A deformable self-adapting regulated jetting supercharger robot

Abstract

A deformable self-adapting injection pressurization robot relates to the technical field of fluid pressurization. The injection pressurization robot is composed of a deformable injection pressurizer, a process data acquisition and processing system, a shape, position and size measurement and processing system, a deep learning system and a servo drive system. The deformable injection pressurizer includes a nozzle, a receiving chamber, a mixing chamber, a diffusion chamber and an outlet straight edge section, which are all composed of a dynamic adjustment disc, a slice and a fixed reference disc, and the radial adjustment is realized by rotating the dynamic adjustment disc. The robot takes the output information of the process data acquisition and processing system and the shape, position and size measurement and processing system as the learning parameters of the deep learning system, and establishes the proxy model of the performance characteristics such as injection rate and pressurization ratio; when the working condition changes, the optimal shape, position and size signal is automatically fed back, and the deformation of the robot is completed by the servo drive system. The present application can adaptively deform to ensure the optimal injection performance without replacing parts, and has high adjustment precision and large operation interval.

Description

TECHNICAL FIELD

[0001] The present application relates to a deformable self-adaptive adjustment jet booster robot, belonging to the technical field of fluid booster. BACKGROUND

[0002] The ejector is widely used in seawater desalination, petroleum chemical industry, ship, refrigeration and other industrial fields, and its working performance is mainly affected by its installation position, structure size and shape, etc. The traditional ejector has the disadvantages of fixed structure size, single operation condition, poor anti-fluctuation performance. Under different working conditions, only different structure sizes of replacement parts can be designed based on experience, such as replacing the main flow nozzle and the mixing diffusion chamber and other key components to meet the performance requirements. This method has obvious limitations, cannot quickly feedback under variable working conditions, the device needs to be replaced frequently, and most ejectors can only adjust the main flow nozzle, but cannot simultaneously adjust the receiving chamber, mixing chamber and other key structures online, which makes the ejector not have the optimal adjustment function for different working conditions. In addition, the adjustment of the ejector is mostly based on accumulated experience through manual adjustment, which cannot guarantee the accuracy, and the adjustment error will affect the device performance. At the same time, the device operation is complicated, which greatly wastes time and labor cost, and cannot realize self-adaptive adjustment under the influence of multiple factors.

[0003] The patent document with publication number CN109663677A realizes the adjustment of the nozzle outlet area by the sliding mode of the sliding disc with arc-shaped sliding groove cooperating with the crescent-shaped structure of the shutter, but the crescent-shaped structure of the shutter will produce gap during adjustment, causing fluid short circuit flow, affecting the working performance of the ejector, and only realizing the deformation of the orifice plate hole diameter, but cannot realize the function of gradually reducing the flow passage. The patent document with publication number CN109701791A discloses a structure for adjusting the position of the nozzle of the ejector, which only realizes the axial movement of the nozzle by the sliding key cooperation of the spiral groove on the outer wall of the nozzle with the inner wall of the ring sleeve, and cannot adjust the radial size of the nozzle and the size of other key components of the ejector. The patent document with publication number CN110947569A realizes the adjustment of the flow passage area by changing the cross-sectional area of the axial translation nozzle sliding block (core shaft) and the expansion sliding block (core shaft), but cannot change the distance from the nozzle to the mixing cavity, which will have a great influence on the working performance of the ejector. SUMMARY

[0004] In order to solve the above problems and enhance the operation adaptability of the ejector under different working conditions, real-time feedback and adjustment optimization of the key structure of the ejector, and improve its working performance, the present application proposes a deformable jet booster and a variable shape robot for automatically adapting to the operation condition of the jet booster.

[0005] The technical scheme adopted by the present application is: a deformable self-adaptive adjustment jet supercharging robot comprises a deformable jet supercharger, a process data acquisition and processing system, a shape, position and size measuring and processing system, a deep learning system and a servo driving system, the deformable jet supercharger comprises a first end cover, a fluid inlet section, a sleeve and a second end cover connected in sequence, the inside of the fluid inlet section is provided with an axially and radially adjustable nozzle, the nozzle sleeve, the nozzle and the outer wall surface of the main flow pipeline form a first stable pressure heat exchange cavity, and the main flow pipeline is connected with the nozzle sleeve through the sleeve end cover.

[0006] The sleeve and the receiving chamber, the mixing chamber, the diffusion chamber and the outlet straight edge section connected in sequence in the sleeve form a second stable pressure heat exchange cavity.

[0007] The nozzle comprises a nozzle dynamic adjustment disc, a tapered section, a first fixed reference disc, a throat section, an expanding section and a second fixed reference disc connected in sequence, and the tapered section, the throat section and the expanding section all adopt a structure in which a plurality of slice discs are connected in sequence.

[0008] The receiving chamber, the mixing chamber, the diffusion chamber and the outlet straight edge section all adopt a structure in which a solid reference disc, a plurality of slice discs and a dynamic adjustment disc are connected in sequence.

[0009] Each slice disc comprises a plurality of circumferentially arrayed and attached slice discs, the slice discs of adjacent layers are connected through the bosses arranged on the slice discs and the grooves arranged on the adjacent slice discs, the distance between the grooves on the slice discs of the expanding section, the receiving chamber and the diffusion chamber and the center line is different from the distance between the bosses and the center line; the distance between the grooves and the bosses on the slice discs of the tapered section, the throat section, the mixing chamber and the outlet straight edge section and the center line is the same, the height of the boss is less than the depth of the groove, the width of the boss is equal to the width of the groove, the length of the groove of the tapered section is greater than the length of the boss, and the length of the groove of other structures is equal to the length of the boss, the last slice disc of the tapered section and the first slice disc of the throat section are connected with the first fixed reference disc.

[0010] The number of the circumferentially arrayed and attached slice discs is an integer greater than or equal to 4.

