CN113266614B - Water pressure compensation valve, water pressure compensation system and method - Google Patents

Water pressure compensation valve, water pressure compensation system and method Download PDF

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Publication number
CN113266614B
CN113266614B CN202110540258.0A CN202110540258A CN113266614B CN 113266614 B CN113266614 B CN 113266614B CN 202110540258 A CN202110540258 A CN 202110540258A CN 113266614 B CN113266614 B CN 113266614B
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valve
oil cylinder
pressure
oil
port
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CN113266614A (en
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徐家根
邹怀静
王鑫
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Guiyang Haizhili Hydraulic Co ltd
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Guiyang Haizhili Hydraulic Co ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/026—Pressure compensating valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/22—Synchronisation of the movement of two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/025—Pressure reducing valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/027—Check valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/029—Counterbalance valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K15/00—Check valves
    • F16K15/02—Check valves with guided rigid valve members
    • F16K15/06—Check valves with guided rigid valve members with guided stems
    • F16K15/063—Check valves with guided rigid valve members with guided stems the valve being loaded by a spring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K15/00—Check valves
    • F16K15/18—Check valves with actuating mechanism; Combined check valves and actuated valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K17/00—Safety valves; Equalising valves, e.g. pressure relief valves
    • F16K17/02—Safety valves; Equalising valves, e.g. pressure relief valves opening on surplus pressure on one side; closing on insufficient pressure on one side
    • F16K17/164—Safety valves; Equalising valves, e.g. pressure relief valves opening on surplus pressure on one side; closing on insufficient pressure on one side and remaining closed after return of the normal pressure
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/20—Hydro energy

Abstract

The invention discloses a water pressure compensation valve, a water pressure compensation system and a method applying the water pressure compensation valve, wherein the water pressure compensation system comprises a reversing valve, a first oil cylinder, a second oil cylinder, two water pressure compensation valves and two back pressure maintaining valves, the first oil cylinder and the second oil cylinder are double-rod hydraulic cylinders, a piston rod at one end of the first oil cylinder is in extra-cabin water pressure, a piston rod at the other end of the first oil cylinder is in the atmosphere in an extra-cabin, piston rods at two ends of the second oil cylinder are both in the extra-cabin water pressure, and the structural parameter settings of the two oil cylinders and the two water pressure compensation valves meet the relational expression: d1 2 /(D1 2 ‑d1 2 )＝D2 2 /(D2 2 ‑d2 2 ) (ii) a The invention is suitable for the underwater hydraulic drive with double cylinders or multiple cylinders mechanically synchronized, can automatically compensate the acting force of the water pressure on the oil cylinders, and avoids the unbalance loading caused by unequal output forces of the oil cylinders.

Description

Water pressure compensation valve, water pressure compensation system and method
Technical Field
The invention relates to the field of output force control of a synchronous actuating mechanism of a hydraulic system, in particular to a water pressure compensation valve, a water pressure compensation system and a water pressure compensation method.
Background
At present, due to the advantages of high power density, high position precision and the like of a hydraulic system, the hydraulic system is widely adopted as a main energy transmission mode for water surface or underwater operation equipment and the like, and the operating environment of the wading equipment is special, particularly an executing mechanism at the tail end of the hydraulic system generally reciprocates in an underwater or extravehicular cabin, so that the numerical control precision requirement on the tail end output force of a plurality of executing mechanisms in mechanical synchronization is high. Aiming at the problems that the numerical control of the output force of a plurality of executing mechanisms with mechanically synchronized tail ends of a hydraulic system in water surface or underwater working equipment is difficult, unbalance loading is easy to generate and the like, a solution for the problems of the working equipment needs to be designed urgently, the hydraulic system needs to be designed as far as possible on the premise that the complexity of the hydraulic system is not increased, an electric control method or other auxiliary methods are not introduced, and the difficulty in solving the problems is further increased by the condition. Based on the problems existing on the water surface or underwater operation equipment, the invention provides a water pressure compensation valve, a water pressure compensation system and a water pressure compensation method.
Disclosure of Invention
The invention provides a water pressure compensation valve, a water pressure compensation system and a water pressure compensation method, and aims to solve the technical problems in the prior art to a certain extent. As a local loop of a hydraulic system on water surface and underwater operation equipment, aiming at the problem that a plurality of mechanical synchronous tail end actuating mechanisms of the hydraulic system generate unbalance loading due to unequal output force, a water pressure compensating valve and a water pressure compensating system are provided, and the water pressure compensating system using the water pressure compensating valve can effectively solve the problem.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a water pressure compensating valve, includes valve body, relief pressure valve and check valve, the relief pressure valve with the import and the export of check valve communicate respectively, the valve port flow distribution hole diameter of relief pressure valve is D2, flow distribution hole cross sectional area is B1, the case both ends of relief pressure valve all are provided with the valve rod that the diameter is D2, cross sectional area is B2, be provided with P1 mouth, P2 mouth, Ph mouth and Pa mouth on the valve body, P1 mouth is connected to the oil source, and P2 mouth is connected to actuating mechanism, and the Ph mouth is connected to first ambient pressure, and the Pa mouth is connected to second ambient pressure.
The first ambient pressure and the second ambient pressure have a pressure difference, and the two ambient pressures are respectively set to be water pressure and atmospheric pressure in the invention, but the types of the first ambient pressure and the second ambient pressure are not limited.
The hydraulic pressure compensation valve has two flow directions of oil, when the oil flows from a port P1 to a port P2, the check valve is opened, and the reducing valve is closed; when oil flows from port P2 to port P1, the check valve closes and the relief valve opens.
