hole of the flow-replenishing valve body and the second through hole of the flow-replenishing valve body; the lower side of the flow-replenishing valve body is provided with a sixth connecting hole of the flow-replenishing valve body and a sixth process hole of the flow-replenishing valve body; the sixth connecting hole of the flow-replenishing valve body is connected with the second through hole of the flow-replenishing valve body through a blind hole; the sixth process hole of the flow-replenishing valve body is connected with the second through hole of the flow-replenishing valve body, and further connected with the second connecting channel, the fourth connecting hole of the flow-replenishing valve body and the first through hole of the flow-replenishing valve body;

[0012] The first process hole of the valve body of the replenishing valve, the second process hole of the valve body of the replenishing valve, the third process hole of the valve body of the replenishing valve, the fourth process hole of the valve body of the replenishing valve, the fifth process hole of the valve body of the replenishing valve and the sixth process hole of the valve body of the replenishing valve are blocked outside;

[0013] The first flow-replenishing valve comprises a first flow-replenishing valve high-pressure side valve sleeve, a first flow-replenishing valve middle position valve sleeve and a first flow-replenishing valve low-pressure side valve sleeve which are arranged in sequence from left to right in the first through hole of the flow-replenishing valve body;

[0014] The high-pressure side valve sleeve of the first flow-replenishing valve is provided with a first flow-replenishing valve high-pressure side valve sleeve blind hole in the axial direction, and the first flow-replenishing valve high-pressure side valve sleeve first sealing ring groove, the first flow-replenishing valve high-pressure side valve sleeve outer annular groove and the first flow-replenishing valve high-pressure side valve sleeve second sealing ring groove are provided on the outer side surface from left to right; the first flow-replenishing valve high-pressure side valve sleeve flow hole is provided in the outer annular groove of the first flow-replenishing valve high-pressure side valve sleeve; the first flow-replenishing valve high-pressure side valve sleeve flow hole is connected with the first process hole of the flow-replenishing valve body;

[0015] The first valve sleeve of the first flow-replenishing valve is provided with a first valve sleeve through hole in the axial direction, and four first valve sleeve sealing ring grooves are provided on the outer side from left to right in sequence, and a first annular groove on the outer side of the first valve sleeve of the first flow-replenishing valve, a second annular groove on the outer side of the first valve sleeve of the first flow-replenishing valve, and a third annular groove on the outer side of the first valve sleeve of the first flow-replenishing valve are provided in sequence between every two adjacent first valve sleeve sealing ring grooves; the first annular groove on the outer side of the first valve sleeve of the first flow-replenishing valve, the second annular groove on the outer side of the first valve sleeve of the first flow-replenishing valve, and the third annular groove on the outer side of the first valve sleeve of the first flow-replenishing valve are provided in sequence. The first through hole of the middle valve sleeve of the first flow replenishing valve, the second through hole of the middle valve sleeve of the first flow replenishing valve and the third through hole of the middle valve sleeve of the first flow replenishing valve are respectively provided in the third annular groove outside the middle valve sleeve of the first flow replenishing valve; the first through hole of the middle valve sleeve of the first flow replenishing valve is connected with the fifth process hole of the valve body of the flow replenishing valve and the first connecting channel; the second through hole of the middle valve sleeve of the first flow replenishing valve is connected with the fifth connecting hole of the valve body of the flow replenishing valve; the third through hole of the middle valve sleeve of the first flow replenishing valve is connected with the second connecting channel;

[0016] The low-pressure side valve sleeve of the first flow-replenishing valve is provided with a first low-pressure side valve sleeve blind hole in the axial direction, and the first low-pressure side valve sleeve first sealing ring groove, the outer annular groove of the low-pressure side valve sleeve of the first flow-replenishing valve and the second sealing ring groove of the low-pressure side valve sleeve of the first flow-replenishing valve are provided on the outer side from left to right; the low-pressure side valve sleeve of the first flow-replenishing valve is provided with a first low-pressure side valve sleeve flow hole in the outer annular groove; the low-pressure side valve sleeve flow hole of the first flow-replenishing valve is connected with the second process hole of the valve body of the flow-replenishing valve;

[0017] Sealing rings are installed in the first sealing ring groove of the high-pressure side valve sleeve of the first flow replenishing valve, the second sealing ring groove of the high-pressure side valve sleeve of the first flow replenishing valve, the sealing ring groove of the middle valve sleeve of the first flow replenishing valve, the first sealing ring groove of the low-pressure side valve sleeve of the first flow replenishing valve, and the second sealing ring groove of the low-pressure side valve sleeve of the first flow replenishing valve, so as to form a seal between the high-pressure side valve sleeve of the first flow replenishing valve, the middle valve sleeve of the first flow replenishing valve, and the low-pressure side valve sleeve of the first flow replenishing valve and the first through hole of the valve body of the flow replenishing valve;

[0018] The first flow-replenishing valve further comprises a first flow-replenishing valve high-pressure side valve core, a first flow-replenishing valve low-pressure side valve core and a first spring; the first spring is installed in a blind hole of a valve sleeve on the high-pressure side of the first flow-replenishing valve;

[0019] The valve core on the high-pressure side of the first flow-replenishing valve is a cylindrical structure and is provided with a first flow-replenishing valve high-pressure side valve core annular groove on the middle side; the diameter of a portion of the valve core on the high-pressure side of the first flow-replenishing valve located on the right side of the annular groove of the valve core on the high-pressure side of the first flow-replenishing valve matches the inner diameter of the middle valve sleeve of the first flow-replenishing valve and is slidably installed in the middle valve sleeve of the first flow-replenishing valve, and the outer diameter of the other side is larger than the inner diameter of the middle valve sleeve of the first flow-replenishing valve and is located in the blind hole of the high-pressure side valve sleeve of the first flow-replenishing valve and contacts with the first spring; the left end face of the annular groove of the valve core on the high-pressure side of the first flow-replenishing valve is an inclined surface, and a first flow-replenishing valve high-pressure side valve port is formed between the inclined surface and the left end face of the middle valve sleeve of the first flow-replenishing valve, and the high-pressure side valve port of the first flow-replenishing valve can be opened or closed by the axial movement of the valve core on the high-pressure side of the first flow-replenishing valve, and the high-pressure side valve port of the first flow-replenishing valve is in a normally closed state;

[0020] The valve core on the low-pressure side of the first flow-replenishing valve is a cylindrical structure and is provided with a first flow-replenishing valve low-pressure side valve core annular groove on the middle side; the diameter of the portion of the valve core on the low-pressure side of the first flow-replenishing valve located on the left side of the annular groove of the valve core on the low-pressure side of the first flow-replenishing valve matches the inner diameter of the middle valve sleeve of the first flow-replenishing valve and is slidably installed in the middle valve sleeve of the first flow-replenishing valve, and the other side is a truncated cone-shaped structure I; a first flow-replenishing valve middle valve sleeve concave platform is provided at the right end opening of the through hole of the middle valve sleeve of the first flow-replenishing valve; a first flow-replenishing valve is formed between the truncated cone-shaped structure I and the left end face of the low-pressure side valve sleeve of the first flow-replenishing valve The low-pressure side valve port of the first flow-replenishing valve can be opened or closed by the axial movement of the low-pressure side valve core of the first flow-replenishing valve, and the low-pressure side valve port of the first flow-replenishing valve is in a normally closed state; the outer diameter of the truncated cone structure I is smaller than the diameter of the concave platform of the middle valve sleeve of the first flow-replenishing valve and larger than the inner diameter of the middle valve sleeve of the first flow-replenishing valve and the inner diameter of the low-pressure side valve sleeve of the first flow-replenishing valve; when the low-pressure side valve core of the first flow-replenishing valve moves axially, the concave platform of the middle valve sleeve of the first flow-replenishing valve is used to limit the truncated cone structure I from making axial movement in the concave platform of the middle valve sleeve of the first flow-replenishing valve;

[0021] The second flow-increasing valve comprises a second flow-increasing valve high-pressure side valve sleeve, a second flow-increasing valve middle position valve sleeve and a second flow-increasing valve low-pressure side valve sleeve which are arranged in sequence from left to right in the second through hole of the flow-increasing valve body;

[0022] The high-pressure side valve sleeve of the second flow-increasing valve is provided with a second flow-increasing valve high-pressure side valve sleeve blind hole in the axial direction, and the first sealing ring groove of the high-pressure side valve sleeve of the second flow-increasing valve, the outer annular groove of the high-pressure side valve sleeve of the second flow-increasing valve, and the second sealing ring groove of the high-pressure side valve sleeve of the second flow-increasing valve are provided in sequence from left to right on the outer side; a second flow-increasing valve high-pressure side valve sleeve flow hole is provided in the outer annular groove of the high-pressure side valve sleeve of the second flow-increasing valve; the second flow-increasing valve high-pressure side valve sleeve flow hole is connected with the third process hole of the valve body of the flow-increasing valve;

[0023] The middle valve sleeve of the second flow-increasing valve is provided with a second flow-increasing valve middle valve sleeve through hole in the axial direction, and four second flow-increasing valve middle valve sleeve sealing ring grooves are sequentially provided on the outer side surface from left to right, and a first annular groove on the outer side of the middle valve sleeve of the second flow-increasing valve, a second annular groove on the outer side of the middle valve sleeve of the second flow-increasing valve, and a third annular groove on the outer side of the middle valve sleeve of the second flow-increasing valve are sequentially provided between every two adjacent second flow-increasing valve middle valve sleeve sealing ring grooves; the first annular groove on the outer side of the middle valve sleeve of the second flow-increasing valve, the second annular groove on the outer side of the middle valve sleeve of the second flow-increasing valve, and the third annular groove on the outer side of the middle valve sleeve of the second flow-increasing valve are sequentially provided. The first flow hole of the middle valve sleeve of the second flow replenishing valve, the second flow hole of the middle valve sleeve of the second flow replenishing valve and the third flow hole of the middle valve sleeve of the second flow replenishing valve are respectively provided in the annular groove and the third annular groove outside the middle valve sleeve of the second flow replenishing valve; the first flow hole of the middle valve sleeve of the second flow replenishing valve is connected with the first connecting channel; the second flow hole of the middle valve sleeve of the second flow replenishing valve is connected with the sixth connecting hole of the valve body of the flow replenishing valve; the third flow hole of the middle valve sleeve of the second flow replenishing valve is connected with the sixth process hole of the valve body of the flow replenishing valve and the second connecting channel;

[0024] The low-pressure side valve sleeve of the second flow-replenishing valve is provided with a second low-pressure side valve sleeve blind hole in the axial direction, and the first sealing ring groove of the low-pressure side valve sleeve of the second flow-replenishing valve, the outer annular groove of the low-pressure side valve sleeve of the second flow-replenishing valve, and the second sealing ring groove of the low-pressure side valve sleeve of the second flow-replenishing valve are provided in sequence from left to right on the outer side; the low-pressure side valve sleeve of the second flow-replenishing valve is provided with a flow hole of the low-pressure side valve sleeve of the second flow-replenishing valve in the outer annular groove; the flow hole of the low-pressure side valve sleeve of the second flow-replenishing valve is connected with the fourth process hole of the valve body of the flow-replenishing valve;

[0025] Sealing rings are installed in the second sealing ring groove of the high-pressure side valve sleeve of the second flow-increasing valve, the second sealing ring groove of the high-pressure side valve sleeve of the second flow-increasing valve, the sealing ring groove of the middle valve sleeve of the second flow-increasing valve, the first sealing ring groove of the low-pressure side valve sleeve of the second flow-increasing valve, and the second sealing ring groove of the low-pressure side valve sleeve of the second flow-increasing valve, so as to form a seal between the high-pressure side valve sleeve of the second flow-increasing valve, the middle valve sleeve of the second flow-increasing valve, the low-pressure side valve sleeve of the second flow-increasing valve and the second through hole of the valve body of the flow-increasing valve;