[0011] The process data acquisition and processing system comprises a first temperature sensor, a first pressure sensor and a first flow sensor arranged on the main flow pipeline, a second temperature sensor, a second pressure sensor and a second flow sensor arranged on the secondary flow pipeline, and a second end cover third temperature sensor, a third pressure sensor and a third flow sensor arranged on the second end cover outlet pipe.

[0012] The shape, position and size measuring and processing system comprises a first positioning sensor and a second positioning sensor arranged on the nozzle sleeve and the nozzle respectively, and a third positioning sensor, a fourth positioning sensor and a fifth positioning sensor arranged on the dynamic adjustment disc of the receiving chamber, the dynamic adjustment disc of the mixing chamber and the dynamic adjustment disc of the diffusion chamber respectively.

[0013] The servo drive system comprises a first motor connected with the main flow pipeline and second, third, fourth, fifth and sixth motors connected with the nozzle dynamic adjustment disc of the nozzle, the dynamic adjustment disc of the receiving chamber, the dynamic adjustment disc of the mixing chamber, the dynamic adjustment disc of the diffusion chamber and the dynamic adjustment disc of the outlet straight edge section, respectively.

[0014] The deep learning system takes the output data of the process data acquisition and processing system and the shape, position and size measurement and processing system as available data sets, divides the data sets into training sets, validation sets and test sets, determines model parameters based on deep learning principles, verifies the generalization ability of the model, and establishes a proxy model associated with process and structure information and injection rate ER, pressure ratio PR and expansion ratio PER; when the working condition environment changes, the proxy model feeds back the optimal shape and size instruction signal, which is adjusted by the servo drive system to adjust the shape and size of the nozzle, receiving chamber, mixing chamber, diffusion chamber and outlet straight edge section.

[0015] The variable self-adaptive adjustment jet pressurization robot has a boss size (length x width x height, etc.) of 1a x 1a x 0.9a mm, a groove size of 1.1a x 1a x 1a mm, a groove size of 1a x 3a x 1a mm between the first layer of the slicing disc and the dynamic adjustment disc of the tapered section, and a boss size of 1a x 1a x 4.9a mm between the last layer of the slicing disc and the first fixed reference disc of the tapered section.

[0016] The boss size of the throat section is 1b x 1b x 0.9b mm, the groove size is 1.0b x 1b x 1b mm, and the boss size between the first layer of the slicing disc and the first fixed reference disc of the throat section is 1b x 1b x 4.9b mm.

[0017] The boss size of the tapered section is 1c x 1c x 0.9c mm, the groove size is 1.0c x 1c x 1c mm, and the distance between the groove and the center line on the slicing disc of the tapered section and the distance between the boss and the center line differ by 0.2c mm.

[0018] The boss size of the receiving chamber is 1d x 1d x 0.9d mm, the groove size is 1.0d x 1d x 1d mm, and the distance between the groove and the center line on the slicing disc of the receiving chamber and the distance between the boss and the center line differ by 0.2d mm. The boss size between the first layer of the slicing disc and the dynamic adjustment disc of the receiving chamber is 1d x 1d x 0.9d mm, and the groove size is 1d x 3d x 1d mm.

[0019] The boss size of the mixing chamber is 1e x 1e x 0.9e mm, the groove size is 1.0e x 1e x 1e mm, the boss size of the first layer of the mixing chamber is 1e x 1e x 0.9e mm, and the groove size is 1e x 3e x 1e mm.

[0020] The boss size of the diffusion chamber is 1f x 1f x 0.9f mm, the groove size is 1.0f x 1f x 1f mm, the distance between the groove on the first layer of the slice disc of the diffusion chamber and the center line is 0.2f mm different from the distance between the boss and the center line, the boss size of the connection between the first layer of the slice disc of the diffusion chamber and the dynamic adjustment disc is 1f x 1f x 0.9f mm, and the groove size is 1f x 3f x 1f mm.

[0021] The boss size of the outlet straight edge section is 1g x 1g x 0.9g mm, the groove size is 1.0g x 1g x 1.1g mm, the boss size of the connection between the first layer of the slice disc of the outlet straight edge section and the dynamic adjustment disc is 1g x 1g x 0.9g mm, and the groove size is 1g x 3g x 1g mm.

[0022] Wherein, a, b, c, d, e, f, g are each independently a number greater than zero.

[0023] The number of slices, the thickness of the slices, and the length of the groove on each slice disc of the nozzle, the receiving chamber, the mixing chamber, the diffusion chamber, and the outlet straight edge section are adjusted according to the radial adjustment accuracy of the supercharger and the angle requirement of the radial tapering.

[0024] The second motor, the third motor, the fourth motor, the fifth motor, and the sixth motor are respectively connected to the dynamic adjustment discs of the nozzle, the receiving chamber, the mixing chamber, the diffusion chamber, and the outlet straight edge section through respective gears (bevel gears), and the dynamic adjustment discs are adjusted by the motors to achieve the function of precise linear change of the radial size. The main flow pipeline is driven by the first motor to adjust the axial distance.

[0025] The first layer of the slice of the tapering section is a double-groove structure, and the last layer of the tapering section and the last layer of the throat section are double-boss structures. The boss and the groove of the first layer of the slice of the receiving chamber, the mixing chamber, the diffusion chamber, and the outlet straight edge section are arranged on the center of the slice (the center line of the fan-shaped slice). The last layer of the slice disc of the tapering section and the first layer of the slice disc of the throat section are embedded in the strip-shaped groove of the first fixed reference disc through the boss.

[0026] One end of the main flow pipeline is threadedly connected with the sleeve end cover, and the other end of the outer wall is connected with the servo push rod mechanism to adjust the axial distance of the nozzle through the servo push rod mechanism.

[0027] The number of circumferentially arrayed slices on the slice disc is 4n, wherein n is an integer greater than zero.

[0028] The number of straight slides distributed circumferentially in the fixed reference disc is equal to the number of circumferentially arrayed slices on the slice disc.