The pressure difference of the pressure reducing valve is delta P2-P1 (Ph-Pa) multiplied by B2/(B1-B2) (Ph-Pa) multiplied by d2 2 /(D2 2 -d2 2 ) The pressure difference expression of the pressure reducing valve is the core principle of the water pressure compensating valve, based on the principle, the problems that the output forces of the mechanically synchronized multiple actuating mechanisms in the hydraulic loop of the water pressure compensating valve are different can be effectively solved, the pressure difference of the pressure reducing valve in the water pressure compensating valve can be automatically adjusted according to the change of the pressure difference of the environment where the water surface or underwater equipment is located, and the adaptability of the water surface or underwater equipment to the environment where the water surface or underwater equipment is located is strong.
Furthermore, the pressure reducing valve and the check valve which are arranged in parallel in the water pressure compensation valve can adopt an integrated design, share one valve body, and also can adopt a split type design according to the actual design requirement, so that the valve body is respectively designed for the pressure reducing valve and the check valve, but key structural parameters related to the pressure reducing valve and the check valve in the integrally designed valve body are not changed.
Furthermore, due to the special working environment of the water pressure compensation valve, a transition oil cavity and a force transmission piston are additionally arranged on one side of the water pressure compensation valve, namely between a Ph port and a valve core of a pressure reducing valve in the water pressure compensation valve, the transition oil cavity is used for providing secondary protection for oil in a hydraulic system, the problem that the structural part is not tightly sealed is avoided, the water and oil are mixed, the normal work of the hydraulic system is further damaged, and the arrangement and the number of the transition oil cavity and the force transmission piston are not specifically required; one side of the force transmission piston is directly acted by water pressure, and the other side of the force transmission piston is acted on oil in the transition oil cavity, the diameter of the force transmission piston is not directly related to the diameter of a valve core of a reducing valve in the compensating valve, the diameter of the force transmission piston and the diameter of the valve core can be equal or unequal, and key parts are sealed by sealing rings.
A water pressure compensating system having the water pressure compensating valve, comprising: the hydraulic control system comprises a reversing valve, a first oil cylinder, a second oil cylinder, a first water pressure compensation valve and a second water pressure compensation valve;
a port A of the reversing valve is connected to a port P1 of the first hydraulic pressure compensating valve and an upper cavity of the second oil cylinder, and a port B of the reversing valve is connected to a port P1 of the second hydraulic pressure compensating valve and an upper cavity of the first oil cylinder; the left position and the right position of the reversing valve can interchange an oil inlet oil way and an oil return oil way, and the middle position functions of the reversing valve are not enumerated in a uniform manner, so that the requirement of the invention is met;
the first oil cylinder is a double-rod hydraulic cylinder, the cylinder diameter of the first oil cylinder is D1, the cross-sectional area of a piston is A1, the rod diameter is D1, and the cross-sectional area of the rod is A2, a piston rod at one end of the first oil cylinder is in the water pressure outside the cabin, and a piston rod at the other end of the first oil cylinder is in the atmospheric pressure inside the cabin;
the second oil cylinder is a double-rod hydraulic cylinder, the cylinder diameter of the second oil cylinder is D1, the cross-sectional area of a piston is A1, the rod diameter is D1, and the cross-sectional area of the rod is A2, piston rods at two ends of the second oil cylinder are both in extra-cabin water pressure, the cylinder diameters and the rod diameters of the first oil cylinder and the second oil cylinder are the same, and only the environmental pressures of the piston rods at the two ends are different;
a P2 port of the first hydraulic pressure compensation valve is connected to a lower cavity of the first oil cylinder, and a P2 port of the second hydraulic pressure compensation valve is connected to an upper cavity of the second oil cylinder;
the cylinder diameter and rod diameter structural parameters between the first oil cylinder and the first water pressure compensation valve or between the second oil cylinder and the second water pressure compensation valve all satisfy the relational expression: d1 2 /(D1 2 -d1 2 )＝D2 2 /(D2 2 -d2 2 ) Namely, A1/(A1-A2) ═ B1/(B1-B2).
The hydraulic cylinder further comprises a first back pressure maintaining valve and a second back pressure maintaining valve, wherein an inlet of the first back pressure maintaining valve is connected to an upper cavity of the first cylinder, and an outlet of the first back pressure maintaining valve is connected to a lower cavity of the first cylinder; and the inlet of the second back pressure maintaining valve is connected to the lower cavity of the second oil cylinder, and the outlet of the second back pressure maintaining valve is connected to the upper cavity of the second oil cylinder. When first hydro-cylinder and second hydro-cylinder are released or are withdrawn to the top dead center, under the prerequisite of continuing the fuel feeding, because the water pressure compensating valve can not avoid existing in leaking, along with the lapse of time, the oil hydraulic pressure that is close to on the oil return way water pressure compensating valve chamber in the hydro-cylinder is difficult to keep, increases two backpressure holding valves and can effectively solve the interior problem of leaking of above-mentioned water pressure compensating valve in water pressure compensating system, keeps being close to the oil hydraulic pressure in water pressure compensating valve chamber on the oil return way simultaneously, and then keeps the output power of first hydro-cylinder and second hydro-cylinder is the same.
The first back pressure maintaining valve and the second back pressure maintaining valve are formed by the following options:
in the first scheme, the back pressure maintaining valve only comprises one throttling damper, the scheme can play a role in back pressure maintaining, but due to the normally open throttling damper, the throttling damper always has flow loss in the whole process of extending or retracting the first oil cylinder and the second oil cylinder.
In the second scheme, the back pressure maintaining valve is formed by connecting a throttling damper and a check valve in series, the throttling damper and the front and back positions of the check valve which are connected in series have no influence on the whole back pressure maintaining valve, the scheme can play a role in maintaining back pressure, but the back pressure maintaining valve has half flow loss in the whole working period due to the one-way conduction function of the check valve.
In the third scheme, the back pressure maintaining valve is formed by connecting an overflow valve and a throttling damper in series, the arrangement of the positions of the overflow valve and the throttling damper in series before and after has no influence on the whole valve, the scheme can play a role in maintaining back pressure, and meanwhile, the back pressure maintaining valve has no flow loss.
