Deep-sea hydraulic manipulator integrated pressure relief valve group

Abstract

This invention belongs to the field of hydraulic control system technology, specifically an integrated pressure loss protection valve assembly for a deep-sea hydraulic manipulator. The bottom surface of the valve body has multiple oil ports for connecting to the manipulator, and the top surface of the valve body has multiple oil ports communicating with the interior of the servo valves. Two hydraulically controlled check valves, two check valves, and a control piston are respectively installed on the valve body. The control oil circuits of the two hydraulically controlled check valves are cross-connected, and the control piston has a damping orifice inside. As a control valve assembly for the joints of a deep-sea hydraulic manipulator, this invention provides pressure loss protection for the joints and anti-servo valve zero-drift functionality, and has advantages such as compact structure, high integration, and high reliability.

Description

Technical Field

[0001] This invention belongs to the field of hydraulic control system technology, specifically an integrated pressure loss protection valve group for a deep-sea hydraulic manipulator. Background Technology

[0002] Deep-sea hydraulic manipulators are a key component of deep-sea exploration and operation equipment. The joints of deep-sea hydraulic manipulators are typically driven by hydraulic cylinders or hydraulic motors controlled by servo valves. To ensure that the deep-sea hydraulic manipulator can stably remain in a designated position during operation, a hydraulically controlled check valve is usually installed in the hydraulic circuit to achieve pressure holding and locking functions.

[0003] However, in the extreme environment of the deep sea, the hydraulic system may suddenly lose pressure for various reasons (such as pump failure, pipeline rupture, etc.). When the hydraulic system loses pressure, the hydraulically controlled check valve will fail to open due to the loss of control pressure, causing the joints of the deep-sea hydraulic manipulator to lock in the current position. This uncontrolled locking state can cause serious damage to the submersible to which the deep-sea hydraulic manipulator belongs, such as the inability to release the gripper holding the heavy object.

[0004] Furthermore, the servo valve spool exhibits zero drift when in the neutral position, causing the actuator to move slowly (creep) when there is no control signal. Addressing zero drift typically requires adding sensors and complex electronic control systems for compensation, which increases the complexity and cost of the hydraulic system and poses reliability challenges in high-pressure deep-sea environments.

[0005] Therefore, there is an urgent need for a servo control valve assembly that can integrate underpressure protection and anti-zero drift functions, and has a compact structure and high reliability, in order to meet the demanding working requirements of deep-sea hydraulic manipulators. Summary of the Invention

[0006] In view of the above-mentioned problems in the hydraulic system of deep-sea hydraulic manipulators, the purpose of this invention is to provide an integrated pressure loss protection valve group for deep-sea hydraulic manipulators.

[0007] The objective of this invention is achieved through the following technical solution:

[0008] This invention includes a valve body and a servo valve mounted on the valve body. The bottom surface of the valve body has a first oil port A, a second oil port B, a third oil port P, and a fourth oil port T, all communicating with a hydraulic actuator of a robotic arm joint. The top surface of the valve body has a fifth oil port A, a sixth oil port B, a seventh oil port P, and an eighth oil port T, all communicating with the internal oil circuit of the servo valve. The first oil port A and the fifth oil port A, the second oil port B and the sixth oil port B, the third oil port P and the seventh oil port P, and the fourth oil port T and the eighth oil port T are all connected by oil circuits. The valve body contains a first hydraulically controlled check valve, a second hydraulically controlled check valve, a first check valve, a second check valve, and a control piston. The inlet valves of the first hydraulically controlled check valve and the second hydraulically controlled check valve... The oil ports are connected to the fifth oil port A and the sixth oil port B respectively through oil passages. The oil outlets of the first hydraulic check valve and the second hydraulic check valve are connected to the first oil port A and the second oil port B respectively through oil passages. The control oil passages of the first hydraulic check valve and the second hydraulic check valve are cross-connected. The flow sides of the first check valve and the second check valve are connected to the first oil port A and the second oil port B respectively through oil passages. The shut-off sides of the first check valve and the second check valve are connected to the third oil port P respectively through oil passages. The control piston is provided with a sealing ring that separates the oil passage connecting the fifth oil port A and the oil passage connecting the sixth oil port B. The control piston has a damping hole inside, and the oil passage connecting the fifth oil port A is connected to the oil passage connecting the sixth oil port B through the damping hole.