[0029] The adaptive adjustment method of the deformable adaptive adjustment jet pressurizing robot: the first motor drives the main flow pipe to move left and right to realize the axial distance adjustment of the nozzle, the second motor drives the nozzle dynamic adjustment disc to rotate through the gear transmission, and then drives the movement of the different layer slice to realize the radial size adjustment of the nozzle, the third motor, the fourth motor, the fifth motor and the sixth motor respectively drive the dynamic adjustment disc of the receiving chamber, the mixing chamber, the diffusion chamber and the outlet straight edge segment to rotate, and then drive the movement of the layer slice attached thereto, the slices between different layers are transmitted by the convex and the groove, so as to realize the radial size adjustment of the receiving chamber, the mixing chamber, the diffusion chamber and the outlet straight edge segment.

[0030] The robot takes the inlet distance, throat area, receiving chamber, mixing chamber, diffusion chamber and outlet straight edge segment area size of the nozzle obtained by the shape and size measuring and processing system in real time as the shape and size input signal, takes the temperature, pressure and flow parameters on the main flow pipe, secondary flow pipe and second end cover outlet pipe obtained by the process data acquisition and processing system as the process data input signal, and after eliminating abnormal signals, divides the normal data into training set, verification set and test set, preliminarily determines the parameters of the model based on the principle of deep learning, uses the test set to verify the generalization ability of the model, and finally establishes the proxy model related to the process parameters, structure information and performance characteristics (such as injection rate ER, pressurization ratio PR, expansion ratio PER, etc.);

[0031] When the working condition environment changes, the optimal shape and size instruction signal is fed back by using the proxy model, the axial and radial sizes of the nozzle and the radial sizes of the receiving chamber, the mixing chamber, the diffusion chamber and the outlet straight edge segment are adjusted by using the servo drive system, and the deformed size is fed back to the deep learning system in real time by the shape and size measuring and processing system, so as to ensure the accuracy of deformation.

[0032] The deformable robot enhances the injection of the main flow to the secondary flow in real time, has a large operable interval and high precision, and improves the adaptive performance of the injector. The heat exchange medium is introduced into the first and second stable pressure heat exchange cavities through the inlet (inlet pipe) of the heat exchange medium, and is discharged from the outlet (outlet pipe) of the heat exchange medium. The external fin structure formed by the rotation adjustment of the nozzle, receiving chamber, mixing chamber, diffusion chamber and outlet straight edge segment increases the heat exchange area of the heat exchange medium and the working fluid, so that the internal working fluid and the heat exchange medium can be fully heat exchanged, the local temperature overload or condensation phase change phenomenon in the injector is avoided, and dynamic sealing of the deformable jet pressurizer structure is realized.

[0033] The nozzle sleeve is provided with an inlet pipe and an outlet pipe of heat exchange medium, the nozzle, the nozzle sleeve and the sleeve end cover form a first stable pressure heat exchange cavity; the sleeve of the deformable jet pressurizer is connected with the receiving chamber through a screw, the sleeve is provided with a heat exchange medium inlet and an outlet, the receiving chamber, the mixing chamber, the diffusion chamber and the outlet straight edge segment and the sleeve outside thereof form a second stable pressure heat exchange cavity, the inlet and outlet pipelines of the two heat exchange cavities are connected with a process data acquisition and processing system, the process data acquisition and processing system collects process parameters of the heat exchange medium at the inlet and outlet of the heat exchange cavity to adjust the working fluid in the jet pressurizer to an optimal working state.

[0034] The beneficial effects of the present application are:

[0035] 1. The existing injectors mostly do not have the function of simultaneous adjustment of radial size and axial distance, the operating conditions are single, and the core components such as nozzles often need to be replaced to meet the needs under different working conditions. The stacked slicing structure proposed in the present application realizes the deformation of the structure internal aperture through rotation, solves the problems of difficult radial size adjustment and low precision of the injector without replacing any components of the injector, and can realize real-time high-precision adjustment of the axial distance and the radial size of the flow channel under varying working conditions.

[0036] 2. In the present application, the nozzle is adjusted in lateral distance by a push rod motor, and a sealing ring is used for sealing, so that the adjustment is convenient and accurate.

[0037] 3. The deformable robot has a self-learning function, can establish a proxy model associated with process, structure information and performance characteristics (such as entrainment ratio ER, pressure ratio PR, expansion ratio PER, etc.), has a large operable interval and high adjustment precision, the radial sizes of the core components such as the nozzle, the receiving chamber, the mixing chamber and the diffusion chamber can be independently adjusted, manual operation is not required under different working conditions, the structure information in the proxy model is automatically called by the deformable robot, and rapid self-adaptive deformation is completed through a driving system, so that the best working performance under the current working condition is achieved, and the labor cost and time cost are reduced.

[0038] 4. The fin-like structure in the stable pressure heat exchange cavity of the deformable robot increases the heat exchange area of the heat exchange medium and the working medium, makes the heat exchange in the cavity more sufficient, prevents the working performance of the injector from being affected due to excessively high or low temperature of the working medium, can be effectively applied to condensation prevention, overheating and other occasions, forms a dynamic hydraulic seal at the same time, and ensures the sealing performance of the cavity. BRIEF DESCRIPTION OF DRAWINGS

[0039] The present application will be further described below in combination with the drawings and examples.

[0040] Figure 1 It is a structure diagram of a deformable self-adaptive adjusting jet pressurization robot.

[0041] Figure 2 is a structural diagram of a deformable jet intensifier.

[0042] Figure 3 is Figure 2 is a partial enlarged view of A in the figure.

[0043] Figure 4 is Figure 2 is a perspective structural diagram of the nozzle in the figure.

[0044] Figure 5 is Figure 2 is an internal structural diagram of the nozzle in the figure.

[0045] Figure 6 is Figure 2 is a partial enlarged view of B in the figure.

[0046] Figure 7 is a structural diagram of a slicing disc.

[0047] Figure 8 is a structural diagram of a dynamic adjustment disc.