And the third scheme is taken as a preferable scheme, and meanwhile, the opening pressure of an overflow valve in the backpressure maintaining valve is set to be slightly lower than the system pressure, so that the oil pressure of a cavity affected by the internal leakage of the valve can be maintained, the output force of the first oil cylinder and the output force of the second oil cylinder are kept to be the same, and no unbalance load is generated.
Further, the extending and retracting movements of the first oil cylinder and the second oil cylinder are controlled by the reversing valve.
A water pressure compensating method comprising the steps of:
s1: when the reversing valve works at the right position, the P1 port of the first water pressure compensation valve takes oil:
high-pressure oil is introduced into a port P1 of the first hydraulic pressure compensation valve, pistons of the first oil cylinder and the second oil cylinder move towards the outboard direction, the high-pressure oil at the port P1 enters a lower cavity of the first oil cylinder through a one-way valve in the first hydraulic pressure compensation valve, and oil in an upper cavity of the first oil cylinder returns to a port B of the reversing valve; the lower cavity oil of the first oil cylinder needs to overcome the acting force of the upper cavity oil and the pressure generated by the pressure difference between the water pressure outside the cabin and the atmospheric pressure inside the cabin on the piston rods at two ends;
high-pressure oil at the port A of the reversing valve directly enters a lower cavity of the second oil cylinder, piston rods at two ends of the second oil cylinder are located in water outside the cabin, extra pressure difference does not exist between the piston rods at the two ends, the oil in the lower cavity needs to overcome the acting force of the oil in the upper cavity, at the moment, the output force values of the first oil cylinder and the second oil cylinder towards the direction outside the cabin are different, a second water pressure compensation valve is arranged on an oil return path of the second oil cylinder communicated with the port B of the reversing valve, the pressure difference value of a pressure reducing valve in the second water pressure compensation valve is controlled through the water pressure outside the cabin, the pressure in the upper cavity of the second oil cylinder is further controlled, the stress difference between the second oil cylinder and the first oil cylinder is compensated, and the output forces of the piston rods in the first oil cylinder and the second oil cylinder are always kept consistent;
s2: when the reversing valve works at the left position, the P1 port of the second water pressure compensation valve takes in:
high-pressure oil is introduced into a port P1 of the second hydraulic pressure compensation valve, pistons of the first oil cylinder and the second oil cylinder move towards the direction in the cabin, high-pressure oil at a port P1 enters an upper cavity of the second oil cylinder through a one-way valve in the second hydraulic pressure compensation valve, and oil in a lower cavity of the second oil cylinder returns to a port A of the reversing valve; because two piston rods of the second oil cylinder are both positioned in the water outside the cabin, the piston rods at two ends do not have pressure difference, and the oil in the upper cavity needs to overcome the acting force of the oil in the lower cavity;
high-pressure oil at the port B of the reversing valve directly enters an upper cavity of the first oil cylinder, and oil in a lower cavity of the first oil cylinder needs to overcome acting force of the oil in the upper cavity and extra pressure generated by pressure difference between water pressure outside the cabin and atmospheric pressure inside the cabin on piston rods at two ends; at the moment, the output forces of the first oil cylinder and the second oil cylinder to the direction in the cabin are different, a first water pressure compensation valve is arranged on an oil way of the first oil cylinder, which is communicated with an A port of the reversing valve, and the pressure difference value of a pressure reducing valve in the first water pressure compensation valve is controlled through the water pressure outside the cabin, so that the pressure in the upper cavity of the first oil cylinder is controlled, the pressure difference between the second oil cylinder and the first oil cylinder is compensated, and the output forces of piston rods in the first oil cylinder and the second oil cylinder are always kept consistent;
further, the S2 further includes: when the piston of the first oil cylinder retracts to the dead point, the lower cavity of the first oil cylinder is supplemented with oil through the first back pressure maintaining valve, and the closing pressure of the first oil cylinder is maintained; because leak in the inside unavoidable existence of first water pressure compensating valve, when first hydro-cylinder piston contracts back to the dead point, its cavity of resorption backpressure can be because of leak in the first water pressure compensating valve and reduce gradually to the pressure of oil tank, and there is not the valve internal leakage problem this moment in the second hydro-cylinder, thereby lead to the closing force of two hydro-cylinders varies, through setting up the opening pressure of overflow valve is slightly less than system's pressure in the backpressure retaining valve, when first hydro-cylinder cavity of resorption fluid leads to closing pressure can't keep because of leaking in, first backpressure retaining valve mends oil and maintains the closing pressure of first hydro-cylinder, makes the output power of piston rod in first hydro-cylinder and the second hydro-cylinder keep unanimously all the time.
Furthermore, the function of the second back pressure maintaining valve is consistent with that of the first back pressure maintaining valve, so that the problem that the pressure in the cavity of the second oil cylinder cannot be maintained due to the internal leakage problem of the second water pressure compensating valve when the piston rods of the first oil cylinder and the second oil cylinder extend out of dead points is compensated.
Furthermore, the one-way valves in the first water pressure compensation valve and the second water pressure compensation valve are communicated in a one-way mode through oil inlet, and oil return is closed; the two reducing valves are in one-way conduction for oil return, and the oil inlet is closed; the pressure difference of the pressure reducing valve is controlled by the water pressure outside the working equipment cabin, and the pressure reducing valve ensures the set pressure difference delta P to be P1-P2 to be (Ph-Pa) multiplied by B2/(B1-B2) to be (Ph-Pa) multiplied by d2 in structural design 2 /(D2 2 -d2 2 ) Wherein Ph is water pressure; pa is the atmospheric pressure; d2 is the diameter of the orifice of the valve port of the pressure reducing valve in the water pressure compensating valve; d2 is the diameter of the valve stem at both ends of the pressure relief valve; b1 is the orifice cross-sectional area; b2 is the valve stem cross-sectional area.
The hydraulic pressure compensation valve realizes the equal thrust and tension of the two oil cylinders and is verified by theoretical calculation.