[0026] The second flow-increasing valve further comprises a second flow-increasing valve high-pressure side valve core, a second flow-increasing valve low-pressure side valve core and a second spring; the second spring is installed in a blind hole of a valve sleeve on the high-pressure side of the second flow-increasing valve;

[0027] The valve core on the high-pressure side of the second flow-replenishing valve is a cylindrical structure and is provided with an annular groove on the high-pressure side of the second flow-replenishing valve valve core on the middle side; the diameter of the portion of the valve core on the high-pressure side of the second flow-replenishing valve located on the right side of the annular groove of the valve core on the high-pressure side of the second flow-replenishing valve matches the inner diameter of the middle valve sleeve of the second flow-replenishing valve and is slidably installed in the middle valve sleeve of the second flow-replenishing valve, and the outer diameter of the other side is larger than the inner diameter of the middle valve sleeve of the second flow-replenishing valve and is located in the blind hole of the high-pressure side valve sleeve of the second flow-replenishing valve and contacts with the second spring; the left end face of the annular groove on the valve core on the high-pressure side of the second flow-replenishing valve is an inclined surface, and a high-pressure side valve port of the second flow-replenishing valve is formed between the inclined surface and the left end face of the middle valve sleeve of the second flow-replenishing valve, and the high-pressure side valve port of the second flow-replenishing valve can be opened or closed by the axial movement of the valve core on the high-pressure side of the second flow-replenishing valve, and the high-pressure side valve port of the second flow-replenishing valve is in a normally closed state;

[0028] The valve core on the low-pressure side of the second flow-replenishing valve is a cylindrical structure and is provided with a second flow-replenishing valve low-pressure side valve core annular groove on the middle side; the diameter of the portion of the valve core on the low-pressure side of the second flow-replenishing valve located on the left side of the annular groove of the valve core on the low-pressure side of the second flow-replenishing valve matches the inner diameter of the middle valve sleeve of the second flow-replenishing valve and is slidably installed in the middle valve sleeve of the second flow-replenishing valve, and the other side is a truncated cone-shaped structure II; a second flow-replenishing valve middle valve sleeve concave platform is provided at the right end opening of the through hole of the middle valve sleeve of the second flow-replenishing valve; a second flow-replenishing valve middle valve sleeve concave platform is formed between the truncated cone-shaped structure II and the left end face of the low-pressure side valve sleeve of the second flow-replenishing valve The valve port on the low-pressure side of the flow-replenishing valve can be opened or closed by the axial movement of the valve core on the low-pressure side of the second flow-replenishing valve, and the valve port on the low-pressure side of the second flow-replenishing valve is in a normally closed state; the outer diameter of the truncated cone structure II is smaller than the diameter of the concave platform of the middle valve sleeve of the second flow-replenishing valve and is larger than the inner diameter of the middle valve sleeve of the second flow-replenishing valve and the inner diameter of the valve sleeve on the low-pressure side of the second flow-replenishing valve; when the valve core on the low-pressure side of the second flow-replenishing valve moves axially, the concave platform of the middle valve sleeve of the second flow-replenishing valve is used to limit the axial movement of the truncated cone structure II in the concave platform of the middle valve sleeve of the second flow-replenishing valve.

[0029] Further, the outer side surface of the middle valve sleeve of the first flow-replenishing valve is provided with a first sealing ring groove of the middle valve sleeve of the first flow-replenishing valve, a second sealing ring groove of the middle valve sleeve of the first flow-replenishing valve, a third sealing ring groove of the middle valve sleeve of the first flow-replenishing valve and a fourth sealing ring groove of the middle valve sleeve of the first flow-replenishing valve in sequence from left to right; the outer side surface of the middle valve sleeve of the second flow-replenishing valve is provided with a first sealing ring groove of the middle valve sleeve of the second flow-replenishing valve, a second sealing ring groove of the middle valve sleeve of the second flow-replenishing valve, a third sealing ring groove of the middle valve sleeve of the second flow-replenishing valve and a fourth sealing ring groove of the middle valve sleeve of the second flow-replenishing valve in sequence from left to right.

[0030] Furthermore, the first flow replenishing valve, the second flow replenishing valve and the connecting mechanism are all made of stainless steel.

[0031] Further, a first sealing ring recess of the flow-replenishing valve body and a second sealing ring recess of the flow-replenishing valve body are respectively provided at both ends of the third through hole of the flow-replenishing valve body, and a third sealing ring recess of the flow-replenishing valve body and a fourth sealing ring recess of the flow-replenishing valve body are respectively provided at both ends of the fourth through hole of the flow-replenishing valve body, and sealing rings are respectively installed in the first sealing ring recess of the flow-replenishing valve body, the second sealing ring recess of the flow-replenishing valve body, the third sealing ring recess of the flow-replenishing valve body and the fourth sealing ring recess of the flow-replenishing valve body, for sealing between both ends of the third through hole of the flow-replenishing valve body and the fourth through hole of the flow-replenishing valve body and the corresponding mounting plates.

[0032] Further, the first connecting hole of the flow-replenishing valve body, the second connecting hole of the flow-replenishing valve body, the third connecting hole of the flow-replenishing valve body and the fourth connecting hole of the flow-replenishing valve body are all composed of an outer threaded hole and an inner blind hole, the first connecting hole of the flow-replenishing valve body is connected to the third through hole of the flow-replenishing valve body through the blind hole, and the second connecting hole of the flow-replenishing valve body is connected to the fourth through hole of the flow-replenishing valve body through the blind hole.

[0033] Further, the first mounting plate, the second mounting plate, the third mounting plate and the fourth mounting plate are respectively mounted on the side surfaces of the valve body of the flow-replenishing valve by bolts; the upper and lower parts of the left side surface of the valve body of the flow-replenishing valve are respectively provided with a first threaded hole group of the valve body of the flow-replenishing valve and a second threaded hole group of the valve body of the flow-replenishing valve, and the upper and lower parts of the right side surface are respectively provided with a third threaded hole group of the valve body of the flow-replenishing valve and a fourth threaded hole group of the valve body of the flow-replenishing valve; the first mounting plate is provided with a first mounting plate through-hole group for mounting bolts that cooperate with the first threaded hole group of the valve body of the flow-replenishing valve; the second mounting plate is provided with a second mounting plate through-hole group for mounting bolts that cooperate with the second threaded hole group of the valve body of the flow-replenishing valve; the third mounting plate is provided with a third mounting plate through-hole group for mounting bolts that cooperate with the third threaded hole group of the valve body of the flow-replenishing valve; the fourth mounting plate is provided with a fourth mounting plate through-hole group for mounting bolts that cooperate with the fourth threaded hole group of the valve body of the flow-replenishing valve.

[0034] Further, a sealing ring is installed on the outer side of the part of the valve core on the high-pressure side of the first flow-increasing valve and the valve core on the low-pressure side of the first flow-increasing valve that is slidably installed in the middle valve sleeve of the first flow-increasing valve, so as to form a seal between the valve core on the high-pressure side of the first flow-increasing valve and the valve core on the low-pressure side of the first flow-increasing valve and the middle valve sleeve of the first flow-increasing valve;

[0035] A sealing ring is installed on the outer side of the part of the high-pressure side valve core of the second flow-replenishing valve and the low-pressure side valve core of the second flow-replenishing valve that is slidably installed in the middle valve sleeve of the second flow-replenishing valve, so as to form a seal between the high-pressure side valve core of the second flow-replenishing valve and the low-pressure side valve core of the second flow-replenishing valve and the middle valve sleeve of the second flow-replenishing valve.

[0036] Furthermore, when the sectional flow-injection valve is used to regulate the pressure of two artificial muscle joints of an artificial muscle: the first connecting hole of the flow-injection valve body is connected to the first muscle of the artificial muscle joint; the second connecting hole of the flow-injection valve body is used to be connected to the second muscle of the artificial muscle joint; the third connecting hole of the flow-injection valve body is used to be connected to the water outlet of the pump station; the fourth connecting hole of the flow-injection valve body is used to be connected to the water tank; the fifth connecting hole of the flow-injection valve body is used to be connected to the first control port of the differential pressure control valve; the sixth connecting hole of the flow-injection valve body is used to be connected to the second control port of the differential pressure control valve.

[0037] Compared with the prior art, the present invention has the following advantages:

[0038] 1. The present invention provides a segmented flow-in valve group suitable for artificial muscle joint pressure regulation. The valve core is a two-stage structure, which respectively realizes the water filling and drainage operations of the artificial muscle when the artificial muscle joint pressure is adjusted, thereby improving the movement speed of the artificial muscle joint.

[0039] 2. The segmented flow-compensating valve group suitable for artificial muscle joint pressure regulation provided by the present invention reduces the flow requirement of the differential pressure control valve and reduces the energy consumption during standby mode.

[0040] 3. The sectional flow-injection valve group suitable for artificial muscle joint pressure regulation provided by the present invention has a valve port in the form of a lifting valve, which reduces internal leakage and improves the control accuracy of the artificial muscle joint.

[0041] 4. The segmented flow-replenishing valve group suitable for artificial muscle joint pressure regulation provided by the present invention installs two flow-replenishing valves in the same flow-replenishing valve body, and connects the same pressure areas of the two flow-replenishing valves through process holes and connecting holes, thereby reducing the volume of the overall artificial muscle joint control valve group and improving the integration.

[0042] Based on the above reasons, the present invention can be widely promoted in the field of hydraulic valves. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0044] Figure 1 It is a schematic diagram of the front and side structures of the segmented flow-increasing valve group described in the present invention.

[0045] Figure 2 for Figure 1 Section view along AA direction.

[0046] Figure 3 for Figure 1 Cross-sectional view along BB direction.

[0047] Figure 4 for Figure 1 Sectional view along CC direction.

[0048] Figure 5 for Figure 1 Cross-sectional view in the DD direction.

[0049] Figure 6 This is a schematic structural diagram of the first flow-replenishing valve of the present invention.

[0050] Figure 7 This is a schematic diagram of the structure of the second flow-replenishing valve of the present invention.

[0051] Figure 8 The figure is a schematic diagram of the working principle of the segmented flow-increasing valve group described in the present invention.