[0048] Figure 9 is a structural diagram of a fixed reference disc.

[0049] In the figure: 1, first end cover, 2, fluid inlet section, 3, sleeve, 4, second end cover, 20, nozzle, 21, nozzle sleeve, 22, sleeve end cover, 23, first pressure stabilizing heat exchange cavity, 24, main flow pipeline, 30, receiving chamber, 31, mixing chamber, 32, diffusion chamber, 33, outlet straight edge section, 34, second pressure stabilizing heat exchange cavity, 35, fixed disc, 101, secondary flow inlet, 201, nozzle dynamic adjustment disc, 202, tapered section, 203, first fixed reference disc, 204, throat section, 205, expanding section, 206, second fixed reference disc, 207, heat exchange medium inlet pipeline, 208, heat exchange medium outlet pipeline, 209, driving gear, 210, driven gear, 301, driving bevel gear, 302, driven bevel gear, 303, heat exchange medium inlet, 304, heat exchange medium outlet, M0, first motor, M1, second motor, M2, third motor, M3, fourth motor, M4, fifth motor, M5, sixth motor. Embodiment Example

[0050] Figure 1A structural diagram of a deformable adaptive adjustment jet plenum robot is shown. In the figure, the deformable adaptive adjustment jet plenum robot includes a deformable jet plenum, a process data acquisition and processing system, a shape, position and size measurement and processing system, a deep learning system and a servo drive system. The deformable jet plenum includes a first end cover 1, a fluid inlet section 2, a sleeve 3 and a second end cover 4 connected in sequence. The inside of the fluid inlet section 2 is provided with an axially and radially adjustable nozzle 20. A nozzle sleeve 21 is arranged outside the nozzle 20. The nozzle 20, the nozzle sleeve 21 and a main flow pipe 22 form a first stable pressure heat exchange cavity 23. The main flow pipe 24 is inserted into the inside of the nozzle sleeve 21 through the sleeve end cover 22 and is arranged opposite the inlet of the nozzle 20. The sleeve 3 and the receiving chamber 30, the mixing chamber 31, the diffusion chamber 32 and the outlet straight edge section 33 inside the sleeve 3 are connected in sequence to form a second stable pressure heat exchange cavity 34. The nozzle 20 includes a nozzle dynamic adjustment disc 201, a tapered section 202, a first fixed reference disc 203, a throat section 204, an expanding section 205 and a second fixed reference disc 206 connected in sequence. The tapered section 202, the throat section 204 and the expanding section 205 are all connected in sequence by a plurality of slicing discs. The receiving chamber 30, the mixing chamber 31, the diffusion chamber 32 and the outlet straight edge section 33 are all connected in sequence by a solid reference disc, a plurality of slicing discs and a dynamic reference disc (as shown in Figure 2 The receiving chamber 30, the mixing chamber 31, the diffusion chamber 32 and the outlet straight edge section 33 are connected by a fixed disc 35.

[0051] The axial and radial adjustable nozzle 20 adjusts the radial size of the flow passage in the nozzle by rotating the nozzle dynamic adjustment disc 201 controlled by the motor. The nozzle 20 contains a converging section, a throat section and a diverging section from right to left, which are stacked by multiple metal slicing discs. Each slicing disc is arranged in a circumferential array of 12 sectors. The converging section is connected with the throat section by a first fixed reference disc 203, and the inner circumferential array of the first fixed reference disc 203 is distributed with 12 straight sliding ways. The middle line of the slicing disc is provided with a boss and a groove on both sides, respectively. The slicing discs of the converging section 205 are divided into left boss right groove type and left groove right boss type. The odd layers dc1, dc3, dc5… adopt the slicing discs of left groove right boss type, and the even layers dc2, dc4, dc6… adopt the slicing discs of left boss right groove type. The size (length x width x height, the same below) of the boss is 1 x 1 x 0.9 mm, and the size of the groove is 1 x 1 x 1 mm. The right side bottom edge of the boss of the slicing disc of the even layer is attached to the center line, and the left side of the groove is offset to the left side of the center line by 0.2 mm. The right side of the groove of the slicing disc of the odd layer is offset to the left side of the center line by 0.2 mm, and the left side of the boss is attached to the center line. The boss of the slicing disc of the odd layer is embedded in the groove of the corresponding slicing disc of the even layer. When each layer of slicing disc slides, it will produce an offset distance of 0.4 mm relative to the previous layer of slicing disc. In this way, the slicing disc will generate a converging flow passage with a circular cross section when sliding. The thickness of the first fixed reference disc 203 is 5 mm, and the inner circumferential array of the disc is distributed with 12 straight sliding ways. The first layer of slicing disc db1 of the throat section 204 is a double boss structure, and the sizes of the bosses Ha and Hb are 1 x 1 x 4.9 mm and 1 x 1 x 0.9 mm, respectively. The boss Ha is embedded in the sliding way of the first fixed reference disc 203, and the boss Hb is embedded in the groove of the previous layer of slicing disc of the throat section. Except for the last layer, the slicing discs of the other layers of the throat section are divided into left boss right groove type slicing discs and left groove right boss type slicing discs. The slicing discs of the odd layers db3, db5, db7… adopt the left groove right boss type slicing discs, and the slicing discs of the even layers db2, db4, db6… adopt the left boss right groove type slicing discs. The size of the boss is 1 x 1 x 0.9 mm, and the size of the groove is 1 x 1 x 1 mm. The left side of the boss and the right side of the groove of the slicing disc of the odd layer are attached to the center line of the slicing disc, and the right side of the boss and the left side of the groove of the slicing disc of the even layer are attached to the center line of the slicing disc. The boss of the slicing disc of the odd layer is embedded in the groove of the corresponding slicing disc of the even layer. In this way, the slicing disc will generate a cross section of an approximately constant diameter circular flow passage when sliding (as shown in Figures 3-5 ).