Closing force of the cylinder 1: fc1 ═ PB × (a1-a2) + Ph × a2- (Pt + Δ P) × (a1-a2) ═ PB × (a1-a2) -Pt × (a1-a2) + Ph × a2- (Ph-Pa) × B2 × (a1-a2)/(B1-B2)
Closing force of the cylinder 2: fc2 ═ PB × (a1-a2) -Pt × (a1-a2)
Opening force of the cylinder 1: fo1 ═ PA × (a1-a2) -Pt × (a1-a2) -Ph × a2
Opening force of the cylinder 2: fo2 ═ PA × (A1-A2) - (Pt + Δ P) × (A1-A2) ═ PA × (A1-A2) -Pt × (A1-A2) + (Ph-Pa). times.B 2 × (A1-A2)/(B1-B2)
Description of the parameters: fc1/Fo1 — closing/opening force of cylinder 1; fc2/Fo2 — closing/opening force of cylinder 2; pt-tank pressure; ph-water pressure; pa-atmospheric pressure; a1-sectional area of cylinder piston; a2-sectional area of cylinder piston rod; b1-orifice cross-sectional area; b2-section area of valve core and valve rod of hydraulic pressure compensation valve; the pressure of the port A and the port B of the PA/PB-reversing valve is increased, and when the oil cylinder is opened outwards, the PA port B is pressurized>PB, PA when cylinder is closed inwards<PB; Δ P — pressure difference is set by a pressure reducing valve in the water pressure compensating valve, and Δ P ═ (Ph-Pa) × B2/(B1-B2) × (Ph-Pa) × d2 2 /(D2 2 -d2 2 )。
Through calculation, when the action of atmospheric pressure Pa is ignored, Ph is approximately equal to Ph-Pa, and the cylinder diameter and rod diameter structural parameters of the first oil cylinder, the second oil cylinder, the first water pressure compensation valve and the second water pressure compensation valve all satisfy the relation: d1 2 /(D1 2 -d1 2 )＝D2 2 /(D2 2 -d2 2 ) That is, a1/(a1-a2) ═ B1/(B1-B2), it can be derived that B2 × (a1-a2)/(B1-B2) ═ a2, so Fc1 ═ Fc2 and Fo1 ═ Fo2 hold. Theoretical calculations prove the correctness of the above design.
According to the structure of the water pressure compensation valve, the pressure oil from the reversing valve is P1, and the pressure at the end connected with the oil cylinder end is P2; the diameter of a valve rod at two ends of a valve core of a pressure reducing valve in the hydraulic control valve is D2, the cross-sectional area of the valve rod is B2, the diameter of a distributing hole of a valve port of the pressure reducing valve is D2, and the cross-sectional area of the distributing hole is B1; the effective area of the oil to the valve core is pi x (D2^2-D2^2)/4, namely B1-B2; the acting area of the water pressure on the valve core is pi multiplied by D2^2/4, namely B2, and the equation of the equilibrium force of the valve core can obtain delta P ═ Ph-Pa). times D2^2/(D1^2-D2^2), namely delta P ═ Ph-Pa). times B2/(B1-B2), and the detailed verification can prove that the calculation of the water pressure compensation valve is correct theoretically.
Through the technical scheme, compared with the prior art, the beneficial effects are as follows:
the output force synchronization of multiple mechanically synchronized actuators of a hydraulic system in water surface or underwater operation equipment is realized through a water pressure compensation valve, and the problem of unbalance loading among the multiple mechanically synchronized actuators is avoided; by introducing the back pressure maintaining valve into the hydraulic circuit, the problem that the pressure of a cavity connected with the hydraulic pressure compensating valve after the oil cylinder reaches a dead point due to internal leakage of the hydraulic pressure compensating valve cannot be maintained is effectively solved.
The water pressure compensation valve, the water pressure compensation system and the water pressure compensation method are not only suitable for the double-cylinder hydraulic circuit explained in the invention content, but also suitable for the multi-cylinder hydraulic circuit.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a view showing a structure of a water pressure compensating valve;
FIG. 2 is a structural view of a modified water pressure compensating valve;
FIG. 3 is a hydraulic schematic diagram of a hydraulic pressure compensation method;
fig. 4 is a hydraulic schematic diagram of an improved water pressure compensation method.
1-reversing valve, 2-first water pressure compensating valve, 21-reducing valve, 22-one-way valve, 3-second water pressure compensating valve, 4-first oil cylinder, 5-second oil cylinder, 6-first back pressure maintaining valve, 61-overflow valve, 62-throttling damping, 7-second back pressure maintaining valve, 200-reducing valve core, 201-water pressure compensating valve body, 202-reducing valve sealing guide cover, 203-valve core sealing ring, 204-guide cover sealing ring, 205-one-way valve core, 206-one-way valve spring, 207-one-way valve sealing bearing cover, 208-bearing cover sealing ring, 209-improved reducing valve sealing guide cover and 210-force transmission piston.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The invention discloses a water pressure compensation valve, a water pressure compensation system and a method, and in order to make the purpose, technical scheme and advantages of the invention more clearly understood, the invention is further described in detail below by combining with the attached drawings and embodiments, the following specific implementation mode is only described by a double-actuating mechanism hydraulic circuit, and the invention can also be applied to a hydraulic circuit with multiple actuating mechanisms.
The embodiment discloses a water pressure compensation valve, including valve body 201, relief pressure valve 21 and check valve 22, parallelly connected pressure relief valve 21 and the check valve 22 of being provided with in the valve body 201, inlet and the export of relief pressure valve 21 and check valve 22 communicate respectively, the relief pressure valve case both ends all are provided with the valve rod that the diameter is D2, relief pressure valve port distribution hole diameter is D2, be provided with P1 mouth on the valve body 201, P2 mouth, Ph mouth and Pa mouth, P1 mouth is connected to the oil supply, P2 mouth is connected to actuating mechanism, Ph mouth is connected to first ambient pressure, Pa mouth is connected to second ambient pressure. The first ambient pressure and the second ambient pressure have a pressure difference, and the two ambient pressures are respectively set as a water pressure and an atmospheric pressure in the present invention, but the types of the first ambient pressure and the second ambient pressure are not limited.