[0009] Preferably, the first hydraulic check valve is connected to a first hydraulic check valve control oil circuit, the second hydraulic check valve is connected to a second hydraulic check valve control oil circuit, the first hydraulic check valve control oil circuit is connected to the oil inlet of the second hydraulic check valve, and the second hydraulic check valve control oil circuit is connected to the oil inlet of the first hydraulic check valve.

[0010] Preferably, the control oil circuit of the first hydraulic check valve is T-shaped. One end of one side of the control oil circuit of the first hydraulic check valve is connected to the oil inlet of the second hydraulic check valve. The other end of one side of the control oil circuit of the first hydraulic check valve extends to the side of the valve body, and a process plug is installed at the opening. The other side of the control oil circuit of the first hydraulic check valve passes through the first hydraulic check valve and extends to the adjacent side of the valve body, where a process plug is installed. The control oil circuit of the second hydraulic check valve is T-shaped. One end of one side of the control oil circuit of the second hydraulic check valve is connected to the oil inlet of the first hydraulic check valve. The other end of one side of the control oil circuit of the second hydraulic check valve extends to the side of the valve body, where a process plug is installed. The other side of the control oil circuit of the second hydraulic check valve passes through the second hydraulic check valve and extends to the adjacent side of the valve body, where a process plug is installed.

[0011] Preferably, the damping hole inside the control piston includes an axial central hole and a radial hole that are interconnected. The axial central hole is opened along the axial direction of the control piston, one end of which is a closed end located inside the control piston, and the other end of which is opened to the end of the control piston. The radial hole is opened along the radial direction of the control piston, and both ends of the radial hole are opened to the outer surface of the control piston.

[0012] Preferably, the valve body has a control piston valve hole for installing the control piston, and the fifth oil port A and the sixth oil port B are respectively connected to the control piston valve hole; the control piston is provided with two sealing rings, one sealing ring is located at the end of the control piston valve hole near the side of the valve body, and the other sealing ring is located between the fifth oil port A and the sixth oil port B.

[0013] Preferably, the valve body has two hydraulically controlled check valve holes and two check valve holes. The two hydraulically controlled check valve holes are opened at the same height and are blind holes, and each hydraulically controlled check valve hole has a hydraulically controlled check valve process plug at its opening end. The two check valve holes are opened at the same height and are blind holes, and are located below the two hydraulically controlled check valve holes. Each check valve hole has a check valve process plug at its opening end.

[0014] Preferably, the hydraulic control check valve orifice and the check valve orifice are opened inward from the same side of the valve body, and the axial center line of the hydraulic control check valve orifice is parallel to the axial center line of the check valve orifice; the control piston valve orifice on which the control piston is installed is opened inward from the adjacent side of the valve body, and the axial center line of the control piston valve orifice is perpendicular to but does not intersect with the axial center line of the hydraulic control check valve orifice and the axial center line of the check valve orifice.

[0015] Preferably, the fifth oil port A is connected to the inlet of the first hydraulic check valve via the first oil passage, and then to the control piston valve hole where the control piston is installed. The outlet of the first hydraulic check valve is connected to the third oil passage. The lower end of the third oil passage is connected to the fourth oil passage on the flow side of the first check valve. The upper end of the third oil passage extends to the top surface of the valve body, and an oil passage process plug is installed at the opening. The fourth oil passage is connected to the first oil port A via the fifth oil passage. The sixth oil port B is connected to the inlet of the second hydraulic check valve via the second oil passage, and then to the control piston valve hole. The outlet of the second hydraulic check valve is connected to the sixth oil passage. The lower end of the sixth oil passage is connected to the seventh oil passage on the flow side of the second check valve. The upper end of the sixth oil passage extends to the top surface of the valve body, and an oil passage process plug is installed at the opening. The seventh oil passage is connected to the second oil port B via the eighth oil passage.