[0052] The last layer of the tapering section 202 is a double convex structure, the size of the convex platform Ja is 1*1*4.9mm, the size of the convex platform Jb is 1*1*0.9mm, the convex platform Ja is embedded in the slide of the first fixed reference disc 203, the convex platform Jb is embedded in the groove of the last layer of the tapering section, the convex platform Ja is tangent to the convex platform Ha, when the slice of the tapering section slides, the convex platform Ja will move the last layer of the throat section, the middle layer of the slice of the tapering section is divided into upper convex platform and lower groove type and lower groove and upper convex platform type, among them, even layers da2, da4, da6… adopt upper convex platform and lower groove type, odd layers da3, da5… adopt lower groove and upper convex platform type, the size of the convex platform is 1*1*0.9mm, the size of the groove is 1.1*1*1mm, the left side of the convex platform and the left side of the groove are in line with the center line of the rigid metal slice, the first layer of the slice da1 of the tapering section is a double groove structure, the left side of the groove JSa and the right side of the groove JSb are in line with the center line of the slice, the convex platform JSb is embedded in the groove of the nozzle dynamic adjustment disc 201, and can slide along the groove, the slices on the same circumference will produce a central relative offset during sliding, generating an approximately circular flow channel, the maximum distance between the slices of each layer offset is equal to the offset distance of the last layer of the slice plus 0.2mm, so that the slices will generate a tapered flow channel with a circular cross section when sliding, the slices of the tapering section, throat section and expanding section are stacked to form a precision radial adjustable zoom nozzle, wherein the nozzle dynamic adjustment disc counterclockwise rotation is to expand the radial size of the flow channel, clockwise rotation is to reduce the radial size of the flow channel. The driven gear is sleeved on the nozzle dynamic adjustment disc, and the transmission control of the electric signal is realized by the driving gear on the servo motor M1.

[0053] The rotatable radial adjustment receiving chamber 30 is tapered structure, composed of dynamic adjustment disc, multiple slice disc and fixed reference disc, the radial size of the flow channel is adjusted by rotating the dynamic adjustment disc of the receiving chamber. Each layer of slice disc contains 12 sectorial slices, distributed in circumferential array, the first layer of slice disc of the receiving chamber is upper convex lower groove structure, the convex size is 1x1x0.9 mm, the groove size is 1x3x1 mm, the convex of the dynamic adjustment disc of the receiving chamber is embedded into the groove of the first layer of slice, from the second layer, the slice is divided into left convex right groove type and left groove right convex type, among which the even layers dj2, dj4, dj6… adopt left convex right groove type, the odd layers dj1, dj3, dj5… adopt left groove right convex type, the size of the convex is 1x1x0.9 mm, the size of the groove is 1x1x1 mm, the right side of the convex of the even layer of slice is fitted with the center line, the left side of the groove is offset 0.2 mm right side of the center line, the right side of the groove of the odd layer of slice is offset 0.2 mm right side of the center line, the left side of the convex is fitted with the center line, each layer of slice of the receiving chamber will produce 0.4 mm offset distance with the previous layer of slice when sliding, the last layer of the receiving chamber is fixed reference disc, 12 straight slides are distributed in circumferential array in the disc, the slice disc stacked together will generate a tapered flow channel with approximately circular cross section when sliding, when the dynamic adjustment disc of the receiving chamber is rotated, the change of the radial size of each layer is 2 times of the sum of the sliding length and the offset distance, this structure realizes the function of precise linear change of the radial size of the flow channel, the dynamic adjustment disc of the receiving chamber rotates counterclockwise to expand the radial size of the flow channel, rotates clockwise to reduce the radial size of the flow channel. The driven bevel gear is sleeved on the dynamic adjustment disc of the receiving chamber, the adjustment control is realized by transmission connection with the driving bevel gear on the servo motor M2.

[0054] The first layer of the mixing chamber 31, the first layer of the outlet straight edge section 33 and the first layer of the gradually expanding section are all upper convex table and lower groove structure (both the convex table and the groove are arranged on the center line of the slice), the size of the convex table is 1*1*0.9 mm, the size of the groove is 1*3*1 mm, the dynamic adjustment disc of the mixing chamber 31 and the dynamic adjustment disc of the outlet straight edge section 33 are respectively embedded in the groove of the first layer of the mixing chamber and the first layer of the outlet straight edge section, the slices of the mixing section and the outlet straight edge section from the second layer are divided into left convex table and right groove type and left groove and right convex table type, the size of the convex table is 1*1*0.9 mm, the size of the groove is 1*1*1 mm, the left side of the convex table and the left side of the groove are attached to the center line of the slice, the convex table of the odd layer is respectively embedded in the groove of the rigid metal slice of the corresponding even layer, and the superimposed slice disc generates an equal diameter flow channel with a cross section approximating a circle when sliding. The thickness of the fixed reference disc of the diffusion chamber is 5 mm, the convex table of the dynamic adjustment disc of the diffusion chamber is embedded in the groove of the first layer of the diffusion chamber, the slices from the second layer are divided into left convex table and right groove type and left groove and right convex table type, the odd layers dl1, dl3… adopt the left groove and right convex table type, the even layers dl2, dl4… adopt the left convex table and right groove type, the size of the convex table is 1*1*0.9 mm, the size of the groove is 1*1*1.1 mm, the right side of the convex table of the even layer is attached to the center line, the left side of the groove is offset to the left side of the center line by 0.2 mm, the right side of the groove of the odd layer is offset to the left side of the center line by 0.2 mm, the left side of the convex table is attached to the center line, the convex table of the odd layer is respectively embedded in the groove of the corresponding even layer, and the superimposed slice disc generates a gradually expanding flow channel with a cross section approximating a circle when sliding. The driven bevel gears are arranged on the dynamic adjustment discs of the mixing chamber, the dynamic adjustment discs of the diffusion chamber and the dynamic adjustment discs of the outlet straight edge section, and are respectively in transmission connection with the driving bevel gears on the fourth motor M3, the fifth motor M4 and the sixth motor M5 to realize the function of independently adjusting the radial size, the radial size is enlarged when the dynamic adjustment disc rotates counterclockwise, and the radial size is reduced when the dynamic adjustment disc rotates clockwise (as shown in Figure 5 、 Figures 7-9 ).