[0052] In the figure: 1. the first replenishing valve; 2. the second replenishing valve; 3. the connecting mechanism; 4. the valve sleeve on the high-pressure side of the first replenishing valve; 5. the middle valve sleeve of the first replenishing valve; 6. the valve sleeve on the low-pressure side of the first replenishing valve; 7. the valve core on the high-pressure side of the first replenishing valve; 8. the valve core on the low-pressure side of the first replenishing valve; 9. the first spring; 10. the blind hole of the valve sleeve on the high-pressure side of the first replenishing valve; 11. the first sealing ring groove of the valve sleeve on the high-pressure side of the first replenishing valve; 12. the outer annular groove of the valve sleeve on the high-pressure side of the first replenishing valve; 13. the second sealing ring groove of the valve sleeve on the high-pressure side of the first replenishing valve; 14. the flow hole of the valve sleeve on the high-pressure side of the first replenishing valve; 15. the through hole of the middle valve sleeve of the first replenishing valve; 16. the first sealing ring groove of the middle valve sleeve of the first replenishing valve; 17. the second sealing ring groove of the middle valve sleeve of the first replenishing valve; 18 , the third sealing ring groove of the valve sleeve in the middle of the first replenishing valve; 19, the fourth sealing ring groove of the valve sleeve in the middle of the first replenishing valve; 20, the first annular groove on the outer side of the valve sleeve in the middle of the first replenishing valve; 21, the second annular groove on the outer side of the valve sleeve in the middle of the first replenishing valve; 22, the third annular groove on the outer side of the valve sleeve in the middle of the first replenishing valve; 23, the first flow hole in the valve sleeve in the middle of the first replenishing valve; 24, the second flow hole in the valve sleeve in the middle of the first replenishing valve; 25, the third flow hole in the valve sleeve in the middle of the first replenishing valve; 26, the concave platform of the valve sleeve in the middle of the first replenishing valve; 27, the blind hole of the valve sleeve on the low-pressure side of the first replenishing valve; 28, the first sealing ring groove of the valve sleeve on the low-pressure side of the first replenishing valve; 29, the annular groove on the outer side of the valve sleeve on the low-pressure side of the first replenishing valve; 30, the second sealing ring groove of the valve sleeve on the low-pressure side of the first replenishing valve; 31, the first Flow hole of valve sleeve on low pressure side of replenishing valve; 32, annular groove of valve core on high pressure side of first replenishing valve; 33, annular groove of valve core on low pressure side of first replenishing valve; 34, valve sleeve on high pressure side of second replenishing valve; 35, middle valve sleeve of second replenishing valve; 36, valve sleeve on low pressure side of second replenishing valve; 37, valve core on high pressure side of second replenishing valve; 38, valve core on low pressure side of second replenishing valve; 39, second spring; 40, blind hole of valve sleeve on high pressure side of second replenishing valve; 41, first sealing ring groove of valve sleeve on high pressure side of second replenishing valve; 42, outer annular groove of valve sleeve on high pressure side of second replenishing valve; 43, second sealing ring groove of valve sleeve on high pressure side of second replenishing valve; 44, flow hole of valve sleeve on high pressure side of second replenishing valve; 45, through hole of valve sleeve in middle part of second replenishing valve; 46, first sealing ring groove of valve sleeve in middle part of second replenishing valve 47, the second sealing ring groove of the valve sleeve in the middle of the second replenishing valve; 48, the third sealing ring groove of the valve sleeve in the middle of the second replenishing valve; 49, the fourth sealing ring groove of the valve sleeve in the middle of the second replenishing valve; 50, the first annular groove on the outer side of the valve sleeve in the middle of the second replenishing valve; 51, the second annular groove on the outer side of the valve sleeve in the middle of the second replenishing valve; 52, the third annular groove on the outer side of the valve sleeve in the middle of the second replenishing valve; 53, the first flow hole of the valve sleeve in the middle of the second replenishing valve; 54, the second flow hole of the valve sleeve in the middle of the second replenishing valve; 55, the third flow hole of the valve sleeve in the middle of the second replenishing valve; 56, the concave platform of the valve sleeve in the middle of the second replenishing valve; 57, the blind hole of the valve sleeve on the low-pressure side of the second replenishing valve; 58, the first sealing ring groove of the valve sleeve on the low-pressure side of the second replenishing valve; 59, the annular groove on the outer side of the valve sleeve on the low-pressure side of the second replenishing valve;60. The second sealing ring groove of the valve sleeve on the low-pressure side of the second replenishing valve; 61. The flow hole of the valve sleeve on the low-pressure side of the second replenishing valve; 62. The annular groove of the valve core on the high-pressure side of the second replenishing valve; 63. The annular groove of the valve core on the low-pressure side of the second replenishing valve; 64. The valve body of the replenishing valve; 65. The first mounting plate; 66. The second mounting plate; 67. The third mounting plate; 68. The fourth mounting plate; 69. The first through hole of the valve body of the replenishing valve; 70. The second through hole of the valve body of the replenishing valve; 71. The third through hole of the valve body of the replenishing valve; 72. The fourth through hole of the valve body of the replenishing valve; 73. The first sealing ring concave platform of the valve body of the replenishing valve; 74. The second sealing ring concave platform of the valve body of the replenishing valve; 75. The third sealing ring concave platform of the valve body of the replenishing valve; 76. The fourth sealing ring concave platform of the valve body of the replenishing valve; 77. The first threaded hole group of the valve body of the replenishing valve; 78. The second threaded hole group of the valve body of the replenishing valve; 7 9. The third threaded hole group of the valve body of the replenishing valve; 80. The fourth threaded hole group of the valve body of the replenishing valve; 81. The first process hole of the valve body of the replenishing valve; 82. The second process hole of the valve body of the replenishing valve; 83. The third process hole of the valve body of the replenishing valve; 84. The fourth process hole of the valve body of the replenishing valve; 85. The first connecting hole of the valve body of the replenishing valve; 86. The second connecting hole of the valve body of the replenishing valve; 87. The third connecting hole of the valve body of the replenishing valve; 88. The fourth connecting hole of the valve body of the replenishing valve; 89. The fifth connecting hole of the valve body of the replenishing valve; 90. The fifth process hole of the valve body of the replenishing valve; 91. The sixth connecting hole of the valve body of the replenishing valve; 92. The sixth process hole of the valve body of the replenishing valve; 93. The first through hole group of the mounting plate; 94. The second through hole group of the mounting plate; 95. The third through hole group of the mounting plate; 96. The fourth through hole group of the mounting plate; 97. Artificial muscle joint; 98. Pressure differential control valve. ; DETAILED DESCRIPTION

[0053] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0054] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0056] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, the numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0057] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0058] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0059] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0060] Example 1

[0061] like Figure 1-8 As shown, the present invention provides a segmented flow-injection valve group suitable for artificial muscle joint pressure regulation, comprising a first flow-injection valve 1, a second flow-injection valve 2 and a connecting mechanism 3;

[0062] The connecting mechanism 3 includes a flow-injection valve body 64, a first mounting plate 65, a second mounting plate 66, a third mounting plate 67 and a fourth mounting plate 68;

[0063] The valve body 64 of the replenishing valve is a rectangular parallelepiped structure, and a first through hole 69 and a third through hole 71 of the replenishing valve body are provided in the upper end of the replenishing valve body 64, and a second through hole 70 and a fourth through hole 72 of the replenishing valve body are provided in the lower end; the first replenishing valve 1 is installed in the first through hole 69 of the replenishing valve body, and the second replenishing valve 2 is installed in the second through hole 70 of the replenishing valve body; the first mounting plate 65 and the third mounting plate 67 are respectively mounted on the side surfaces of the replenishing valve body 64 corresponding to the two ends of the first through hole 69 and the third through hole 71 of the replenishing valve body; the second mounting plate 66 and the fourth mounting plate 68 are respectively mounted on the side surfaces of the replenishing valve body 64 corresponding to the two ends of the second through hole 70 and the fourth through hole 72 of the replenishing valve body;

[0064] The front side of the replenishing valve body 64 is provided with a first process hole 81 and a second process hole 82 of the replenishing valve body, and a third process hole 83 and a fourth process hole 84 of the replenishing valve body at the lower part; the first process hole 81 and the second process hole 82 of the replenishing valve body correspond to the left and right ends of the first through hole 69 and the third through hole 71 of the replenishing valve body respectively; the first process hole 81 and the second process hole 82 of the replenishing valve body correspond to the left and right ends of the first through hole 69 and the third through hole 71 of the replenishing valve body respectively; The first through hole 69 of the replenishing valve body is connected with the third through hole 71 of the replenishing valve body at the left and right ends respectively; the third process hole 83 of the replenishing valve body and the fourth process hole 84 of the replenishing valve body correspond to the left and right ends of the second through hole 70 of the replenishing valve body and the fourth through hole 72 of the replenishing valve body respectively; the third process hole 83 of the replenishing valve body and the fourth process hole 84 of the replenishing valve body are connected with the second through hole 70 of the replenishing valve body and the fourth through hole 72 of the replenishing valve body at the left and right ends respectively;

[0065] The front side of the valve body 64 of the replenishing valve is also provided with a first connecting hole 85 of the valve body of the replenishing valve, a second connecting hole 86 of the valve body of the replenishing valve, a third connecting hole 87 of the valve body of the replenishing valve, and a fourth connecting hole 88 of the valve body of the replenishing valve; the first connecting hole 85 of the valve body of the replenishing valve corresponds to the third through hole 71 of the valve body of the replenishing valve. Central and is connected with the third through hole 71 of the replenishing valve body; the second connecting hole 86 of the replenishing valve body corresponds to the middle of the fourth through hole 72 of the replenishing valve body and is connected with the fourth through hole 72 of the replenishing valve body; the interior of the replenishing valve body 64 is provided with a first connecting channel and a second connecting channel along the vertical direction, and the two ends of the first connecting channel and the second connecting channel are respectively connected to the first through hole 69 of the replenishing valve body and the second through hole 70 of the replenishing valve body; the third connecting hole 87 of the replenishing valve body and the fourth connecting hole 88 of the replenishing valve body are respectively connected to the first connecting channel and the second connecting channel;

[0066] The upper side of the replenishing valve body 64 is provided with a fifth connecting hole 89 of the replenishing valve body and a fifth process hole 90 of the replenishing valve body; the fifth connecting hole 89 of the replenishing valve body is connected to the first through hole 69 of the replenishing valve body through a blind hole; the fifth process hole 90 of the replenishing valve body is connected to the first through hole 69 of the replenishing valve body, and further connected to the first connecting channel, the third connecting hole 87 of the replenishing valve body and the second through hole 70 of the replenishing valve body; the lower side of the replenishing valve body 64 is provided with a sixth connecting hole 91 of the replenishing valve body and a sixth process hole 92 of the replenishing valve body; the sixth connecting hole 91 of the replenishing valve body is connected to the second through hole 70 of the replenishing valve body through a blind hole; the sixth process hole 92 of the replenishing valve body is connected to the second through hole 70 of the replenishing valve body, and further connected to the second connecting channel, the fourth connecting hole 88 of the replenishing valve body and the first through hole 69 of the replenishing valve body;

[0067] The first process hole 81 of the valve body of the replenishing valve, the second process hole 82 of the valve body of the replenishing valve, the third process hole 83 of the valve body of the replenishing valve, the fourth process hole 84 of the valve body of the replenishing valve, the fifth process hole 90 of the valve body of the replenishing valve, and the sixth process hole 92 of the valve body of the replenishing valve are blocked outside;

[0068] The first flow-replenishing valve 1 comprises a first flow-replenishing valve high-pressure side valve sleeve 4, a first flow-replenishing valve middle position valve sleeve 5 and a first flow-replenishing valve low-pressure side valve sleeve 6 which are arranged in sequence from left to right in the first through hole 69 of the flow-replenishing valve body;

[0069] The first reflow valve high-pressure side valve sleeve 4 is provided with a first reflow valve high-pressure side valve sleeve blind hole 10 in the axial direction, and the first reflow valve high-pressure side valve sleeve first sealing ring groove 11, the first reflow valve high-pressure side valve sleeve outer annular groove 12 and the first reflow valve high-pressure side valve sleeve second sealing ring groove 13 are provided on the outer side from left to right; the first reflow valve high-pressure side valve sleeve flow hole 14 is provided in the outer annular groove 12 of the first reflow valve high-pressure side valve sleeve; the first reflow valve high-pressure side valve sleeve flow hole 14 is connected with the first process hole 81 of the reflow valve body;