[0016] Preferably, the third oil port P is directly connected to the seventh oil port P through the ninth oil passage, the fourth oil port T is directly connected to the eighth oil port T through the tenth oil passage, the ninth oil passage is connected to the eleventh oil passage, the end of the eleventh oil passage opens to the side of the valve body and an oil passage process plug is installed at the opening, the eleventh oil passage is connected to the flow side of the first check valve and the second check valve through the twelfth oil passage and the thirteenth oil passage respectively, one end of the twelfth oil passage is connected to the eleventh oil passage, and the other end of the twelfth oil passage is connected to the flow side of the first check valve and then opens to the adjacent side of the valve body and an oil passage process plug is installed at the opening.

[0017] The advantages and positive effects of this invention are as follows:

[0018] 1. This invention can effectively address hydraulic system pressure loss faults while achieving precise servo control and high-reliability pressure holding and locking, and can automatically eliminate the influence of servo valve zero drift without the need for additional sensors.

[0019] 2. This invention integrates multiple functional valve components into a single valve body, resulting in a compact structure, reduced external piping connections, and improved system resistance to contamination and sealing reliability under high-pressure deep-sea environments. Attached Figure Description

[0020] Figure 1 This is one of the three-dimensional structural schematic diagrams of the present invention;

[0021] Figure 2 This is a second three-dimensional structural schematic diagram of the present invention;

[0022] Figure 3 This is the third three-dimensional structural schematic diagram of the present invention;

[0023] Figure 4 This is the fourth three-dimensional structural schematic diagram of the present invention;

[0024] Figure 5 This is a front view of the structure of the present invention;

[0025] Figure 6 for Figure 5 Left view of the structure;

[0026] Figure 7 for Figure 5 Top view of the structure;

[0027] Figure 8 for Figure 5 The D-D section view in the middle;

[0028] Figure 9 for Figure 6 C-C section view in the middle;

[0029] Figure 10 for Figure 5 The B-B section view in the diagram;

[0030] Figure 11 for Figure 5 Sectional view A-A in the middle;

[0031] Figure 12 for Figure 9 Axial sectional view of the central control piston;

[0032] Figure 13 for Figure 1 A three-dimensional structural diagram of the middle valve body;

[0033] Figure 14 for Figure 1 Schematic diagram of the internal oil circuit of the valve body;

[0034] Wherein: 1 is valve body, 2 is servo valve, 3 is first hydraulic check valve, 4 is first check valve, 5 is control piston, 6 is second hydraulic check valve, 7 is hydraulic check valve orifice, 8 is hydraulic check valve process plug, 9 is first hydraulic check valve inlet, 10 is second hydraulic check valve inlet, 11 is first hydraulic check valve outlet, 12 is second hydraulic check valve outlet, 13 is second check valve, 14 is check valve orifice, 15 is check valve process plug, 16 is control piston valve orifice, 17 is sealing ring, 18 is radial hole, 19 is axial center hole, 20 is oil circuit process plug, 21 is... 21 is the first oil circuit, 22 is the second oil circuit, 23 is the third oil circuit, 24 is the fourth oil circuit, 25 is the fifth oil circuit, 26 is the sixth oil circuit, 27 is the seventh oil circuit, 28 is the eighth oil circuit, 29 is the ninth oil circuit, 30 is the tenth oil circuit, 31 is the eleventh oil circuit, 32 is the twelfth oil circuit, 33 is the thirteenth oil circuit, 34 is the first hydraulic check valve control oil circuit, 35 is the second hydraulic check valve control oil circuit, A1 is the first oil port, B1 is the second oil port, P1 is the third oil port, T1 is the fourth oil port, A2 is the fifth oil port, B2 is the sixth oil port, P2 is the seventh oil port, and T2 is the eighth oil port. Detailed Implementation