The hydraulic pressure compensation valve has two flow directions of oil, when the oil flows from a port P1 to a port P2, the check valve 22 is opened, and the reducing valve 21 is closed; when the oil flows from the port P2 to the port P1, the check valve 22 is closed and the relief valve 21 is opened.
The differential pressure of the pressure reducing valve 21 is P2-P1 ═ Ph-Pa × d2 2 /(D2 2 -d2 2 ) The pressure difference expression of the pressure reducing valve 21 is the core principle of the water pressure compensating valve, based on the principle, the problem that the output forces of the mechanical synchronous multiple actuating mechanisms in the hydraulic circuit provided with the water pressure compensating valve are different can be effectively solved, and the pressure difference of the pressure reducing valve 21 in the water pressure compensating valve can be automatically adjusted according to the change of the pressure difference of the environment where the water surface or underwater equipment is located.
As shown in fig. 1, a pressure reducing valve 21 and a check valve 22 which are arranged in parallel in a water pressure compensating valve adopt an integrated design and share a valve body 201, wherein the pressure reducing valve 21 comprises a pressure reducing valve spool 200, two pressure reducing valve sealing guide covers 202, a spool sealing ring 203 and two guide cover sealing rings 204; the check valve 22 comprises a check valve core 205, a check valve spring 206, a check valve sealing force bearing cover 207 and a force bearing cover sealing ring 208.
In order to further optimize the scheme, another structure of the water pressure compensating valve is shown in fig. 2, a force transmission piston 210 is added in the improved structure of the water pressure compensating valve, a sealing guide cover 209 of one reducing valve is improved, one side of the improved structure is a water pressure Ph side, so that the normal operation of the whole hydraulic system is further influenced in order to avoid the pollution of the oil liquid of the hydraulic system due to the structural sealing leakage, the structure diagram of the water pressure compensating valve is designed as shown in fig. 4, the pressure on the water pressure side is transmitted to a valve core 200 of the reducing valve by using the force transmission piston 210 and a transition oil cavity, the diameter of the force transmission piston 210 is not influenced by the diameter of the valve core 200 of the reducing valve, the transition oil cavity is used for providing secondary protection and force transmission for the oil liquid of the system, the quantity of the force transmission can be set according to requirements, and the sealing elements are all used for protecting the oil liquid of the system from being polluted, and avoiding the normal operation of the hydraulic system from being influenced.
In order to further optimize the above scheme, the structure of the water pressure compensation valve may not only adopt an integrated design, that is, the pressure reducing valve 21 and the check valve 22 share one valve body 201, but also adopt a split design according to the actual design requirement, that is, a valve body is respectively designed for the pressure reducing valve 21 and the check valve 22, but key structural parameters related to the pressure reducing valve 21 and the check valve 22 in the integrated valve body are not changed.
A water pressure compensating system having a water pressure compensating valve as shown in fig. 3, includes: the hydraulic control system comprises a reversing valve 1, a first hydraulic pressure compensation valve 2, a second hydraulic pressure compensation valve 3, a first oil cylinder 4 and a second oil cylinder 5;
the port A of the reversing valve 1 is connected to the port P1 of the first hydraulic pressure compensating valve 2 and the upper cavity of the second oil cylinder 5, and the port B of the reversing valve 1 is connected to the port P1 of the second hydraulic pressure compensating valve 3 and the upper cavity of the first oil cylinder 4; the left position and the right position of the reversing valve 1 can exchange an oil inlet and an oil return path, the middle position of the reversing valve 1 can be any, the requirement of the reversing valve 1 is met, the form of the reversing valve 1 shown in the figure 3 is only used for explaining the function of the reversing valve, and the application range of the reversing valve is not limited. The first oil cylinder 4 is a double-rod hydraulic cylinder, the cylinder diameter of the first oil cylinder is D1, the rod diameter of the first oil cylinder is D1, a piston rod at one end of the first oil cylinder 4 is in the water pressure outside the cabin, and a piston rod at the other end of the first oil cylinder is in the atmospheric pressure inside the cabin. The second oil cylinder 5 is a double-rod hydraulic cylinder, the cylinder diameter of the double-rod hydraulic cylinder is D1, the rod diameter of the double-rod hydraulic cylinder is D1, piston rods at two ends of the second oil cylinder 5 are both in extra-cabin hydraulic pressure, and main structural parameters of the first oil cylinder 4 and the second oil cylinder 5 are the same;
the port P2 of the first hydraulic pressure compensation valve 2 is connected to the lower cavity of the first oil cylinder 4, and the port P1 of the first hydraulic pressure compensation valve 2 is connected to the port A of the reversing valve 1. A port P2 of the second hydraulic pressure compensating valve 3 is connected to an upper cavity of the second oil cylinder 5, and a port P1 of the second hydraulic pressure compensating valve 3 is connected to a port B of the reversing valve 1; structural parameters among the first oil cylinder 4, the second oil cylinder 5, the first water pressure compensation valve 2 and the second water pressure compensation valve 3 all satisfy the relational expression: d1 2 /(D1 2 -d1 2 )＝D2 2 /(D2 2 -d2 2 )。
In order to further optimize the above scheme, when the first cylinder 4 and the second cylinder 5 are pushed out or retracted to the top-bottom dead center, on the premise of continuing to supply oil, because the hydraulic pressure compensation valve inevitably has internal leakage, the cylinder oil pressure close to a cavity of the hydraulic pressure compensation valve in the system oil return path is difficult to maintain along with the lapse of time, the internal leakage problem of the hydraulic pressure compensation valve can be effectively solved by adding two back pressure maintaining valves in the hydraulic pressure compensation system, and a schematic diagram of a hydraulic circuit after adding the back pressure maintaining valves is shown in fig. 4.