[0070] The first flow-replenishing valve middle valve sleeve 5 is provided with a first flow-replenishing valve middle valve sleeve through hole 15 in the axial direction, and four first flow-replenishing valve middle valve sleeve sealing ring grooves are provided in sequence from left to right on the outer side surface, and a first annular groove 20 on the outer side of the first flow-replenishing valve middle valve sleeve, a second annular groove 21 on the outer side of the first flow-replenishing valve middle valve sleeve and a third annular groove 22 on the outer side of the first flow-replenishing valve middle valve sleeve are provided in sequence between every two adjacent first flow-replenishing valve middle valve sleeve sealing ring grooves; the first annular groove 20 on the outer side of the first flow-replenishing valve middle valve sleeve, the second annular groove 21 on the outer side of the first flow-replenishing valve middle valve sleeve and the third annular groove 22 on the outer side of the first flow-replenishing valve middle valve sleeve The first through hole 23 of the middle valve sleeve of the first flow replenishing valve, the second through hole 24 of the middle valve sleeve of the first flow replenishing valve and the third through hole 25 of the middle valve sleeve of the first flow replenishing valve are respectively provided in the third annular groove 22 on the outer side of the middle valve sleeve of the first flow replenishing valve; the first through hole 23 of the middle valve sleeve of the first flow replenishing valve is connected with the fifth process hole 90 of the valve body of the flow replenishing valve and the first connecting channel; the second through hole 24 of the middle valve sleeve of the first flow replenishing valve is connected with the fifth connecting hole 89 of the valve body of the flow replenishing valve; the third through hole 25 of the middle valve sleeve of the first flow replenishing valve is connected with the second connecting channel;

[0071] The first flow-replenishing valve low-pressure side valve sleeve 6 is provided with a first flow-replenishing valve low-pressure side valve sleeve blind hole 27 in the axial direction, and the first flow-replenishing valve low-pressure side valve sleeve first sealing ring groove 28, the first flow-replenishing valve low-pressure side valve sleeve outer annular groove 29 and the first flow-replenishing valve low-pressure side valve sleeve second sealing ring groove 30 are provided in sequence from left to right on the outer side; the first flow-replenishing valve low-pressure side valve sleeve flow hole 31 is provided in the outer annular groove 29 of the first flow-replenishing valve low-pressure side valve sleeve; the first flow-replenishing valve low-pressure side valve sleeve flow hole 31 is connected with the second process hole 82 of the flow-replenishing valve body;

[0072] Sealing rings are installed in the first sealing ring groove 11 of the high-pressure side valve sleeve of the first replenishing valve, the second sealing ring groove 13 of the high-pressure side valve sleeve of the first replenishing valve, the sealing ring groove of the middle valve sleeve of the first replenishing valve, the first sealing ring groove 28 of the low-pressure side valve sleeve of the first replenishing valve, and the second sealing ring groove 30 of the low-pressure side valve sleeve of the first replenishing valve, so as to form a seal between the high-pressure side valve sleeve 4 of the first replenishing valve, the middle valve sleeve 5 of the first replenishing valve, the low-pressure side valve sleeve 6 of the first replenishing valve and the first through hole 69 of the valve body of the replenishing valve;

[0073] The first flow-replenishing valve 1 further comprises a first flow-replenishing valve high-pressure side valve core 7, a first flow-replenishing valve low-pressure side valve core 8 and a first spring 9; the first spring 9 is installed in a blind hole 10 of a valve sleeve on the high-pressure side of the first flow-replenishing valve;

[0074] The high-pressure side valve core 7 of the first flow-replenishing valve is a cylindrical structure and is provided with a first flow-replenishing valve high-pressure side valve core annular groove 32 on the middle side; the diameter of the portion of the high-pressure side valve core 7 of the first flow-replenishing valve located on the right side of the high-pressure side valve core annular groove 32 matches the inner diameter of the middle valve sleeve 5 of the first flow-replenishing valve and is slidably installed in the middle valve sleeve 5 of the first flow-replenishing valve, and the outer diameter of the other side is larger than the inner diameter of the middle valve sleeve 5 of the first flow-replenishing valve and is located in the blind hole 10 of the high-pressure side valve sleeve of the first flow-replenishing valve and contacts with the first spring 9; the left end face of the high-pressure side valve core annular groove 32 of the first flow-replenishing valve is an inclined surface, and a first flow-replenishing valve high-pressure side valve port is formed between the inclined surface and the left end face of the middle valve sleeve 5 of the first flow-replenishing valve, and the high-pressure side valve port of the first flow-replenishing valve can be opened or closed by the axial movement of the high-pressure side valve core 7 of the first flow-replenishing valve, and the high-pressure side valve port of the first flow-replenishing valve is in a normally closed state;

[0075] When the high-pressure side valve port of the first flow-replenishing valve is closed, the inclined surface abuts against the left end surface of the middle valve sleeve 5 of the first flow-replenishing valve; when the high-pressure side valve core 7 of the first flow-replenishing valve is forced to move leftward, the first spring 9 is compressed, and the inclined surface moves away from the left end surface of the middle valve sleeve 5 of the first flow-replenishing valve, and the high-pressure side valve port of the first flow-replenishing valve is opened, so that the first flow hole 23 of the middle valve sleeve of the first flow-replenishing valve is connected with the flow hole 14 of the high-pressure side valve sleeve of the first flow-replenishing valve in sequence through the through hole 15 of the middle valve sleeve of the first flow-replenishing valve and the blind hole 10 of the high-pressure side valve sleeve of the first flow-replenishing valve, thereby making the third connecting hole 87 of the flow-replenishing valve body, the first connecting channel, the first process hole 81 of the flow-replenishing valve body and the first connecting hole 85 of the flow-replenishing valve body connected with each other;

[0076] The first flow-replenishing valve low-pressure side valve core 8 is a cylindrical structure and is provided with a first flow-replenishing valve low-pressure side valve core annular groove 33 on the middle side; the diameter of the first flow-replenishing valve low-pressure side valve core 8 on the left side of the first flow-replenishing valve low-pressure side valve core annular groove 33 matches the inner diameter of the first flow-replenishing valve middle valve sleeve 5 and is slidably installed in the first flow-replenishing valve middle valve sleeve 5, and the other side is a truncated cone structure I; the first flow-replenishing valve middle valve sleeve concave platform 26 is provided at the right end opening of the first flow-replenishing valve middle valve sleeve through hole 15; the first flow-replenishing valve middle valve sleeve concave platform 26 is formed between the truncated cone structure I and the left end face of the first flow-replenishing valve low-pressure side valve sleeve 6 A valve port on the low-pressure side of a flow-replenishing valve, through the axial movement of the valve core 8 on the low-pressure side of the first flow-replenishing valve, the valve port on the low-pressure side of the first flow-replenishing valve can be opened or closed, and the valve port on the low-pressure side of the first flow-replenishing valve is in a normally closed state; the outer diameter of the truncated cone structure I is smaller than the diameter of the concave platform 26 of the middle valve sleeve of the first flow-replenishing valve and is larger than the inner diameter of the middle valve sleeve 5 of the first flow-replenishing valve and the inner diameter of the valve sleeve 6 on the low-pressure side of the first flow-replenishing valve; when the valve core 8 on the low-pressure side of the first flow-replenishing valve moves axially, the concave platform 26 of the middle valve sleeve of the first flow-replenishing valve is used to limit the truncated cone structure I from making axial movement in the concave platform 26 of the middle valve sleeve of the first flow-replenishing valve;

[0077] When the valve port on the low-pressure side of the first flow-replenishing valve is closed, the truncated cone-shaped structure I abuts against the left end surface of the valve sleeve 6 on the low-pressure side of the first flow-replenishing valve; when the valve core 8 on the low-pressure side of the first flow-replenishing valve makes axial movement to the left, the truncated cone-shaped structure I moves away from the left end surface of the valve sleeve 6 on the low-pressure side of the first flow-replenishing valve, and the valve port on the low-pressure side of the first flow-replenishing valve is opened, so that the third flow hole 25 of the middle valve sleeve of the first flow-replenishing valve is connected with the flow hole 31 of the valve sleeve on the low-pressure side of the first flow-replenishing valve in sequence through the through hole 15 of the middle valve sleeve of the first flow-replenishing valve and the blind hole 27 of the valve sleeve on the low-pressure side of the first flow-replenishing valve, thereby making the fourth connecting hole 88 of the valve body of the flow-replenishing valve, the second connecting channel, the second process hole 82 of the valve body of the flow-replenishing valve and the first connecting hole 85 of the valve body of the flow-replenishing valve communicate with each other;

[0078] The second flow-increasing valve 2 comprises a second flow-increasing valve high-pressure side valve sleeve 34, a second flow-increasing valve middle position valve sleeve 35 and a second flow-increasing valve low-pressure side valve sleeve 36 which are arranged in sequence from left to right in the second through hole 70 of the flow-increasing valve body;

[0079] The second flow-replenishing valve high-pressure side valve sleeve 34 is provided with a second flow-replenishing valve high-pressure side valve sleeve blind hole 40 in the axial direction, and the second flow-replenishing valve high-pressure side valve sleeve first sealing ring groove 41, the second flow-replenishing valve high-pressure side valve sleeve outer annular groove 42 and the second flow-replenishing valve high-pressure side valve sleeve second sealing ring groove 43 are provided in sequence from left to right on the outer side surface; the second flow-replenishing valve high-pressure side valve sleeve flow hole 44 is provided in the outer annular groove 42 of the second flow-replenishing valve high-pressure side valve sleeve; the second flow-replenishing valve high-pressure side valve sleeve flow hole 44 is connected to the third process hole 83 of the flow-replenishing valve body;

[0080] The second flow-replenishing valve middle valve sleeve 35 is provided with a second flow-replenishing valve middle valve sleeve through hole 45 in the axial direction, and four second flow-replenishing valve middle valve sleeve sealing ring grooves are provided in sequence from left to right on the outer side surface, and a first annular groove 50 on the outer side of the second flow-replenishing valve middle valve sleeve, a second annular groove 51 on the outer side of the second flow-replenishing valve middle valve sleeve and a third annular groove 52 on the outer side of the second flow-replenishing valve middle valve sleeve are provided in sequence between every two adjacent second flow-replenishing valve middle valve sleeve sealing ring grooves; the first annular groove 50 on the outer side of the second flow-replenishing valve middle valve sleeve, the second annular groove 51 on the outer side of the second flow-replenishing valve middle valve sleeve and the third annular groove 52 on the outer side of the second flow-replenishing valve middle valve sleeve 1 and the third annular groove 52 outside the middle valve sleeve of the second flow-increasing valve are respectively provided with a first flow hole 53 of the middle valve sleeve of the second flow-increasing valve, a second flow hole 54 of the middle valve sleeve of the second flow-increasing valve and a third flow hole 55 of the middle valve sleeve of the second flow-increasing valve; the first flow hole 53 of the middle valve sleeve of the second flow-increasing valve is connected with the first connecting channel; the second flow hole 54 of the middle valve sleeve of the second flow-increasing valve is connected with the sixth connecting hole 91 of the valve body of the flow-increasing valve; the third flow hole 55 of the middle valve sleeve of the second flow-increasing valve is connected with the sixth process hole 92 of the valve body of the flow-increasing valve and the second connecting channel;

[0081] The second flow-replenishing valve low-pressure side valve sleeve 36 is provided with a second flow-replenishing valve low-pressure side valve sleeve blind hole 57 in the axial direction, and the second flow-replenishing valve low-pressure side valve sleeve first sealing ring groove 58, the second flow-replenishing valve low-pressure side valve sleeve outer annular groove 59 and the second flow-replenishing valve low-pressure side valve sleeve second sealing ring groove 60 are provided in sequence from left to right on the outer side surface; the second flow-replenishing valve low-pressure side valve sleeve flow hole 61 is provided in the outer annular groove 59 of the second flow-replenishing valve low-pressure side valve sleeve; the second flow-replenishing valve low-pressure side valve sleeve flow hole 61 is connected to the fourth process hole 84 of the flow-replenishing valve body;