[0035] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0036] like Figures 1 to 14As shown, the valve assembly of the present invention is integrated into a single valve block (i.e., valve body 1), forming a compact functional unit; the valve assembly includes valve body 1 and servo valve 2 mounted on valve body 1, wherein the bottom surface of valve body 1 is respectively provided with a first oil port A1, a second oil port B1, a third oil port P1 and a fourth oil port T1 communicating with the hydraulic actuator of the robotic arm joint, the third oil port P1 is a pressure oil port connected to the system pressure source, the fourth oil port T1 is a return oil port connected to the return oil tank, and the first oil port A1 and the second oil port B1 are connected to the hydraulic actuator of the robotic arm joint ( The hydraulic cylinder has two oil ports; the top surface of the valve body 1 is respectively provided with a fifth oil port A2, a sixth oil port B2, a seventh oil port P2, and an eighth oil port T2 that are connected to the internal oil circuit of the servo valve 2. The electrical control system only needs to control the servo valve 2 to achieve comprehensive control and protection of the robot joints; the first oil port A1 and the fifth oil port A2, the second oil port B1 and the sixth oil port B2, the third oil port P1 and the seventh oil port P2, and the fourth oil port T1 and the eighth oil port T2 are respectively connected by oil circuits; the valve body 1 is equipped with a first hydraulic cylinder. The system includes a control check valve 3, a second hydraulically controlled check valve 6, a first check valve 4, a second check valve 13, and a control piston 5. The inlets of the first hydraulically controlled check valve 3 and the second hydraulically controlled check valve 6 are connected to the fifth oil port A2 and the sixth oil port B2 respectively via oil circuits. The outlets of the first hydraulically controlled check valve 3 and the second hydraulically controlled check valve 6 are connected to the first oil port A1 and the second oil port B1 respectively via oil circuits. The control oil circuits of the first hydraulically controlled check valve 3 and the second hydraulically controlled check valve 6 are cross-connected. The flow sides of the first check valve 4 and the second check valve 13 are connected to the control piston 5 via oil circuits. The first oil port A1 and the second oil port B1 are connected, and the shut-off sides of the first check valve 4 and the second check valve 13 are respectively connected to the third oil port P1 through oil passages; the control piston 5 is provided with a sealing ring 17 that separates the oil passage connected to the fifth oil port A2 from the oil passage connected to the sixth oil port B2. The control piston 5 is provided with a damping hole, and the oil passage connected to the fifth oil port A2 is connected to the oil passage connected to the sixth oil port B2 through the damping hole, thereby establishing a high-resistance hydraulic bridge between the oil passage connected to the fifth oil port A2 and the oil passage connected to the sixth oil port B2.

[0037] In this embodiment, the valve body 1 is internally formed with precision drilling and cross-hole processes to ensure proper connection of each oil port. Specifically, the fifth oil port A2 is connected to the inlet of the first hydraulic check valve 3 via the first oil passage 21, and then to the control piston valve hole 16 where the control piston 5 is installed. The outlet of the first hydraulic check valve 3 is connected to the third oil passage 23. The lower end of the third oil passage 23 is connected to the fourth oil passage 24 on the flow side of the first check valve 4. The upper end of the third oil passage 23 extends to the top surface of the valve body 1, and an oil passage process plug 20 is installed at the opening. The fourth oil passage 24 is connected to the first oil port A1 via the fifth oil passage 25. The sixth oil port B2 is connected to the oil inlet of the second hydraulic check valve 6 through the second oil passage 22, and then connected to the control piston valve hole 16. The oil outlet of the second hydraulic check valve 6 is connected to the sixth oil passage 26. The lower end of the sixth oil passage 26 is connected to the seventh oil passage 27 on the flow side of the second check valve 13. The upper end of the sixth oil passage 26 is opened to the top surface of the valve body 1, and an oil passage process plug 20 is installed at the opening. The seventh oil passage 27 is connected to the second oil port B1 through the eighth oil passage 28.

[0038] In this embodiment, the third oil port P1 is directly connected to the seventh oil port P2 through the ninth oil passage 29, and the fourth oil port T1 is directly connected to the eighth oil port T2 through the tenth oil passage 30. The eleventh oil passage 31 is connected to the ninth oil passage 29. The end of the eleventh oil passage 31 opens to the side of the valve body 1 and an oil passage process plug 20 is installed at the opening. The eleventh oil passage 31 is connected to the flow side of the first check valve 4 and the second check valve 13 through the twelfth oil passage 32 and the thirteenth oil passage 33, respectively. One end of the twelfth oil passage 32 is connected to the eleventh oil passage 31, and the other end of the twelfth oil passage 32 is connected to the flow side of the first check valve 4 and then opens to the adjacent side of the valve body 1 and an oil passage process plug 20 is installed at the opening.