An inlet of the first back pressure maintaining valve 6 is connected to an upper chamber of the first cylinder 4, an outlet of the first back pressure maintaining valve 6 is connected to a lower chamber of the first cylinder 4, an inlet of the second back pressure maintaining valve 7 is connected to a lower chamber of the second cylinder 5, and an outlet of the second back pressure maintaining valve 7 is connected to an upper chamber of the second cylinder 5.
The first back pressure maintaining valve 6 and the second back pressure maintaining valve 7 are constituted by the following alternatives:
in the first scheme, the back pressure maintaining valve only comprises one throttling damper, and the scheme can play a role in maintaining back pressure, but due to the normally open throttling damper, the throttling damper always has flow loss in the process of extending or retracting the first oil cylinder and the second oil cylinder.
The back pressure maintaining valve can play a role in maintaining back pressure, but the back pressure maintaining valve has half flow loss in the whole period due to the one-way conduction function of the one-way valve.
According to the third scheme, the back pressure maintaining valve is formed by connecting an overflow valve and a throttling damper in series, the arrangement of the positions of the overflow valve and the throttling damper in series before and after does not influence the whole valve, the back pressure maintaining function can be achieved, and meanwhile the opening pressure of the back pressure maintaining valve is controllable. Therefore, the structure of the third back pressure retaining valve is taken as an optimal scheme, and the opening pressure of an overflow valve in the back pressure retaining valve is set to be slightly lower than the system pressure, so that the oil pressure of a cavity affected by the internal leakage of the valve can be maintained, the output force of the first oil cylinder is kept the same as that of the second oil cylinder, and no unbalance load is generated.
A water pressure compensating method comprising the steps of:
s1: when the reversing valve works at the right position, the P1 port of the first water pressure compensation valve 2 takes oil:
high-pressure oil is introduced into a P1 port of the first hydraulic pressure compensation valve, pistons of the first oil cylinder and the second oil cylinder move towards the direction outside the cabin, the high-pressure oil at the P1 port enters a lower cavity of the first oil cylinder through a one-way valve in the first hydraulic pressure compensation valve, and oil in an upper cavity of the first oil cylinder returns to a port B of the reversing valve; the lower cavity oil of the first oil cylinder needs to overcome the acting force of the upper cavity oil and the pressure generated by the pressure difference between the water pressure outside the cabin and the atmospheric pressure inside the cabin on the piston rods at two ends;
high-pressure oil at the port A of the reversing valve directly enters a lower cavity of the second oil cylinder, piston rods at two ends of the second oil cylinder are located in water outside the cabin, extra pressure difference does not exist between the piston rods at the two ends, the oil in the lower cavity needs to overcome the acting force of the oil in the upper cavity, at the moment, the output force values of the first oil cylinder and the second oil cylinder towards the direction outside the cabin are different, a second water pressure compensation valve is arranged on an oil return path of the port B of the second oil cylinder communicated with the reversing valve, the pressure difference value of a pressure reducing valve in the second water pressure compensation valve is controlled through the water pressure outside the cabin, the pressure in the upper cavity of the second oil cylinder is further controlled, the pressure difference between the second oil cylinder and the first oil cylinder is compensated, and the output forces of the piston rods in the first oil cylinder and the second oil cylinder are always kept consistent;
s2: when the reversing valve works at the left position, the P1 of the second hydraulic pressure compensation valve 3 is filled with oil:
high-pressure oil is introduced into a port P1 of the second hydraulic pressure compensation valve, pistons of the first oil cylinder and the second oil cylinder move towards the direction in the cabin, high-pressure oil at a port P1 enters an upper cavity of the second oil cylinder through a one-way valve in the second hydraulic pressure compensation valve, and oil in a lower cavity of the second oil cylinder returns to a port A of the reversing valve; because two piston rods of the second oil cylinder are both positioned in the water outside the cabin, the piston rods at two ends do not have pressure difference, and the oil in the upper cavity needs to overcome the acting force of the oil in the lower cavity;
high-pressure oil at the port B of the reversing valve directly enters an upper cavity of the first oil cylinder, and oil in a lower cavity of the first oil cylinder needs to overcome acting force of the oil in the upper cavity and extra pressure generated by pressure difference between water pressure outside the cabin and atmospheric pressure inside the cabin on piston rods at two ends; at the moment, the output forces of the first oil cylinder and the second oil cylinder to the direction in the cabin are different, the first water pressure compensation valve is arranged on an oil way of an A port of the first oil cylinder communicated with the reversing valve, and the pressure difference value of a pressure reducing valve in the first water pressure compensation valve is controlled through the water pressure outside the cabin, so that the pressure of the upper cavity of the first oil cylinder is controlled, the stress difference between the second oil cylinder and the first oil cylinder is compensated, and the output forces of piston rods in the first oil cylinder and the second oil cylinder are always kept consistent.
In the invention, the one-way valves in the first water pressure compensation valve and the second water pressure compensation valve are both in one-way conduction of oil inlet, and the oil return is closed; the two reducing valves are in one-way conduction for oil return, and the oil inlet is closed; the pressure difference of the pressure reducing valve is controlled by the water pressure outside the working equipment cabin, and the pressure reducing valve ensures the set pressure difference delta P to be P1-P2 to be (Ph-Pa) multiplied by B2/(B1-B2) to be (Ph-Pa) multiplied by d2 in structural design 2 /(D2 2 -d2 2 ) Wherein Ph is water pressure; pa is the atmospheric pressure; d2 is the diameter of the orifice of the valve port of the pressure reducing valve in the water pressure compensating valve; d2 is the diameter of the valve stem at both ends of the pressure reducing valve; b1 is the orifice cross-sectional area; b2 is the valve stem cross-sectional area.
The hydraulic pressure compensation valve realizes the equal thrust and tension of the two oil cylinders and is verified by theoretical calculation.