[0082] Sealing rings are installed in the second sealing ring groove 41 of the high-pressure side valve sleeve of the second flow-increasing valve, the second sealing ring groove 43 of the high-pressure side valve sleeve of the second flow-increasing valve, the sealing ring groove of the middle valve sleeve of the second flow-increasing valve, the first sealing ring groove 58 of the low-pressure side valve sleeve of the second flow-increasing valve, and the second sealing ring groove 60 of the low-pressure side valve sleeve of the second flow-increasing valve, so as to form a seal between the high-pressure side valve sleeve 34 of the second flow-increasing valve, the middle valve sleeve 35 of the second flow-increasing valve, the low-pressure side valve sleeve 36 of the second flow-increasing valve and the second through hole 70 of the valve body of the flow-increasing valve;

[0083] The second flow-increasing valve 2 further comprises a second flow-increasing valve high-pressure side valve core 37, a second flow-increasing valve low-pressure side valve core 38 and a second spring 39; the second spring 39 is installed in a blind hole 40 of a valve sleeve on the high-pressure side of the second flow-increasing valve;

[0084] The high-pressure side valve core 37 of the second flow-replenishing valve is a cylindrical structure and is provided with a second flow-replenishing valve high-pressure side valve core annular groove 62 on the middle side; the diameter of the part of the high-pressure side valve core 37 of the second flow-replenishing valve located on the right side of the high-pressure side valve core annular groove 62 matches the inner diameter of the middle valve sleeve 35 of the second flow-replenishing valve and is slidably installed in the middle valve sleeve 35 of the second flow-replenishing valve, and the outer diameter of the other side is larger than the inner diameter of the middle valve sleeve 35 of the second flow-replenishing valve and is located in the blind hole 40 of the high-pressure side valve sleeve of the second flow-replenishing valve and contacts with the second spring 39; the left end face of the high-pressure side valve core annular groove 62 of the second flow-replenishing valve is an inclined surface, and the high-pressure side valve port of the second flow-replenishing valve is formed between the inclined surface and the left end face of the middle valve sleeve 35 of the second flow-replenishing valve, and the high-pressure side valve port of the second flow-replenishing valve can be opened or closed by the axial movement of the high-pressure side valve core 37 of the second flow-replenishing valve, and the high-pressure side valve port of the second flow-replenishing valve is in a normally closed state;

[0085] When the high-pressure side valve port of the second flow-replenishing valve is closed, the inclined surface abuts against the left end surface of the middle valve sleeve 35 of the second flow-replenishing valve; when the high-pressure side valve core 37 of the second flow-replenishing valve is forced to move leftward, the second spring 39 is compressed, the inclined surface moves away from the left end surface of the middle valve sleeve 35 of the second flow-replenishing valve, and the high-pressure side valve port of the second flow-replenishing valve is opened, so that the first flow hole 53 of the middle valve sleeve of the second flow-replenishing valve is connected with the flow hole 44 of the high-pressure side valve sleeve of the second flow-replenishing valve in sequence through the through hole 45 of the middle valve sleeve of the second flow-replenishing valve and the blind hole 40 of the high-pressure side valve sleeve of the second flow-replenishing valve, thereby making the third connecting hole 87 of the flow-replenishing valve body, the first connecting channel, the third process hole 83 of the flow-replenishing valve body and the second connecting hole 86 of the flow-replenishing valve body communicate with each other;

[0086] The valve core 38 on the low-pressure side of the second flow-replenishing valve is a cylindrical structure and is provided with a second flow-replenishing valve low-pressure side valve core annular groove 63 on the middle side; the diameter of the portion of the valve core 38 on the low-pressure side of the second flow-replenishing valve located on the left side of the annular groove 63 of the valve core on the low-pressure side of the second flow-replenishing valve matches the inner diameter of the middle valve sleeve 35 of the second flow-replenishing valve and is slidably installed in the middle valve sleeve 35 of the second flow-replenishing valve, and the other side is a truncated cone structure II; a second flow-replenishing valve middle valve sleeve concave platform 56 is provided at the right end opening of the through hole 45 of the middle valve sleeve of the second flow-replenishing valve; a truncated cone structure II is formed between the left end face of the valve sleeve 36 on the low-pressure side of the second flow-replenishing valve The low-pressure side valve port of the second flow-replenishing valve can be opened or closed by the axial movement of the low-pressure side valve core 38 of the second flow-replenishing valve, and the low-pressure side valve port of the second flow-replenishing valve is in a normally closed state; the outer diameter of the truncated cone structure II is smaller than the diameter of the concave platform 56 of the middle valve sleeve of the second flow-replenishing valve and larger than the inner diameter of the middle valve sleeve 35 of the second flow-replenishing valve and the inner diameter of the low-pressure side valve sleeve 36 of the second flow-replenishing valve; when the low-pressure side valve core 38 of the second flow-replenishing valve moves axially, the concave platform 56 of the middle valve sleeve of the second flow-replenishing valve is used to limit the truncated cone structure II from making axial movement in the concave platform 56 of the middle valve sleeve of the second flow-replenishing valve;

[0087] When the low-pressure side valve port of the second flow-replenishing valve is closed, the truncated cone structure II abuts against the left end surface of the low-pressure side valve sleeve 36 of the second flow-replenishing valve; when the low-pressure side valve core 38 of the second flow-replenishing valve makes axial movement to the left, the truncated cone structure II moves away from the left end surface of the low-pressure side valve sleeve 36 of the second flow-replenishing valve, and the low-pressure side valve port of the second flow-replenishing valve is opened, so that the third flow hole 55 of the middle valve sleeve of the second flow-replenishing valve is connected with the flow hole 61 of the low-pressure side valve sleeve of the second flow-replenishing valve in sequence through the through hole 45 of the middle valve sleeve of the second flow-replenishing valve and the blind hole 57 of the low-pressure side valve sleeve of the second flow-replenishing valve, thereby making the fourth connecting hole 88 of the flow-replenishing valve body, the second connecting channel, the fourth process hole 84 of the flow-replenishing valve body and the second connecting hole 86 of the flow-replenishing valve body connected with each other.

[0088] Furthermore, the first flow-replenishing valve high-pressure side valve sleeve 4, the first flow-replenishing valve mid-position valve sleeve 5, the first flow-replenishing valve low-pressure side valve sleeve 6, the second flow-replenishing valve high-pressure side valve sleeve 34, the second flow-replenishing valve mid-position valve sleeve 35 and the second flow-replenishing valve low-pressure side valve sleeve 36 are all hollow cylindrical structures.

[0089] Furthermore, the outer side surface of the middle valve sleeve 5 of the first flow-replenishing valve is provided with a first sealing ring groove 16 of the middle valve sleeve of the first flow-replenishing valve, a second sealing ring groove 17 of the middle valve sleeve of the first flow-replenishing valve, a third sealing ring groove 18 of the middle valve sleeve of the first flow-replenishing valve and a fourth sealing ring groove 19 of the middle valve sleeve of the first flow-replenishing valve in sequence from left to right; the outer side surface of the middle valve sleeve 35 of the second flow-replenishing valve is provided with a first sealing ring groove 46 of the middle valve sleeve of the second flow-replenishing valve, a second sealing ring groove 47 of the middle valve sleeve of the second flow-replenishing valve, a third sealing ring groove 48 of the middle valve sleeve of the second flow-replenishing valve and a fourth sealing ring groove 49 of the middle valve sleeve of the second flow-replenishing valve in sequence from left to right.

[0090] Furthermore, the first flow replenishing valve 1 , the second flow replenishing valve 2 and the connecting mechanism 3 are all made of stainless steel.

[0091] Further, a first sealing ring recess 73 of the flow-replenishing valve body and a second sealing ring recess 74 of the flow-replenishing valve body are respectively provided at both ends of the third through hole 71 of the flow-replenishing valve body, and a third sealing ring recess 75 of the flow-replenishing valve body and a fourth sealing ring recess 76 of the flow-replenishing valve body are respectively provided at both ends of the fourth through hole 72 of the flow-replenishing valve body, and sealing rings are respectively installed in the first sealing ring recess 73 of the flow-replenishing valve body, the second sealing ring recess 74 of the flow-replenishing valve body, the third sealing ring recess 75 of the flow-replenishing valve body and the fourth sealing ring recess 76 of the flow-replenishing valve body, for sealing between both ends of the third through hole 71 of the flow-replenishing valve body and the fourth through hole 72 of the flow-replenishing valve body and the corresponding mounting plates.

[0092] Further, the first connecting hole 85 of the flow-replenishing valve body, the second connecting hole 86 of the flow-replenishing valve body, the third connecting hole 87 of the flow-replenishing valve body and the fourth connecting hole 88 of the flow-replenishing valve body are all composed of an outer threaded hole and an inner blind hole, the first connecting hole 85 of the flow-replenishing valve body is connected to the third through hole 71 of the flow-replenishing valve body through the blind hole, and the second connecting hole 86 of the flow-replenishing valve body is connected to the fourth through hole 72 of the flow-replenishing valve body through the blind hole.

[0093] Further, the first mounting plate 65, the second mounting plate 66, the third mounting plate 67 and the fourth mounting plate 68 are respectively mounted on the side of the flow-injection valve body 64 by bolts; the left upper and lower parts of the flow-injection valve body 64 are respectively provided with a first threaded hole group 77 of the flow-injection valve body and a second threaded hole group 78 of the flow-injection valve body, and the right upper and lower parts of the right side are respectively provided with a third threaded hole group 79 of the flow-injection valve body and a fourth threaded hole group 80 of the flow-injection valve body; the first mounting plate 65 is provided with a threaded hole group for connecting with the flow-injection valve body The first mounting plate through hole group 93 is provided with the first threaded hole group 77 of the valve body for mounting bolts; the second mounting plate 66 is provided with a second mounting plate through hole group 94 for mounting bolts that cooperate with the second threaded hole group 78 of the valve body of the replenishing valve; the third mounting plate 67 is provided with a third mounting plate through hole group 95 for mounting bolts that cooperate with the third threaded hole group 79 of the valve body of the replenishing valve; the fourth mounting plate 68 is provided with a fourth mounting plate through hole group 96 for mounting bolts that cooperate with the fourth threaded hole group 80 of the valve body of the replenishing valve.

[0094] Furthermore, a sealing ring is installed on the outer side of the parts of the first flow-increasing valve high-pressure side valve core 7 and the first flow-increasing valve low-pressure side valve core 8 that are slidably installed in the first flow-increasing valve middle valve sleeve 5, so as to form a seal between the first flow-increasing valve high-pressure side valve core 7 and the first flow-increasing valve low-pressure side valve core 8 and the first flow-increasing valve middle valve sleeve 5;

[0095] Sealing rings are installed on the outer sides of the parts of the second flow-replenishing valve high-pressure side valve core 37 and the second flow-replenishing valve low-pressure side valve core 38 that are slidably installed in the second flow-replenishing valve middle valve sleeve 35, so as to form a seal between the second flow-replenishing valve high-pressure side valve core 37 and the second flow-replenishing valve low-pressure side valve core 38 and the second flow-replenishing valve middle valve sleeve 35.

[0096] Furthermore, the depths of the middle valve sleeve recess 26 of the first flow-replenishing valve and the middle valve sleeve recess 56 of the second flow-replenishing valve as well as the specifications of the first spring 9 and the second spring 39 are not fixed and can be adjusted according to the requirements of the hydraulic system.