[0039] In this embodiment, the control oil circuits of the first hydraulic check valve 3 and the second hydraulic check valve 6 are cross-connected. That is, the first hydraulic check valve 3 is connected to the first hydraulic check valve control oil circuit 34, and the second hydraulic check valve 6 is connected to the second hydraulic check valve control oil circuit 35. The first hydraulic check valve control oil circuit 34 is connected to the oil inlet of the second hydraulic check valve 6, and the second hydraulic check valve control oil circuit 35 is connected to the oil inlet of the first hydraulic check valve 3.

[0040] In this embodiment, the control oil circuit 34 of the first hydraulic check valve is T-shaped. One end of one side (the horizontal side of the T-shape) of the control oil circuit 34 of the first hydraulic check valve is connected to the oil circuit (second oil circuit 22) of the oil inlet of the second hydraulic check valve 6. The other end of one side (the horizontal side of the T-shape) of the control oil circuit 34 of the first hydraulic check valve opens to the side of the valve body 1 and an oil circuit process plug 20 is installed at the opening. The other side (the vertical side of the T-shape) of the control oil circuit 34 of the first hydraulic check valve passes through the first hydraulic check valve 3 and opens to the other side of the valve body 1, and an oil circuit process plug 20 is installed at the opening. The control oil passage 35 of the second hydraulic check valve is T-shaped. One end of one side (the horizontal side of the T-shape) of the control oil passage 35 of the second hydraulic check valve is connected to the oil passage (first oil passage 21) of the oil inlet of the first hydraulic check valve 3. The other end of one side (the horizontal side of the T-shape) of the control oil passage 35 of the second hydraulic check valve opens to the side of the valve body 1 and an oil passage process plug 20 is installed at the opening. The other side (the vertical side of the T-shape) of the control oil passage 35 of the second hydraulic check valve passes through the second hydraulic check valve 6 and opens to the other side of the valve body 1, and an oil passage process plug 20 is installed at the opening.

[0041] In this embodiment, the valve body 1 has a control piston valve hole 16 for installing the control piston 5. The fifth oil port A2, which connects to the oil passage (first oil passage 21), and the sixth oil port B2, which connects to the oil passage (second oil passage 22), are respectively connected to the control piston valve hole 16. The control piston 5 in this embodiment is provided with two sealing rings 17. One sealing ring 17 is located at the end of the control piston valve hole 16 near the side of the valve body 1, and the other sealing ring 17 is located between the fifth oil port A2 connecting to the oil passage (first oil passage 21) and the sixth oil port B2 connecting to the oil passage (second oil passage 22).

[0042] In this embodiment, the damping orifice inside the control piston 5 includes an interconnected axial central hole 19 and a radial hole 18. The axial central hole 19 is axially located along the control piston 5, with one end being a closed end inside the control piston 5 and the other end extending to the end of the control piston 5. The radial hole 18 is radially located along the control piston 5, with both ends extending to the outer surface of the control piston 5. The radial hole 18 is perpendicularly connected to the axial central hole 19. The diameter and length of the damping orifice need to be large enough to ensure that the dynamic response is not affected when the servo valve 2 is operating normally; however, they also need to be small enough to allow the small flow generated by zero drift to pass through, thereby achieving the anti-zero drift function. In this embodiment, the diameter of the axial central hole 19 is 0.4 mm and the length is 14 mm, while the diameter of the radial hole 18 is 1 mm and the length is 5 mm.

[0043] In this embodiment, the valve body 1 has two hydraulically controlled check valve holes 7 and two check valve holes 14. The two hydraulically controlled check valve holes 7 are opened at the same height and are blind holes, and each hydraulically controlled check valve hole 7 has a hydraulically controlled check valve process plug 8 at its open end. The two check valve holes 14 are opened at the same height and are blind holes, located below the two hydraulically controlled check valve holes 7, and each check valve hole 14 has a check valve process plug 15 at its open end. The hydraulically controlled check valve holes 7 and check valve holes 14 are opened inward from the same side of the valve body 1, and the axial center line of the hydraulically controlled check valve hole 7 is parallel to the axial center line of the check valve hole 14. The control piston valve hole 16 on which the control piston 5 is installed is opened inward from the adjacent side of the valve body 1, and the axial center line of the control piston valve hole 16 is perpendicular to but does not intersect with the axial center lines of the hydraulically controlled check valve hole 7 and the check valve hole 14.