[0055] As shown in Figure 6 , the radial size adjustment of the receiving chamber and the mixing chamber, the diffusion chamber and the outlet straight edge section is realized by bevel gear transmission, the driving bevel gears of the receiving chamber and the mixing chamber, the diffusion chamber and the outlet straight edge section are all bidirectionally fixed and installed, are respectively fixed with the main shaft of the servo motor through screws, and each bevel gear is provided with a bearing and a sealing ring below, for example, when the third motor M2 rotates, the driving bevel gear drives the driven bevel gear, and the driven bevel gear drives the dynamic adjustment disc of the receiving chamber, thereby driving the rigid metal slice in the layer to slide and realizing the function of independently changing the radial size of the flow channel.

[0056] The process data acquisition and processing system includes a first temperature sensor, a first pressure sensor, and a first flow sensor installed on the main flow pipeline 24; a second temperature sensor, a second pressure sensor, and a second flow sensor installed on the secondary flow pipeline; and a second end cap third temperature sensor, a third pressure sensor, and a third flow sensor installed on the outlet pipe of the second end cap 4.

[0057] The shape and position dimension measurement and processing system includes a first positioning sensor and a second positioning sensor respectively installed on the nozzle sleeve 21 and the nozzle 20, and a third positioning sensor, a fourth positioning sensor and a fifth positioning sensor respectively installed on the dynamic adjustment plate of the receiving chamber 30, the dynamic adjustment plate of the mixing chamber 31 and the dynamic adjustment plate of the diffusion chamber 32.

[0058] The servo drive system includes a first motor M0 connected to the main pipe 24, and a second motor M1, a third motor M2, a fourth motor M3, a fifth motor M4, and a sixth motor M5 respectively connected to the nozzle dynamic adjustment disk of the nozzle 20, the receiving chamber 30 dynamic adjustment disk, the mixing chamber 31 dynamic adjustment disk, the diffusion chamber 32 dynamic adjustment disk, and the outlet straight edge section 33 dynamic adjustment disk.

[0059] The first motor M0 is a servo push rod motor, connected to the main pipeline to adjust the nozzle axially. A nozzle sleeve is provided outside the nozzle, and the nozzle sleeve is connected to the first end cap by screws. The first end cap is connected to the main pipeline by threaded connection, realizing the connection between the nozzle and the main pipeline. The nozzle, nozzle sleeve, and sleeve end cap form the first pressure-stabilizing heat exchange chamber. The heat exchange medium inlet pipe and the heat exchange medium outlet pipe pass through the first end cap and connect to the first pressure-stabilizing heat exchange chamber 23. The first end cap 1, fluid inlet section 2, sleeve 3 and second end cap 4 are connected in sequence by screws. The sleeve 3, the receiving chamber, the mixing chamber, the diffusion chamber and the outlet straight edge section form the second pressure-stabilizing heat exchange chamber 34. The sleeve is provided with a heat exchange medium inlet and a heat exchange medium outlet. Both the first pressure-stabilizing heat exchange chamber 23 and the second pressure-stabilizing heat exchange chamber 34 are connected to the process data acquisition and processing system.

[0060] A secondary flow inlet 101 is provided on the fluid inlet section 2. The main working medium enters through the main flow pipe 24, and the secondary flow working medium is injected into the secondary flow pipe and enters through the secondary flow inlet 101. Heat exchange medium is introduced into the first pressure-stabilizing heat exchange chamber 23 and the second pressure-stabilizing heat exchange chamber 34 to exchange heat with the working fluid and form a dynamic seal.

[0061] The deep learning system takes the area sizes of the inlet distance, throat area, receiving chamber 30, mixing chamber 31, diffusion chamber 32 and outlet straight edge section 33 of the nozzle as the shape and position size input signals, and takes the temperature, pressure and flow parameters on the primary flow pipe, secondary flow pipe and outlet pipe of the second end cover obtained by the process data acquisition and processing system as the process data input signals. After removing abnormal signals, the normal data are divided into a training set, a verification set and a test set. Based on the deep learning principle, the parameters of the model are preliminarily determined through the training set and the verification set, the generalization ability of the model is verified by using the test set, and finally an agent model associated with the process parameters, structure information and performance characteristics (such as injection ratio ER, pressure ratio PR and expansion ratio PER) is established.

[0062] The working method of the adaptive deformation robot for injection pressurization based on deep learning: under different working conditions, the area sizes of the inlet distance, throat area, receiving chamber 30, mixing chamber 31, diffusion chamber 32 and outlet straight edge section 33 of the nozzle are taken as the shape and position size input signals by the shape and position size measurement and processing system, and the flow, temperature and pressure data on the primary flow pipe 24, secondary flow pipe and outlet pipe of the second end cover 4 of the injector are continuously collected by the process data acquisition and processing system to enhance the diversity of sample data. The deep learning system uses a BP neural network to establish an accurate nonlinear mapping relationship between the flow, pressure and temperature data of the three ports of the injector and the key structure sizes of the injector, obtains the functional relationship curve between the key structure sizes of the injector and the key performance parameters under different working conditions, and uses the control variable method and the trainlm learning method to train the neural network, continuously optimizes the BP neural network model structure, topologically optimizes the key structure sizes, finds out the rules of the optimal structure sizes and performance of the injector under different working conditions, so that the injector can quickly feedback the optimal structure sizes under different working conditions and take them as output signals. Then, through the feedback signals received by the servo motor, the axially and radially adjustable nozzle, the radially adjustable receiving chamber, mixing chamber, diffusion chamber and outlet straight edge section are adjusted in real time in radial size and in axial distance, so that the injector can adaptively adjust the key structure to the optimal size under different working conditions, and improve the working performance of the injector.