[0097] Furthermore, when the sectional inflow valve is used to regulate the pressure of two artificial muscle joints of an artificial muscle: the first connecting hole 85 of the inflow valve body is connected to the first muscle of the artificial muscle joint; the second connecting hole 86 of the inflow valve body is used to be connected to the second muscle of the artificial muscle joint; the third connecting hole 87 of the inflow valve body is used to be connected to the water outlet of the pump station; the fourth connecting hole 88 of the inflow valve body is used to be connected to the water tank; the fifth connecting hole 89 of the inflow valve body is used to be connected to the first control port of the differential pressure control valve; the sixth connecting hole 91 of the inflow valve body is used to be connected to the second control port of the differential pressure control valve.

[0098] The connection method of the segmented flow-injection valve of the present invention is as follows:

[0099] The first mounting plate 65, the second mounting plate 66, the third mounting plate 67 and the fourth mounting plate 68 are respectively mounted on the side of the flow-injection valve body 64 by means of bolts;

[0100] The high-pressure side valve sleeve 4 of the first flow-replenishing valve, the middle valve sleeve 5 of the first flow-replenishing valve, and the low-pressure side valve sleeve 6 of the first flow-replenishing valve are sequentially arranged in the first through hole 69 of the flow-replenishing valve body and their end faces are in contact with each other, wherein the high-pressure side valve sleeve 4 of the first flow-replenishing valve is in contact with the end face of the first mounting plate 65, and the low-pressure side valve sleeve 6 of the first flow-replenishing valve is in contact with the end face of the third mounting plate 67, the high-pressure side valve core 7 of the first flow-replenishing valve is arranged in the middle valve sleeve 5 of the first flow-replenishing valve, and its inclined surface end is connected to the high-pressure side valve sleeve 4 of the first flow-replenishing valve through the first spring 9, the low-pressure side valve core 8 of the first flow-replenishing valve is arranged in the middle valve sleeve 5 of the first flow-replenishing valve, and its truncated cone-shaped structure I is in contact with the low-pressure side valve sleeve 6 of the first flow-replenishing valve, and the high-pressure side valve sleeve through-hole 14 of the first flow-replenishing valve is connected to the first process hole of the flow-replenishing valve body through the outer annular groove 12 of the high-pressure side valve sleeve of the first flow-replenishing valve 81, the through hole 31 of the low-pressure side valve sleeve of the first flow-replenishing valve is connected with the second process hole 82 of the valve body of the flow-replenishing valve through the outer annular groove 29 of the low-pressure side valve sleeve of the first flow-replenishing valve, the first through hole 23 of the middle valve sleeve of the first flow-replenishing valve is connected with the fifth process hole 90 of the valve body of the flow-replenishing valve through the outer first annular groove 20 of the middle valve sleeve of the first flow-replenishing valve and is connected with the third connecting hole 87 of the valve body of the flow-replenishing valve through the first connecting channel, the second through hole 24 of the middle valve sleeve of the first flow-replenishing valve is connected with the fifth connecting hole 89 of the valve body of the flow-replenishing valve through the outer second annular groove 21 of the middle valve sleeve of the first flow-replenishing valve, the third through hole 25 of the middle valve sleeve of the first flow-replenishing valve is connected with the sixth process hole 92 of the valve body of the flow-replenishing valve through the outer third annular groove 22 of the middle valve sleeve of the first flow-replenishing valve, and is connected with the fourth connecting hole 88 of the valve body of the flow-replenishing valve through the second connecting channel;

[0101] The high-pressure side valve sleeve 34 of the second flow-replenishing valve, the middle valve sleeve 35 of the second flow-replenishing valve, and the low-pressure side valve sleeve 36 of the second flow-replenishing valve are sequentially arranged in the second through hole 70 of the flow-replenishing valve body and their end faces are in contact with each other, wherein the high-pressure side valve sleeve 34 of the second flow-replenishing valve is in contact with the end face of the second mounting plate 66, and the low-pressure side valve sleeve 36 of the second flow-replenishing valve is in contact with the end face of the fourth mounting plate 68, the high-pressure side valve core 37 of the second flow-replenishing valve is arranged in the middle valve sleeve 35 of the second flow-replenishing valve, and its inclined surface end is connected to the high-pressure side valve sleeve 34 of the second flow-replenishing valve through the second spring 39, the low-pressure side valve core 38 of the second flow-replenishing valve is arranged in the middle valve sleeve 35 of the second flow-replenishing valve, and its truncated cone-shaped structure II is in contact with the low-pressure side valve sleeve 36 of the second flow-replenishing valve, and the high-pressure side valve sleeve through-hole 44 of the second flow-replenishing valve is connected to the high-pressure side valve sleeve of the second flow-replenishing valve through the annular groove 42 on the outer side of the high-pressure side valve sleeve of the second flow-replenishing valve The third process hole 83 of the valve body is connected, the flow hole 61 of the low-pressure side valve sleeve of the second flow-replenishing valve is connected with the fourth process hole 84 of the flow-replenishing valve body through the annular groove 59 on the outer side of the low-pressure side valve sleeve of the second flow-replenishing valve, the first flow hole 53 of the middle valve sleeve of the second flow-replenishing valve is connected with the fifth process hole 90 of the flow-replenishing valve body through the first annular groove 50 on the outer side of the middle valve sleeve of the second flow-replenishing valve, and is connected with the third connecting hole 87 of the flow-replenishing valve body through the first connecting channel, the second flow hole 54 of the middle valve sleeve of the second flow-replenishing valve is connected with the sixth connecting hole 91 of the flow-replenishing valve body through the second annular groove 51 on the outer side of the middle valve sleeve of the second flow-replenishing valve, the third flow hole 55 of the middle valve sleeve of the second flow-replenishing valve is connected with the sixth process hole 92 of the flow-replenishing valve body through the third annular groove 52 on the outer side of the middle valve sleeve of the second flow-replenishing valve, and is connected with the fourth connecting hole 88 of the flow-replenishing valve body through the second connecting channel.

[0102] When the segmented flow-injection valve group of the present invention is in operation:

[0103] like Figure 8 As shown, the first connection hole 85 of the replenishing valve body is connected to the first muscle of the artificial muscle joint 97, the second connection hole 86 of the replenishing valve body is connected to the second muscle of the artificial muscle joint 97, the third connection hole 87 of the replenishing valve body is connected to the water outlet of the pump station, the fourth connection hole 88 of the replenishing valve body is connected to the water tank, the fifth connection hole 89 of the replenishing valve body is connected to the first control port of the differential pressure control valve 98, and the sixth connection hole 91 of the replenishing valve body is connected to the second control port of the differential pressure control valve 98;

[0104] When the artificial muscle joint 97 is in a steady state, the pressure in the muscle is the same as the pressure at the control port of the corresponding differential pressure control valve 98, and the liquid pressures on both sides of the first replenishing valve high-pressure side valve core 7 and the first replenishing valve low-pressure side valve core 8 in the first replenishing valve 1 are the same, so that the high-pressure side valve port of the first replenishing valve and the low-pressure side valve port of the first replenishing valve are both kept in a closed state, and at the same time, the liquid pressures on both sides of the second replenishing valve high-pressure side valve core 37 and the second replenishing valve low-pressure side valve core 38 in the second replenishing valve 2 are also the same, and the high-pressure side valve port of the second replenishing valve and the low-pressure side valve port of the second replenishing valve are both kept in a closed state; when the valve port opening of the differential pressure control valve 98 changes, the pressure change at the control port of the differential pressure control valve 98 generates a pressure difference with the pressure of the artificial muscle joint 97, and the pressure difference can drive the valve core movement of the replenishing valve to achieve replenishment;

[0105] When the pressure at the first control port of the differential pressure control valve 98 rises, the pressures in the fifth connecting hole 89 of the replenishing valve body and the second flow hole 24 of the middle valve sleeve of the first replenishing valve, which are directly connected to the first control port of the differential pressure control valve 98, rise, thereby causing the pressure of the fluid in the chamber between the first replenishing valve high-pressure side valve core 7 and the first replenishing valve low-pressure side valve core 8 in the first replenishing valve middle valve sleeve 5 of the first replenishing valve 1 to rise. The first replenishing valve high-pressure side valve core 7 and the first replenishing valve low-pressure side valve core 8 are respectively subjected to the left and right axial forces generated by the change in liquid pressure. The left axial force pushes the first replenishing valve high-pressure side valve core 7 to compress the first spring 9, thereby opening the high-pressure side valve port of the first replenishing valve, and the right axial force presses the low-pressure side valve core 8 of the first replenishing valve to keep the low-pressure side valve port of the first replenishing valve closed. After the high-pressure side valve port of the first replenishing valve is opened, the first flow hole 23 of the middle valve sleeve of the first replenishing valve sequentially passes through the middle valve of the first replenishing valve. The sleeve through hole 15 and the blind hole 10 of the valve sleeve on the high-pressure side of the first flow-replenishing valve are connected with the flow hole 14 of the valve sleeve on the high-pressure side of the first flow-replenishing valve, so that the third connecting hole 87 of the valve body of the flow-replenishing valve can be connected with the first muscle of the artificial muscle joint 97 through the first connecting channel, the first process hole 81 of the valve body of the flow-replenishing valve and the first connecting hole 85 of the valve body of the flow-replenishing valve in sequence. The high-pressure water provided by the pump station enters the first muscle of the artificial muscle joint 97 through the third connecting hole 87 of the valve body of the flow-replenishing valve to increase its internal pressure. When the pressure in the first muscle of the artificial muscle joint 97 is close to the pressure of the first control port of the differential pressure control valve 98, the axial force generated by the liquid between the valve core 7 on the high-pressure side of the first flow-replenishing valve and the valve core 8 on the low-pressure side of the first flow-replenishing valve is no longer sufficient to support the opening of the valve port on the high-pressure side of the first flow-replenishing valve. The restoring force of the first spring 9 closes the valve port on the high-pressure side of the first flow-replenishing valve, thereby completing the dynamic flow replenishment, which can increase the movement speed of the first muscle of the artificial muscle joint 97.

[0106] At the same time, the pressure at the second control port of the pressure differential control valve 98 drops, and the pressures in the sixth connecting hole 91 of the flow-replenishing valve body directly connected to the second control port of the pressure differential control valve 98 and the second flow-through hole 54 of the middle valve sleeve of the second flow-replenishing valve both drop, thereby causing the pressure of the fluid in the chamber between the second flow-replenishing valve high-pressure side valve core 37 and the second flow-replenishing valve low-pressure side valve core 38 in the second flow-replenishing valve middle valve sleeve 35 of the second flow-replenishing valve 2 to drop. Due to the change in liquid pressure, the high-pressure side valve core 37 of the second flow-replenishing valve keeps its position unchanged, so that the high-pressure side valve port of the second flow-replenishing valve remains closed, while the low-pressure side valve core 38 of the second flow-replenishing valve moves to the left, so that the low-pressure side valve port of the second flow-replenishing valve is opened. After the low-pressure side valve port of the second flow-replenishing valve is opened, the third flow-through hole 54 of the middle valve sleeve of the second flow-replenishing valve The hole 55 is connected with the flow hole 61 of the low-pressure side valve sleeve of the second flow-replenishing valve in sequence through the through hole 45 of the middle valve sleeve of the second flow-replenishing valve and the blind hole 57 of the low-pressure side valve sleeve of the second flow-replenishing valve, so that the fourth connecting hole 88 of the flow-replenishing valve body can be connected with the second muscle of the artificial muscle joint 97 in sequence through the second connecting channel, the fourth process hole 84 of the flow-replenishing valve body and the second connecting hole 86 of the flow-replenishing valve body, and the water in the second muscle of the artificial muscle joint 97 is discharged into the water tank through the fourth connecting hole 88 of the flow-replenishing valve body, and the internal pressure is reduced. When the pressure in the second muscle of the artificial muscle joint 97 is close to the pressure of the second control port of the differential pressure control valve 98, the low-pressure side valve port of the second flow-replenishing valve is closed to complete the dynamic flow replenishment and improve the movement speed of the second muscle of the artificial muscle joint 97.