[0044] In this embodiment, the other end of one side (T-shaped horizontal edge) of the first hydraulic check valve control oil circuit 34, the other end of one side (T-shaped horizontal edge) of the second hydraulic check valve control oil circuit 35, the end of the eleventh oil circuit 31, the opening ends of the two hydraulic check valve holes 7, and the opening ends of the two check valve holes 14 are all located on the same side of the valve body 1 (e.g., Figure 14 The openings at the other end of the twelfth oil passage 32, the other side (T-shaped vertical side) of the first hydraulic check valve control oil passage 34, and the opening of the control piston valve hole 16 are all located on the other identical side of the valve body 1 (e.g., the front of the valve body 1). Figure 14 On the left side of the valve body 1), the opening on the other side (the T-shaped vertical side) of the control oil circuit 35 of the second hydraulic check valve is located on another identical side of the valve body 1 (e.g., on the left side of the valve body 1). Figure 14 (Right side of valve body 1).

[0045] In this embodiment, the valve body 1 is preferably machined from a single piece of high-strength aluminum alloy to withstand high-pressure environments. The servo valve 2 is fixed to the machined surface on the top of the valve body 1 by four mounting screws and achieves static sealing through an O-ring.

[0046] The first hydraulic control check valve 3 and the second hydraulic control check valve 6 of the present invention are both commercially available products, purchased from KEPNER Corporation in the United States, model number 2741.

[0047] During operation, the first hydraulically controlled check valve 3 and the second hydraulically controlled check valve 6 are used to maintain pressure and lock the joints of the robotic arm. The control oil circuits 34 and 35 of the first and second hydraulically controlled check valves are cross-connected, allowing the valve assembly to lock securely during normal operation and to release smoothly when action is required. The first check valve 4 and the second check valve 13 constitute the core components of the pressure loss protection system.

[0048] Anti-servo valve zero drift: When servo valve 2 is in the neutral position and zero drift occurs, a small amount of leaking oil will flow slowly from the higher pressure oil path (such as the first oil path 21 connected to the fifth oil port A2) through the damping orifice in the control piston 5 to the lower pressure oil path (such as the second oil path 22 connected to the sixth oil port B2), and finally flow back to servo valve 2. This process creates a dynamic balance between the first oil path 21 connected to the fifth oil port A2 and the second oil path 22 connected to the sixth oil port B2, eliminating the pressure difference caused by zero drift in the fifth oil path 25 connected to the first oil port A1 or the eighth oil path 28 connected to the second oil port B1, thereby avoiding slow movement (crawling) of the robot joint without the need for additional sensors and electronic control compensation.

[0049] System pressure loss protection: When the hydraulic system is working normally, the third port P1 always maintains the system pressure, and the first check valve 4 and the second check valve 13 are closed under pressure. When a sudden system failure causes the pressure at the third port P1 to drop to 0, the first check valve 4 connected to the first port A1 and the second check valve 13 connected to the second port B1 will be quickly pushed open by the residual pressure at the first port A1 or the second port B1 due to the disappearance of their shut-off pressure. This allows the high-pressure oil locked in the fourth oil circuit 24, the fifth oil circuit 25, the seventh oil circuit 27, and the eighth oil circuit 28 by the first hydraulically controlled check valve 3 and the second hydraulically controlled check valve 6 to be released. In this way, the manipulator joint is no longer in a rigid locked state and can move slowly under external force, thus avoiding structural locking and realizing the pressure loss protection function.

[0050] This invention achieves four major functions—servo control, pressure holding and locking, pressure loss protection, and zero drift resistance—simultaneously on a single valve group through ingenious oil circuit design and structural integration. It is particularly suitable for deep-sea hydraulic manipulator systems with extremely high reliability requirements.