Closing force of the cylinder 1: fc1 ═ PB × (a1-a2) + Ph × a2- (Pt + Δ P) × (a1-a2) ═ PB × (a1-a2) -Pt × (a1-a2) + Ph × a2- (Ph-Pa) × B2 × (a1-a2)/(B1-B2)
Closing force of the cylinder 2: fc2 ═ PB × (a1-a2) -Pt × (a1-a2)
Opening force of the cylinder 1: fo1 ═ PA × (a1-a2) -Pt × (a1-a2) -Ph × a2
Opening force of the cylinder 2: fo2 ═ PA × (a1-a2) - (Pt + Δ P) × (a1-a2) ═ PA × (a1-a2) -Pt × (a1-a2) + (Ph-PA) × B2 × (a1-a2)/(B1-B2)
Description of the parameters: fc1/Fo 1-closing/opening force of cylinder 1; fc2/Fo 2-closing/opening force of cylinder 2; pt-tank pressure; ph-water pressure; pa-atmospheric pressure; a1-sectional area of cylinder piston; a2-sectional area of cylinder piston rod; b1-orifice cross-sectional area; b2-section area of valve core and valve rod of hydraulic pressure compensation valve; the pressure of the port A and the port B of the PA/PB-reversing valve is increased, and when the oil cylinder is opened outwards, the PA port B is pressurized>PB, PA when cylinder is closed inwards<PB; Δ P — a pressure reducing valve in the water pressure compensating valve sets a differential pressure, and Δ P ═ (Ph-Pa) × B2/(B1-B2) × (Ph-Pa) × d2 2 /(D2 2 -d2 2 )。
It is calculated that when the effect of the atmospheric pressure Pa is neglected, Ph is approximately equal to Ph-Pa,and the cylinder diameter and rod diameter structural parameters of the first oil cylinder, the second oil cylinder, the first water pressure compensation valve and the second water pressure compensation valve all satisfy the relational expression: d1 2 /(D1 2 -d1 2 )＝D2 2 /(D2 2 -d2 2 ) That is, a1/(a1-a2) ═ B1/(B1-B2), it can be derived that B2 × (a1-a2)/(B1-B2) ═ a2, so Fc1 ═ Fc2 and Fo1 ═ Fo2 hold. Theoretical calculations prove the correctness of the above design.
According to the structure of the water pressure compensation valve, the pressure oil from the reversing valve is P1, and the pressure at the end connected with the oil cylinder end is P2; the diameter of a valve rod at two ends of a valve core of a pressure reducing valve in the hydraulic control valve is D2, the cross-sectional area of the valve rod is B2, the diameter of a distributing hole of a valve port of the pressure reducing valve is D2, and the cross-sectional area of the distributing hole is B1; the effective area of the oil to the valve core is pi x (D2^2-D2^2)/4, namely B1-B2; the acting area of the water pressure on the valve core is pi multiplied by D2^2/4, namely B2, and the equation of the equilibrium force of the valve core can obtain delta P ═ Ph-Pa). times D2^2/(D1^2-D2^2), namely delta P ═ Ph-Pa). times B2/(B1-B2), and the detailed verification can prove that the calculation of the water pressure compensation valve is correct theoretically.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed in the embodiment corresponds to the method disclosed in the embodiment, so that the description is simple, and the relevant points can be referred to the description of the method part.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A water pressure compensation valve comprises a valve body (201), a pressure reducing valve (21) and a check valve (22), and is characterized in that the pressure reducing valve (21) is communicated with an inlet and an outlet of the check valve (22) respectively, valve rods with the diameter D2 and the cross-sectional area B2 are arranged at two ends of a valve core of the pressure reducing valve (21), a valve port and a distributing hole of the pressure reducing valve (21) are D2 and B1 respectively, the valve body is provided with a P1 port, a P2 port, a Ph port and a Pa port, the P1 port is connected to an oil source, the P2 port is connected to an actuating mechanism, the Ph port is connected to first environment pressure, and the Pa port is connected to second environment pressure;
when oil flows from the port P1 to the port P2, the check valve (22) is opened, and the reducing valve (21) is closed;
when oil flows from a port P2 to a port P1, the check valve (22) is closed, the reducing valve (21) is opened, and the pressure difference delta P of the reducing valve is P2-P1 (Ph-Pa) multiplied by B2/(B1-B2) (Ph-Pa) multiplied by d2 2 /(D2 2 -d2 2 ) Wherein Ph is water pressure and Pa is atmospheric pressure.
2. The water pressure compensating valve of claim 1, wherein a transition oil chamber and a force transfer piston are added between the Ph port and the valve core of the water pressure compensating valve, the force transfer piston is spaced from the valve stem, and the transition oil chamber is defined between the force transfer piston and the valve stem.
3. A water pressure compensating valve according to claim 1, characterised in that the body of the pressure reducing valve (21) and the body of the non-return valve (22) are of one-piece construction or of two connected one-piece constructions.