[0107] When the pressure at the first control port of the differential pressure control valve 98 drops and the pressure at the second control port of the differential pressure control valve 98 rises, the high-pressure side valve port of the first flow replenishing valve in the first flow replenishing valve 1 remains closed and the low-pressure side valve port of the first flow replenishing valve opens; the high-pressure side valve port of the second flow replenishing valve in the second flow replenishing valve 2 opens and the low-pressure side valve port of the second flow replenishing valve remains closed. The dynamic flow replenishing process is the opposite of the above process and will not be repeated here.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A segmented flow-injection valve group suitable for artificial muscle joint pressure regulation, characterized in that: It includes a first flow-increasing valve, a second flow-increasing valve and a connecting mechanism; The connecting mechanism comprises a valve body of a flow-increasing valve; the valve body of the flow-increasing valve is a rectangular parallelepiped structure, the upper end of the valve body of the flow-increasing valve is provided with a first through hole of the valve body of the flow-increasing valve and a third through hole of the valve body of the flow-increasing valve in left and right directions, and the lower end of the valve body of the flow-increasing valve is provided with a second through hole of the valve body of the flow-increasing valve and a fourth through hole of the valve body of the flow-increasing valve in left and right directions; the first flow-increasing valve is installed in the first through hole of the valve body of the flow-increasing valve, and the second flow-increasing valve is installed in the second through hole of the valve body of the flow-increasing valve; The front side surface of the valve body of the replenishing valve is provided with a first process hole of the valve body of the replenishing valve and a second process hole of the valve body of the replenishing valve, and the lower part is provided with a third process hole of the valve body of the replenishing valve and a fourth process hole of the valve body of the replenishing valve; the first process hole of the valve body of the replenishing valve and the second process hole of the valve body of the replenishing valve are connected with the first through hole of the valve body of the replenishing valve and the third through hole of the valve body of the replenishing valve at the left and right ends respectively; the third process hole of the valve body of the replenishing valve and the fourth process hole of the valve body of the replenishing valve are connected with the second through hole of the valve body of the replenishing valve and the fourth through hole of the valve body of the replenishing valve at the left and right ends respectively; The front side of the valve body of the replenishing valve is also provided with a first connecting hole of the valve body of the replenishing valve, a second connecting hole of the valve body of the replenishing valve, a third connecting hole of the valve body of the replenishing valve and a fourth connecting hole of the valve body of the replenishing valve; the first connecting hole of the valve body of the replenishing valve is connected with the third through hole of the valve body of the replenishing valve; the second connecting hole of the valve body of the replenishing valve is connected with the fourth through hole of the valve body of the replenishing valve; the valve body of the replenishing valve is provided with a first connecting channel and a second connecting channel in the vertical direction, and the two ends of the first connecting channel and the second connecting channel are respectively connected to the first through hole of the valve body of the replenishing valve and the second through hole of the valve body of the replenishing valve; the third connecting hole of the valve body of the replenishing valve and the fourth connecting hole of the valve body of the replenishing valve are respectively connected to the first connecting channel and the second connecting channel; The upper side of the valve body of the replenishing valve is provided with a fifth connecting hole of the valve body of the replenishing valve and a fifth process hole of the valve body of the replenishing valve; the fifth connecting hole of the valve body of the replenishing valve is connected with the first through hole of the valve body of the replenishing valve through a blind hole; the fifth process hole of the valve body of the replenishing valve is connected with the first through hole of the valve body of the replenishing valve; the lower side of the valve body of the replenishing valve is provided with a sixth connecting hole of the valve body of the replenishing valve and a sixth process hole of the valve body of the replenishing valve; the sixth connecting hole of the valve body of the replenishing valve is connected with the second through hole of the valve body of the replenishing valve through a blind hole; the sixth process hole of the valve body of the replenishing valve is connected with the second through hole of the valve body of the replenishing valve; The first flow-replenishing valve comprises a first flow-replenishing valve high-pressure side valve sleeve, a first flow-replenishing valve middle position valve sleeve and a first flow-replenishing valve low-pressure side valve sleeve which are arranged in sequence from left to right in the first through hole of the flow-replenishing valve body; The high-pressure side valve sleeve of the first flow-replenishing valve is provided with a first flow-replenishing valve high-pressure side valve sleeve blind hole in the axial direction, and the first flow-replenishing valve high-pressure side valve sleeve first sealing ring groove, the first flow-replenishing valve high-pressure side valve sleeve outer annular groove and the first flow-replenishing valve high-pressure side valve sleeve second sealing ring groove are provided on the outer side surface from left to right; the first flow-replenishing valve high-pressure side valve sleeve flow hole is provided in the outer annular groove of the first flow-replenishing valve high-pressure side valve sleeve; the first flow-replenishing valve high-pressure side valve sleeve flow hole is connected with the first process hole of the flow-replenishing valve body; The first valve sleeve of the first flow-replenishing valve is provided with a first valve sleeve through hole in the axial direction, and four first valve sleeve sealing ring grooves are provided on the outer side from left to right in sequence, and a first annular groove on the outer side of the first valve sleeve of the first flow-replenishing valve, a second annular groove on the outer side of the first valve sleeve of the first flow-replenishing valve, and a third annular groove on the outer side of the first valve sleeve of the first flow-replenishing valve are provided in sequence between every two adjacent first valve sleeve sealing ring grooves; the first annular groove on the outer side of the first valve sleeve of the first flow-replenishing valve, the second annular groove on the outer side of the first valve sleeve of the first flow-replenishing valve, and the third annular groove on the outer side of the first valve sleeve of the first flow-replenishing valve are provided in sequence. The first through hole of the middle valve sleeve of the first flow replenishing valve, the second through hole of the middle valve sleeve of the first flow replenishing valve and the third through hole of the middle valve sleeve of the first flow replenishing valve are respectively provided in the third annular groove outside the middle valve sleeve of the first flow replenishing valve; the first through hole of the middle valve sleeve of the first flow replenishing valve is connected with the fifth process hole of the valve body of the flow replenishing valve and the first connecting channel; the second through hole of the middle valve sleeve of the first flow replenishing valve is connected with the fifth connecting hole of the valve body of the flow replenishing valve; the third through hole of the middle valve sleeve of the first flow replenishing valve is connected with the second connecting channel; The low-pressure side valve sleeve of the first flow-replenishing valve is provided with a first low-pressure side valve sleeve blind hole in the axial direction, and the first low-pressure side valve sleeve first sealing ring groove, the outer annular groove of the low-pressure side valve sleeve of the first flow-replenishing valve and the second sealing ring groove of the low-pressure side valve sleeve of the first flow-replenishing valve are provided on the outer side from left to right; the low-pressure side valve sleeve of the first flow-replenishing valve is provided with a first low-pressure side valve sleeve flow hole in the outer annular groove; the low-pressure side valve sleeve flow hole of the first flow-replenishing valve is connected with the second process hole of the valve body of the flow-replenishing valve; The first flow-replenishing valve further comprises a first flow-replenishing valve high-pressure side valve core, a first flow-replenishing valve low-pressure side valve core and a first spring; the first spring is installed in a blind hole of a valve sleeve on the high-pressure side of the first flow-replenishing valve; The valve core on the high-pressure side of the first flow-replenishing valve is a cylindrical structure and is provided with a first flow-replenishing valve high-pressure side valve core annular groove on the middle side; the diameter of a portion of the valve core on the high-pressure side of the first flow-replenishing valve located on the right side of the annular groove of the valve core on the high-pressure side of the first flow-replenishing valve matches the inner diameter of the middle valve sleeve of the first flow-replenishing valve and is slidably installed in the middle valve sleeve of the first flow-replenishing valve, and the outer diameter of the other side is larger than the inner diameter of the middle valve sleeve of the first flow-replenishing valve and is located in the blind hole of the high-pressure side valve sleeve of the first flow-replenishing valve and contacts with the first spring; the left end face of the annular groove of the valve core on the high-pressure side of the first flow-replenishing valve is an inclined surface, and a first flow-replenishing valve high-pressure side valve port is formed between the inclined surface and the left end face of the middle valve sleeve of the first flow-replenishing valve, and the high-pressure side valve port of the first flow-replenishing valve can be opened or closed by the axial movement of the valve core on the high-pressure side of the first flow-replenishing valve, and the high-pressure side valve port of the first flow-replenishing valve is in a normally closed state; The valve core on the low-pressure side of the first flow-replenishing valve is a cylindrical structure and is provided with a first flow-replenishing valve low-pressure side valve core annular groove on the middle side; the diameter of the portion of the valve core on the low-pressure side of the first flow-replenishing valve located on the left side of the annular groove of the valve core on the low-pressure side of the first flow-replenishing valve matches the inner diameter of the middle valve sleeve of the first flow-replenishing valve and is slidably installed in the middle valve sleeve of the first flow-replenishing valve, and the other side is a truncated cone-shaped structure I; a first flow-replenishing valve middle valve sleeve concave platform is provided at the right end opening of the through hole of the middle valve sleeve of the first flow-replenishing valve; a first flow-replenishing valve is formed between the truncated cone-shaped structure I and the left end face of the low-pressure side valve sleeve of the first flow-replenishing valve The low-pressure side valve port of the first flow-replenishing valve can be opened or closed by the axial movement of the low-pressure side valve core of the first flow-replenishing valve, and the low-pressure side valve port of the first flow-replenishing valve is in a normally closed state; the outer diameter of the truncated cone structure I is smaller than the diameter of the concave platform of the middle valve sleeve of the first flow-replenishing valve and larger than the inner diameter of the middle valve sleeve of the first flow-replenishing valve and the inner diameter of the low-pressure side valve sleeve of the first flow-replenishing valve; when the low-pressure side valve core of the first flow-replenishing valve moves axially, the concave platform of the middle valve sleeve of the first flow-replenishing valve is used to limit the truncated cone structure I from making axial movement in the concave platform of the middle valve sleeve of the first flow-replenishing valve; The second flow-increasing valve comprises a second flow-increasing valve high-pressure side valve sleeve, a second flow-increasing valve middle position valve sleeve and a second flow-increasing valve low-pressure side valve sleeve which are arranged in sequence from left to right in the second through hole of the flow-increasing valve body; The high-pressure side valve sleeve of the second flow-increasing valve is provided with a second flow-increasing valve high-pressure side valve sleeve blind hole in the axial direction, and the first sealing ring groove of the high-pressure side valve sleeve of the second flow-increasing valve, the outer annular groove of the high-pressure side valve sleeve of the second flow-increasing valve, and the second sealing ring groove of the high-pressure side valve sleeve of the second flow-increasing valve are provided in sequence from left to right on the outer side; a second flow-increasing valve high-pressure side valve sleeve flow hole is provided in the outer annular groove of the high-pressure side valve sleeve of the second flow-increasing valve; the second flow-increasing valve high-pressure side valve sleeve flow hole is connected with the third process hole of the valve body of the flow-increasing valve; The middle valve sleeve of the second flow-increasing valve is provided with a second flow-increasing valve middle valve sleeve through hole in the axial direction, and four second flow-increasing valve middle valve sleeve sealing ring grooves are sequentially provided on the outer side surface from left to right, and a first annular groove on the outer side of the middle valve sleeve of the second flow-increasing valve, a second annular groove on the outer side of the middle valve sleeve of the second flow-increasing valve, and a third annular groove on the outer side of the middle valve sleeve of the second flow-increasing valve are sequentially provided between every two adjacent second flow-increasing valve middle valve sleeve sealing ring grooves; the first annular groove on the outer side of the middle valve sleeve of the second flow-increasing valve, the second annular groove on the outer side of the middle valve sleeve of the second flow-increasing valve, and the third annular groove on the outer side of the middle valve sleeve of the second flow-increasing valve are sequentially provided. The first flow hole of the middle valve sleeve of the second flow replenishing valve, the second flow hole of the middle valve sleeve of the second flow replenishing valve and the third flow hole of the middle valve sleeve of the second flow replenishing valve are respectively provided in the annular groove and the third annular groove outside the middle valve sleeve of the second flow replenishing valve; the first flow hole of the middle valve sleeve of the second flow replenishing valve is connected with the first connecting channel; the second flow hole of the middle valve sleeve of the second flow replenishing valve is connected with the sixth connecting hole of the valve body of the flow replenishing valve; the third flow hole of the middle valve sleeve of the second flow replenishing valve is connected with the sixth process hole of the valve body of the flow replenishing valve and the second connecting channel; The low-pressure side valve sleeve of the second flow-replenishing valve is provided with a second low-pressure side valve sleeve blind hole in the axial direction, and the first sealing ring groove of the low-pressure side valve sleeve of the second flow-replenishing valve, the outer annular groove of the low-pressure side valve sleeve of the second flow-replenishing valve, and the second sealing ring groove of the low-pressure side valve sleeve of the second flow-replenishing valve are provided in sequence from left to right on the outer side; the low-pressure side valve sleeve of the second flow-replenishing valve is provided with a flow hole of the low-pressure side valve sleeve of the second flow-replenishing valve in the outer annular groove; the flow hole of the low-pressure side valve sleeve of the second flow-replenishing valve is connected with the fourth process hole of the valve body of the flow-replenishing valve; The second flow-increasing valve further comprises a second flow-increasing valve high-pressure side valve core, a second flow-increasing valve low-pressure side valve core and a second spring; the second spring is installed in a blind hole of a valve sleeve on the high-pressure side of the second flow-increasing valve; The valve core on the high-pressure side of the second flow-replenishing valve is a cylindrical structure and is provided with an annular groove on the high-pressure side of the second flow-replenishing valve valve core on the middle side; the diameter of the portion of the valve core on the high-pressure side of the second flow-replenishing valve located on the right side of the annular groove of the valve core on the high-pressure side of the second flow-replenishing valve matches the inner diameter of the middle valve sleeve of the second flow-replenishing valve and is slidably installed in the middle valve sleeve of the second flow-replenishing valve, and the outer diameter of the other side is larger than the inner diameter of the middle valve sleeve of the second flow-replenishing valve and is located in the blind hole of the high-pressure side valve sleeve of the second flow-replenishing valve and contacts with the second spring; the left end face of the annular groove on the valve core on the high-pressure side of the second flow-replenishing valve is an inclined surface, and a high-pressure side valve port of the second flow-replenishing valve is formed between the inclined surface and the left end face of the middle valve sleeve of the second flow-replenishing valve, and the high-pressure side valve port of the second flow-replenishing valve can be opened or closed by the axial movement of the valve core on the high-pressure side of the second flow-replenishing valve, and the high-pressure side valve port of the second flow-replenishing valve is in a normally closed state; The valve core on the low-pressure side of the second flow-replenishing valve is a cylindrical structure and is provided with a second flow-replenishing valve low-pressure side valve core annular groove on the middle side; the diameter of the portion of the valve core on the low-pressure side of the second flow-replenishing valve located on the left side of the annular groove of the valve core on the low-pressure side of the second flow-replenishing valve matches the inner diameter of the middle valve sleeve of the second flow-replenishing valve and is slidably installed in the middle valve sleeve of the second flow-replenishing valve, and the other side is a truncated cone-shaped structure II; a second flow-replenishing valve middle valve sleeve concave platform is provided at the right end opening of the through hole of the middle valve sleeve of the second flow-replenishing valve; a second flow-replenishing valve middle valve sleeve concave platform is formed between the truncated cone-shaped structure II and the left end face of the low-pressure side valve sleeve of the second flow-replenishing valve The valve port on the low-pressure side of the flow-replenishing valve can be opened or closed by the axial movement of the valve core on the low-pressure side of the second flow-replenishing valve, and the valve port on the low-pressure side of the second flow-replenishing valve is in a normally closed state; the outer diameter of the truncated cone structure II is smaller than the diameter of the concave platform of the middle valve sleeve of the second flow-replenishing valve and is larger than the inner diameter of the middle valve sleeve of the second flow-replenishing valve and the inner diameter of the valve sleeve on the low-pressure side of the second flow-replenishing valve; when the valve core on the low-pressure side of the second flow-replenishing valve moves axially, the concave platform of the middle valve sleeve of the second flow-replenishing valve is used to limit the axial movement of the truncated cone structure II in the concave platform of the middle valve sleeve of the second flow-replenishing valve.