[0051] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An integrated underpressure protection valve assembly for a deep-sea hydraulic manipulator, characterized in that: Includes a valve body (1) and a servo valve (2) mounted on the valve body (1). The bottom surface of the valve body (1) is provided with a first oil port (A1), a second oil port (B1), a third oil port (P1), and a fourth oil port (T1) that are connected to the hydraulic actuator of the robotic arm joint. The top surface of the valve body (1) is provided with a fifth oil port (A2), a sixth oil port (B2), a seventh oil port (P2), and an eighth oil port (T2) that are connected to the internal oil circuit of the servo valve (2). The first oil port... (A1) is connected to the fifth oil port (A2), the second oil port (B1) to the sixth oil port (B2), the third oil port (P1) to the seventh oil port (P2), and the fourth oil port (T1) to the eighth oil port (T2) via oil circuits; the valve body (1) is equipped with a first hydraulically controlled check valve (3), a second hydraulically controlled check valve (6), a first check valve (4), a second check valve (13), and a control piston (5), respectively. The first hydraulically controlled check valve (3), the second hydraulically controlled check valve (6), the first check valve (4), the second check valve (13), and the control piston (5) are respectively installed in the valve body (1). The inlet of the hydraulic check valve (6) is connected to the fifth oil port (A2) and the sixth oil port (B2) through an oil circuit. The outlets of the first hydraulic check valve (3) and the second hydraulic check valve (6) are connected to the first oil port (A1) and the second oil port (B1) through an oil circuit. The control oil circuits of the first hydraulic check valve (3) and the second hydraulic check valve (6) are cross-connected. The flow sides of the first check valve (4) and the second check valve (13) are connected to the first oil port through an oil circuit. (A1) The second oil port (B1) is connected, and the shut-off sides of the first check valve (4) and the second check valve (13) are respectively connected to the third oil port (P1) through the oil passage; the control piston (5) is provided with a sealing ring (17) that separates the oil passage connecting the fifth oil port (A2) and the oil passage connecting the sixth oil port (B2). The control piston (5) is provided with a damping hole, and the oil passage connecting the fifth oil port (A2) is connected to the oil passage connecting the sixth oil port (B2) through the damping hole.

2. The integrated pressure loss protection valve assembly for deep-sea hydraulic manipulators according to claim 1, characterized in that: The first hydraulic check valve (3) is connected to a first hydraulic check valve control oil circuit (34), and the second hydraulic check valve (6) is connected to a second hydraulic check valve control oil circuit (35). The first hydraulic check valve control oil circuit (34) is connected to the oil inlet of the second hydraulic check valve (6), and the second hydraulic check valve control oil circuit (35) is connected to the oil inlet of the first hydraulic check valve (3).

3. The integrated pressure loss protection valve assembly for deep-sea hydraulic manipulators according to claim 2, characterized in that: The first hydraulic check valve control oil circuit (34) is T-shaped. One end of one side of the first hydraulic check valve control oil circuit (34) is connected to the oil inlet of the second hydraulic check valve (6). The other end of one side of the first hydraulic check valve control oil circuit (34) extends to the side of the valve body (1) and an oil circuit process plug (20) is installed at the opening. The other side of the first hydraulic check valve control oil circuit (34) passes through the first hydraulic check valve (3) and extends to the other side of the valve body (1) adjacent to it, and an oil circuit process plug (20) is installed at the opening. The second hydraulic check valve The control oil circuit (35) is T-shaped. One end of one side of the control oil circuit (35) of the second hydraulic check valve is connected to the oil inlet of the first hydraulic check valve (3). The other end of one side of the control oil circuit (35) of the second hydraulic check valve opens to the side of the valve body (1) and an oil circuit process plug (20) is installed at the opening. The other side of the control oil circuit (35) of the second hydraulic check valve passes through the second hydraulic check valve (6) and opens to the other side of the valve body (1) adjacent to it and an oil circuit process plug (20) is installed at the opening.

4. The integrated pressure loss protection valve assembly for deep-sea hydraulic manipulators according to claim 1, characterized in that: The damping holes inside the control piston (5) include an axial central hole (19) and a radial hole (18) that are interconnected. The axial central hole (19) is opened along the axial direction of the control piston (5). One end of the axial central hole (19) is a closed end located inside the control piston (5), and the other end of the axial central hole (19) is opened to the end of the control piston (5). The radial hole (18) is opened radially along the control piston (5), and both ends of the radial hole (18) are opened to the outer surface of the control piston (5).