[0063] For the size data acquired in real time by the form and position size measurement and processing system and the sample data collected under different working conditions by the process data acquisition and processing system, firstly, correlation analysis is carried out, abnormal data is eliminated, the remaining data is divided into training set, verification set and test set according to 6:2:2, then control variable method and trainlm learning method are used for deep learning training under BP neural network, parameters of the model are preliminarily determined through the training set and the verification set, the structure of the BP neural network model is determined, the generalization ability of the model is verified by using the test set, the model parameters after topological optimization under different working conditions are saved, and then the influence law of the key structure size of the ejector and the key performance parameters thereof on the entrainment ratio ER, the pressure ratio PR and the expansion ratio PER under different working conditions is obtained, an accurate nonlinear mapping relationship is established between the flow, pressure and temperature data of the three ports of the ejector, the key structure size of the ejector and the key performance parameters (the entrainment ratio ER, the pressure ratio PR and the expansion ratio PER). The deep learning system inputs the mapping relationship into the servo drive system through the transmission signal, so that the ejector can be self-adaptively adjusted to the optimal performance structure size under different working conditions.

Claims

1. A deformable, adaptive, and adjustable jet booster robot, comprising a deformable jet booster, a process data acquisition and processing system, a shape and dimension measurement and processing system, a deep learning system, and a servo drive system, wherein the deformable jet booster comprises a first end cap (1), a fluid inlet section (2), a sleeve (3), and a second end cap (4) connected in sequence, characterized in that, The fluid inlet section (2) is equipped with an axially and radially adjustable nozzle (20). The nozzle sleeve (21) located outside the nozzle (20), the nozzle (20) and the outer wall of the main flow pipe (24) form a first pressure-stabilizing heat exchange chamber (23). The main flow pipe (24) is connected to the nozzle sleeve (21) through the sleeve end cap (22). The sleeve (3) and the receiving chamber (30), mixing chamber (31), diffusion chamber (32) and outlet straight edge section (33) connected in sequence inside the sleeve (3) form a second pressure-stabilizing heat exchange cavity (34). The nozzle (20) includes a nozzle dynamic adjustment disc (201), a tapering section (202), a first fixed reference disc (203), a throat section (204), a spreading section (205), and a second fixed reference disc (206) connected in sequence. The tapering section (202), the throat section (204), and the spreading section (205) all adopt a structure in which multiple slicing discs are connected in sequence. The receiving chamber (30), mixing chamber (31), diffusion chamber (32) and outlet straight edge section (33) all adopt a structure in which a solid reference disk, multiple dicing disks and a dynamic reference disk are connected in sequence; Each scribing disc contains multiple circumferentially arrayed scribing discs. Adjacent scribing discs are connected by protrusions on the scribing discs and grooves on the adjacent scribing discs. The distance between the grooves and the centerline on the scribing discs of the expanding section (205), receiving chamber (30), and diffusion chamber (32) is different from the distance between the protrusions and the centerline. The distance between the grooves and protrusions on the scribing discs of the contracting section (202), throat section (204), mixing chamber (31), and outlet straight edge section (33) is the same. The height of the protrusion is less than the depth of the groove, and the width is equal to the width of the groove. Except for the length of the groove in the contracting section (202), which is greater than the length of the protrusion, the length of the groove in other structures is equal to the length of the protrusion. The last layer scribing disc of the contracting section (202) and the first layer scribing disc of the throat section (204) are connected to the first fixed reference disc (203). The number of slits in the circumferential array is an integer greater than or equal to 4; The process data acquisition and processing system includes a first temperature sensor, a first pressure sensor, and a first flow sensor installed on the main flow pipeline (24), a second temperature sensor, a second pressure sensor, and a second flow sensor installed on the secondary flow pipeline, and a third temperature sensor, a third pressure sensor, and a third flow sensor installed on the outlet pipe of the second end cap (4). The shape and position dimension measurement and processing system includes a first positioning sensor and a second positioning sensor respectively installed on the nozzle sleeve (21) and the nozzle (20), and a third positioning sensor, a fourth positioning sensor and a fifth positioning sensor respectively installed on the dynamic adjustment disk of the receiving chamber (30), the dynamic adjustment disk of the mixing chamber (31), and the dynamic adjustment disk of the diffusion chamber (32). The servo drive system includes a first motor (M0) connected to the main channel (24) and a second motor (M1), a third motor (M2), a fourth motor (M3), a fifth motor (M4) and a sixth motor (M5) respectively connected to the nozzle dynamic adjustment disk of the nozzle (20), the dynamic adjustment disk of the receiving chamber (30), the dynamic adjustment disk of the mixing chamber (31), the dynamic adjustment disk of the diffusion chamber (32) and the dynamic adjustment disk of the outlet straight edge section (33); The deep learning system uses the output data of the process data acquisition and processing system and the form and position dimension measurement and processing system as the available dataset. The dataset is divided into training set, validation set and test set. Based on the deep learning principle, the model parameters are determined, the generalization ability of the model is tested, and a proxy model is established that is related to the process and structural information with the ejection rate ER, pressure ratio PR and expansion ratio PER. When the working environment changes, the proxy model is used to feed back the optimal form and position dimension command signal, and the deformation of the nozzle (20), receiving chamber (30), mixing chamber (31), diffusion chamber (32) and outlet straight edge section (33) is adjusted through the servo drive system.