2. The segmented flow-injection valve assembly suitable for artificial muscle joint pressure regulation according to claim 1, characterized in that: The first process hole of the flow-replenishing valve body and the second process hole of the flow-replenishing valve body correspond to the left and right ends of the first through hole of the flow-replenishing valve body and the third through hole of the flow-replenishing valve body respectively; the third process hole of the flow-replenishing valve body and the fourth process hole of the flow-replenishing valve body correspond to the left and right ends of the second through hole of the flow-replenishing valve body and the fourth through hole of the flow-replenishing valve body respectively.

3. The segmented flow-injection valve group suitable for artificial muscle joint pressure regulation according to claim 1, characterized in that: Sealing rings are installed in the first sealing ring groove of the high-pressure side valve sleeve of the first flow replenishing valve, the second sealing ring groove of the high-pressure side valve sleeve of the first flow replenishing valve, the sealing ring groove of the middle valve sleeve of the first flow replenishing valve, the first sealing ring groove of the low-pressure side valve sleeve of the first flow replenishing valve, and the second sealing ring groove of the low-pressure side valve sleeve of the first flow replenishing valve, so as to form a seal between the high-pressure side valve sleeve of the first flow replenishing valve, the middle valve sleeve of the first flow replenishing valve, and the low-pressure side valve sleeve of the first flow replenishing valve and the first through hole of the valve body of the flow replenishing valve; Sealing rings are installed in the second sealing ring groove of the high-pressure side valve sleeve of the second flow-replenishing valve, the second sealing ring groove of the high-pressure side valve sleeve of the second flow-replenishing valve, the sealing ring groove of the middle valve sleeve of the second flow-replenishing valve, the first sealing ring groove of the low-pressure side valve sleeve of the second flow-replenishing valve and the second sealing ring groove of the low-pressure side valve sleeve of the second flow-replenishing valve, so as to form a seal between the high-pressure side valve sleeve of the second flow-replenishing valve, the middle valve sleeve of the second flow-replenishing valve and the low-pressure side valve sleeve of the second flow-replenishing valve and the second through hole of the valve body of the flow-replenishing valve.

4. The segmented flow-injection valve assembly for artificial muscle joint pressure regulation according to claim 1, characterized in that: The outsides of the first process hole of the flow-replenishing valve body, the second process hole of the flow-replenishing valve body, the third process hole of the flow-replenishing valve body, the fourth process hole of the flow-replenishing valve body, the fifth process hole of the flow-replenishing valve body and the sixth process hole of the flow-replenishing valve body are blocked.

5. The segmented flow-injection valve assembly suitable for artificial muscle joint pressure regulation according to claim 1, characterized in that: The outer side surface of the middle valve sleeve of the first flow-replenishing valve is provided with a first sealing ring groove of the middle valve sleeve of the first flow-replenishing valve, a second sealing ring groove of the middle valve sleeve of the first flow-replenishing valve, a third sealing ring groove of the middle valve sleeve of the first flow-replenishing valve and a fourth sealing ring groove of the middle valve sleeve of the first flow-replenishing valve from left to right; the outer side surface of the middle valve sleeve of the second flow-replenishing valve is provided with a first sealing ring groove of the middle valve sleeve of the second flow-replenishing valve, a second sealing ring groove of the middle valve sleeve of the second flow-replenishing valve, a third sealing ring groove of the middle valve sleeve of the second flow-replenishing valve and a fourth sealing ring groove of the middle valve sleeve of the second flow-replenishing valve from left to right.

6. The segmented flow-injection valve assembly suitable for artificial muscle joint pressure regulation according to claim 1, characterized in that: The first flow replenishment valve, the second flow replenishment valve and the connecting mechanism are all made of stainless steel.

7. The segmented flow-injection valve assembly for artificial muscle joint pressure regulation according to claim 1, characterized in that: The linking mechanism also includes a first mounting plate, a second mounting plate, a third mounting plate and a fourth mounting plate; the first mounting plate and the third mounting plate are respectively mounted on the side surfaces of the flow replenishing valve body corresponding to the first through hole of the flow replenishing valve body and the third through hole of the flow replenishing valve body at both ends; the second mounting plate and the fourth mounting plate are respectively mounted on the side surfaces of the flow replenishing valve body corresponding to the second through hole of the flow replenishing valve body and the fourth through hole of the flow replenishing valve body at both ends.

8. The segmented flow-injection valve assembly for artificial muscle joint pressure regulation according to claim 7, characterized in that: The first sealing ring recess of the flow-replenishing valve body and the second sealing ring recess of the flow-replenishing valve body are respectively provided at both ends of the third through hole of the flow-replenishing valve body, and the third sealing ring recess of the flow-replenishing valve body and the fourth sealing ring recess of the flow-replenishing valve body are respectively provided at both ends of the fourth through hole of the flow-replenishing valve body. Sealing rings are respectively installed in the first sealing ring recess of the flow-replenishing valve body, the second sealing ring recess of the flow-replenishing valve body, the third sealing ring recess of the flow-replenishing valve body and the fourth sealing ring recess of the flow-replenishing valve body, so as to seal between both ends of the third through hole of the flow-replenishing valve body and the fourth through hole of the flow-replenishing valve body and the corresponding mounting plates.

9. The segmented flow-injection valve assembly suitable for artificial muscle joint pressure regulation according to claim 1, characterized in that: A sealing ring is installed on the outer side of the high-pressure side valve core of the first flow-increasing valve and the low-pressure side valve core of the first flow-increasing valve, which is slidably installed in the middle valve sleeve of the first flow-increasing valve, so as to form a seal between the high-pressure side valve core of the first flow-increasing valve and the low-pressure side valve core of the first flow-increasing valve and the middle valve sleeve of the first flow-increasing valve; A sealing ring is installed on the outer side of the part of the high-pressure side valve core of the second flow-replenishing valve and the low-pressure side valve core of the second flow-replenishing valve that is slidably installed in the middle valve sleeve of the second flow-replenishing valve, so as to form a seal between the high-pressure side valve core of the second flow-replenishing valve and the low-pressure side valve core of the second flow-replenishing valve and the middle valve sleeve of the second flow-replenishing valve.

10. The segmented flow-injection valve assembly suitable for artificial muscle joint pressure regulation according to claim 1, characterized in that: When the sectional flow-increasing valve is used to regulate the pressure of two artificial muscle joints of an artificial muscle: the first connecting hole of the flow-increasing valve body is connected to the first muscle of the artificial muscle joint; the second connecting hole of the flow-increasing valve body is used to be connected to the second muscle of the artificial muscle joint; the third connecting hole of the flow-increasing valve body is used to be connected to the water outlet of the pump station; the fourth connecting hole of the flow-increasing valve body is used to be connected to the water tank; the fifth connecting hole of the flow-increasing valve body is used to be connected to the first control port of the pressure differential control valve; the sixth connecting hole of the flow-increasing valve body is used to be connected to the second control port of the pressure differential control valve.

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