4. A hydraulic pressure compensating system having a hydraulic pressure compensating valve as claimed in any one of claims 1 to 3, comprising: a reversing valve (1), a first water pressure compensating valve (2), a second water pressure compensating valve (3), a first oil cylinder (4) and a second oil cylinder (5), wherein the first water pressure compensating valve (2) and the second water pressure compensating valve (3) adopt the water pressure compensating valve as claimed in any one of claims 1-3;
the port A of the reversing valve (1) is connected to the port P1 of the first hydraulic pressure compensation valve (2) and the upper cavity of the second oil cylinder (5), and the port B of the reversing valve (1) is connected to the port P1 of the second hydraulic pressure compensation valve (3) and the upper cavity of the first oil cylinder (4);
a port P2 of the first water pressure compensation valve (2) is connected to a lower cavity of the first oil cylinder (4), and a port P2 of the second water pressure compensation valve (3) is connected to an upper cavity of the second oil cylinder (5);
the first oil cylinder (4) is a double-rod hydraulic cylinder, the cylinder diameter of the first oil cylinder is D1, the cross-sectional area of a piston is A1, the rod diameter of a piston rod is D1, and the cross-sectional area of the piston rod is A2, a piston rod at one end of the first oil cylinder (4) is positioned in the water pressure outside the cabin, and a piston rod at the other end of the first oil cylinder is positioned in the atmospheric pressure inside the cabin;
the second oil cylinder (5) is a double-rod hydraulic cylinder, the cylinder diameter of the second oil cylinder is D1, the cross-sectional area of a piston is A1, the rod diameter of a piston rod is D1, the cross-sectional area of the piston rod is A2, piston rods at two ends of the second oil cylinder (5) are both in extra-cabin water pressure, and the main parameters of the second oil cylinder (5) and the first oil cylinder (4) are the same;
the structural parameters between the first oil cylinder (4) and the first water pressure compensation valve (2) satisfy the relation: d1 2 /(D1 2 -d1 2 )＝D2 2 /(D2 2 -d2 2 ) And structural parameters between the second oil cylinder (5) and the second water pressure compensation valve (3) satisfy the relation: d1 2 /(D1 2 -d1 2 )＝D2 2 /(D2 2 -d2 2 )。
5. The water pressure compensating system according to claim 4, further comprising a first back pressure maintaining valve (6) and a second back pressure maintaining valve (7), wherein an inlet of the first back pressure maintaining valve (6) is connected to an upper chamber of the first cylinder (4), an outlet of the first back pressure maintaining valve (6) is connected to a lower chamber of the first cylinder (4), an inlet of the second back pressure maintaining valve (7) is connected to a lower chamber of the second cylinder (5), and an outlet of the second back pressure maintaining valve (7) is connected to an upper chamber of the second cylinder (5).
6. The water pressure compensating system according to claim 5, characterized in that the first back pressure maintaining valve (6) and the second back pressure maintaining valve (7) each comprise only one throttling damping.
7. The water pressure compensating system according to claim 5, characterized in that the first back pressure maintaining valve (6) and the second back pressure maintaining valve (7) are each formed by a check valve and a throttling damper in series.
8. A water pressure compensating system according to claim 5, characterised in that the first (6) and second (7) back pressure maintaining valves are each formed by a spill valve in series with a throttling damper.
9. A hydraulic pressure compensating method using the hydraulic pressure compensating system according to any one of claims 4 to 8, comprising the steps of:
s1: when the reversing valve works at the right position, the P1 port of the first water pressure compensation valve takes oil:
high-pressure oil is introduced into a P1 port of the first hydraulic pressure compensation valve, pistons of the first oil cylinder and the second oil cylinder move towards the direction outside the cabin, high-pressure oil at the P1 port of the first hydraulic pressure compensation valve enters a lower cavity of the first oil cylinder through a one-way valve in the first hydraulic pressure compensation valve, and oil in an upper cavity of the first oil cylinder returns to a port B of the reversing valve; the lower cavity oil of the first oil cylinder needs to overcome the acting force of the upper cavity oil and the pressure generated by the pressure difference between the water pressure outside the cabin and the atmospheric pressure inside the cabin on the piston rods at two ends;
high-pressure oil at the port A of the reversing valve directly enters a lower cavity of the second oil cylinder, piston rods at two ends of the second oil cylinder are located in water outside the cabin, extra pressure difference does not exist between the piston rods at the two ends, the oil in the lower cavity needs to overcome the acting force of the oil in the upper cavity, at the moment, the output force values of the first oil cylinder and the second oil cylinder towards the direction outside the cabin are different, a second water pressure compensation valve is arranged on an oil return path of the second oil cylinder communicated with the port B of the reversing valve, the pressure difference value of a pressure reducing valve in the second water pressure compensation valve is controlled through the water pressure outside the cabin, the pressure in the upper cavity of the second oil cylinder is further controlled, the stress difference between the second oil cylinder and the first oil cylinder is compensated, and the output forces of the piston rods in the first oil cylinder and the second oil cylinder are always kept consistent;
s2: when the reversing valve works at the left position, the P1 port of the second water pressure compensation valve takes in:
high-pressure oil is introduced into a port P1 of the second hydraulic pressure compensation valve, pistons of the first oil cylinder and the second oil cylinder move towards the cabin, high-pressure oil at a port P1 of the second hydraulic pressure compensation valve enters an upper cavity of the second oil cylinder through a one-way valve in the second hydraulic pressure compensation valve, and oil in a lower cavity of the second oil cylinder returns to a port A of the reversing valve; because two piston rods of the second oil cylinder are both positioned in the water outside the cabin, the piston rods at two ends do not have pressure difference, and the oil in the upper cavity needs to overcome the acting force of the oil in the lower cavity;
high-pressure oil at the port B of the reversing valve directly enters an upper cavity of the first oil cylinder, and oil in a lower cavity of the first oil cylinder needs to overcome acting force of the oil in the upper cavity and extra pressure generated by pressure difference between water pressure outside the cabin and atmospheric pressure inside the cabin on piston rods at two ends; at the moment, the output forces of the first oil cylinder and the second oil cylinder to the direction in the cabin are different, the first water pressure compensation valve is arranged on an oil way of the first oil cylinder communicated with the port A of the reversing valve, the pressure difference value of a pressure reducing valve in the first water pressure compensation valve is controlled through the water pressure outside the cabin, the pressure of the upper cavity of the first oil cylinder is further controlled, the pressure difference between the second oil cylinder and the first oil cylinder is compensated, and the output forces of piston rods in the first oil cylinder and the second oil cylinder are guaranteed to be always consistent.
10. A water pressure compensating method as claimed in claim 9, wherein the S2 further comprises: and when the piston of the first oil cylinder retracts to the dead point, the lower cavity of the first oil cylinder is supplemented with oil through the first back pressure maintaining valve, and the closing pressure of the first oil cylinder is maintained.
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