2. The deformable, adaptive, and adjustable jet booster robot according to claim 1, characterized in that: The boss of the tapered section (202) has a length × width × height of 1a × 1a × 0.9a mm and a groove size of 1.1a × 1a × 1a mm. The groove size connecting the first dicing disk and the dynamic adjustment disk of the tapered section is 1a × 3a × 1a mm. The boss size connecting the last dicing disk and the first fixed reference disk (203) of the tapered section is 1a × 1a × 4.9a mm. The boss of the throat section (204) has a size of 1b×1b×0.9b mm, the groove has a size of 1.0b×1b×1b mm, and the boss connecting the first layer slicing disk and the first fixed reference disk (203) of the throat section has a size of 1b×1b×4.9b mm. The boss size of the expanding section (205) is 1c×1c×0.9c mm, the groove size is 1.0c×1c×1c mm, and the distance between the groove and the center line on the expanding section (205) scribe is 0.2c mm different from the distance between the boss and the center line. The dimensions of the boss in the receiving chamber (30) are 1d × 1d × 0.9d mm, the groove size is 1.0d×1d×1d mm, the distance between the groove and the centerline on the scribe plate of the receiving chamber (30) differs from the distance between the boss and the centerline by 0.2d mm, and the size of the boss connecting the first-layer scribe plate and the dynamic adjustment plate of the receiving chamber is 1d×1d× 0.9d mm, the groove size is 1d×3d×1d mm; The dimensions of the boss of the mixing chamber (31) are 1e×1e×0.9e mm, and the dimensions of the groove are 1.0e×1e×1e mm. The dimensions of the boss of the first layer of the mixing chamber are 1e×1e×0.9e mm, and the dimensions of the groove are 1e×3e×1e mm. The size of the boss in the diffusion chamber (32) is 1f×1f×0.9f mm, and the size of the groove is 1.0f×1f×1f mm. The distance between the groove and the center line in the diffusion chamber (32) is 0.2f mm different from the distance between the boss and the center line. The size of the boss connecting the first-layer slicing disk and the dynamic adjustment disk in the diffusion chamber is 1f×1f×0.9f mm, and the size of the groove is 1f×3f×1f mm. The size of the boss of the straight edge section (33) at the outlet is 1g×1g×0.9g mm, the size of the groove is 1.0g×1g×1.1g mm, the size of the boss connecting the first layer dicing disk and the dynamic adjustment disk at the outlet straight edge section is 1g×1g×0.9g mm, and the size of the groove is 1g×3g×1g mm. Where a, b, c, d, e, f, and g are each independent numbers greater than zero.

3. The deformable, adaptive, and adjustable jet booster robot according to claim 1, characterized in that: The number of slicing discs, the thickness of the slicing discs, and the length of the grooves on the slicing discs of each of the nozzle (20), receiving chamber (30), mixing chamber (31), diffusion chamber (32), and outlet straight edge section (33) are adjusted according to the radial adjustment accuracy and the radial contraction and expansion angle requirements of the booster. The second motor (M1), the third motor (M2), the fourth motor (M3), the fifth motor (M4) and the sixth motor (M5) are connected to the dynamic adjustment discs of the nozzle dynamic adjustment disc (201), the receiving chamber (30), the mixing chamber (31), the diffusion chamber (32) and the outlet straight edge section (33) through gear transmission, respectively. The main channel pipe (24) is driven by the first motor (M0) to adjust the axial distance.

4. The deformable, adaptive, and adjustable jet booster robot according to claim 1, characterized in that: The first layer of the tapered section has a double groove structure, and the last layer of the tapered section and the first layer of the throat section have a double boss structure; the bosses and grooves of the first layer of the receiving chamber (30), mixing chamber (31), diffusion chamber (32) and outlet straight edge section (33) are all located on the center line of the slicing; the last layer slicing disk of the tapered section (202) and the first layer slicing disk of the throat section (204) are embedded in the strip groove of the first fixed reference disk (203) through the boss; One end of the main pipe (24) is threaded to the sleeve end cap (22), and the outer wall of the other end is connected to the adjustment mechanism for adjusting the axial distance of the nozzle.

5. The adaptive adjustment method for a deformable, adaptively adjustable jet booster robot according to claim 1, characterized in that: The first motor (M0) drives the main pipe (24) to move left and right to adjust the axial distance of the nozzle. The second motor (M1) drives the nozzle dynamic adjustment disk (201) to rotate through gear transmission, thereby driving the movement of different layers of slitting blades to adjust the radial size of the nozzle. The third motor (M2), the fourth motor (M3), the fifth motor (M4) and the sixth motor (M5) drive the dynamic adjustment disks of the receiving chamber (30), the mixing chamber (31), the diffusion chamber (32) and the outlet straight edge section (33) to rotate through gear transmission, thereby driving the movement of the slitting blades that are in contact with them. The slitting blades between different layers are moved through bosses and grooves, thereby adjusting the radial size of the receiving chamber (30), the mixing chamber (31), the diffusion chamber (32) and the outlet straight edge section (33). The robot uses the nozzle inlet distance, throat area, and area dimensions of the receiving chamber, mixing chamber, diffusion chamber, and outlet straight edge section obtained in real time by the shape and position dimension measurement and processing system as shape and position dimension input signals. It uses the temperature, pressure, and flow parameters on the main flow pipe (24), secondary flow pipe, and outlet pipe of the second end cap (4) obtained by the process data acquisition and processing system as process data input signals. After removing abnormal signals, the normal data is divided into training set, validation set, and test set. Based on the principle of deep learning, the parameters of the model are initially determined through the training set and validation set. The generalization ability of the model is tested using the test set. Finally, a proxy model that is associated with process parameters, structural information, and performance characteristics is established. When the working environment changes, the proxy model is used to feed back the optimal shape and position dimension command signal. The servo drive system is used to adjust the axial and radial dimensions of the nozzle, as well as the radial dimensions of the receiving chamber, mixing chamber, diffusion chamber and outlet straight edge section. The shape and position dimension measurement and processing system feeds back the deformed dimensions to the deep learning system in real time to confirm the accuracy of the deformation. The heat exchange medium in the first pressure-stabilizing heat exchange chamber (23) and the second pressure-stabilizing heat exchange chamber (34) exchanges heat with the working fluid inside the ejector. The pressure of the heat exchange medium is selected based on the principle of ensuring the best sealing effect.

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