5. The integrated pressure loss protection valve assembly for deep-sea hydraulic manipulators according to claim 1, characterized in that: The valve body (1) is provided with a control piston valve hole (16) for installing the control piston (5). The fifth oil port (A2) and the sixth oil port (B2) are respectively connected to the control piston valve hole (16). The control piston (5) is provided with two sealing rings (17). One sealing ring (17) is located at one end of the control piston valve hole (16) near the side of the valve body (1), and the other sealing ring (17) is located between the fifth oil port (A2) and the sixth oil port (B2).

6. The integrated pressure loss protection valve assembly for deep-sea hydraulic manipulators according to claim 1, characterized in that: The valve body (1) has two hydraulic control check valve holes (7) and two check valve holes (14). The two hydraulic control check valve holes (7) are opened at the same height and are blind holes. Each hydraulic control check valve hole (7) has a hydraulic control check valve process plug (8) at its opening end. The two check valve holes (14) are opened at the same height and are blind holes. They are located below the two hydraulic control check valve holes (7). Each check valve hole (14) has a check valve process plug (15) at its opening end.

7. The integrated pressure loss protection valve assembly for deep-sea hydraulic manipulators according to claim 6, characterized in that: The hydraulic control check valve orifice (7) and the check valve orifice (14) are opened inward from the same side of the valve body (1), and the axial center line of the hydraulic control check valve orifice (7) is parallel to the axial center line of the check valve orifice (14); the control piston valve orifice (16) on which the control piston (5) is installed is opened inward from the adjacent side of the valve body (1), and the axial center line of the control piston valve orifice (16) is perpendicular to but does not intersect with the axial center line of the hydraulic control check valve orifice (7) and the axial center line of the check valve orifice (14).

8. The integrated pressure loss protection valve assembly for deep-sea hydraulic manipulators according to claim 1, characterized in that: The fifth oil port (A2) is connected to the inlet of the first hydraulic check valve (3) through the first oil passage (21), and then to the control piston valve hole (16) of the control piston (5). The outlet of the first hydraulic check valve (3) is connected to the third oil passage (23). The lower end of the third oil passage (23) is connected to the fourth oil passage (24) on the flow side of the first check valve (4). The upper end of the third oil passage (23) extends to the top surface of the valve body (1) and an oil passage process plug (20) is installed at the opening. The fourth oil passage (24) is connected to the first oil port (A2) through the fifth oil passage (25). 1) Connecting; the sixth oil port (B2) is connected to the oil inlet of the second hydraulic check valve (6) through the second oil passage (22), and then connected to the control piston valve hole (16). The oil outlet of the second hydraulic check valve (6) is connected to the sixth oil passage (26). The lower end of the sixth oil passage (26) is connected to the seventh oil passage (27) on the flow side of the second check valve (13). The upper end of the sixth oil passage (26) is opened to the top surface of the valve body (1) and an oil passage process plug (20) is installed at the opening. The seventh oil passage (27) is connected to the second oil port (B1) through the eighth oil passage (28).

9. The integrated pressure loss protection valve assembly for deep-sea hydraulic manipulators according to claim 1, characterized in that: The third oil port (P1) is directly connected to the seventh oil port (P2) through the ninth oil passage (29). The fourth oil port (T1) is directly connected to the eighth oil port (T2) through the tenth oil passage (30). The eleventh oil passage (31) is connected to the ninth oil passage (29). The end of the eleventh oil passage (31) opens to the side of the valve body (1) and an oil passage process plug (20) is installed at the opening. The eleventh oil passage (31) is connected to the flow side of the first check valve (4) and the second check valve (13) through the twelfth oil passage (32) and the thirteenth oil passage (33), respectively. One end of the twelfth oil passage (32) is connected to the eleventh oil passage (31). The other end of the twelfth oil passage (32) is connected to the flow side of the first check valve (4) and then opens to the adjacent side of the valve body (1) and an oil passage process plug (20) is installed at the opening.

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