Multifunctional composite water jet synergistic abrasive particle impact strengthening device and method

Abstract

The invention discloses a multifunctional composite water jet synergistic abrasive particle impact strengthening device and method in the field of cavitation water jet, a nozzle structure is composed of four high-pressure water nozzles distributed at four corners and a low-pressure abrasive particle nozzle with a cross center, and the respective pressure of the four water flow cavitation nozzles is adjusted to change the impact direction and strength. Abrasive particles are stirred and recycled in the abrasive particle recycling box through the centrifugal effect and the gravity effect, meanwhile, the abrasive particle jet flow outlet is lifted and higher than the bottom of the stirring box, due to the centrifugal effect and the gravity effect, the abrasive particles are not prone to entering a next pipeline and entering a water storage box, and the recycling purpose is well achieved. Abrasive water splashed out through first-time impact is guided to jet flow below the nozzle again through the recovery cover, secondary abrasive particle backflow impact is achieved, and the impact effect is enhanced. The abrasive particle recovery stirring box comprises abrasive particle concentration monitoring, the concentration of abrasive particles is monitored in real time, and when the concentration is reduced due to loss in the machining process, abrasive materials are supplemented in time.

Description

Technical Field

[0001] The present invention belongs to the field of machinery and relates to the field of cavitation water jets for surface machining, surface strengthening, surface forming, blanking, etc. Specifically, it is a composite water jet synergistic abrasive impact strengthening technology with a multi-nozzle combination. Background Art

[0002] The water jet cavitation technology is an advanced technology that utilizes high-speed water flow to generate cavitation effects and realizes operations such as cutting, cleaning, and surface treatment through shock waves caused by bubble collapse. By generating shock waves caused by bubble collapse, the water jet cavitation technology performs excellently in cleaning dirt, paint, or coatings and is widely used in surface treatment and cleaning. Compared with mechanical methods, the water jet cavitation technology produces relatively low noise, reducing the impact on the working environment and operators. The technology uses high-speed water flow generated by a high-pressure water pump to form a high-speed jet through a special nozzle, providing sufficient kinetic energy for cutting and cleaning. Since the cutting process mainly relies on the shock waves generated by water flow and bubble collapse, the water jet cavitation technology is applicable to various materials, including metals, concrete, etc. When the high-speed water flow is sprayed onto the target surface, a part of the water in the water flow is rapidly pulled to a low pressure to form tiny bubbles. This process is called the cavitation effect. The formed bubbles will experience pressure changes during the movement of the water flow. When the water flow suddenly stops or changes direction, the bubbles will collapse. The shock wave generated when the bubbles collapse is the key to the water jet cavitation technology. The generated shock wave can generate extremely high pressure within an extremely short time, and this high-pressure shock wave is used for cutting, cleaning, or surface treatment.

[0003] The technology of adding abrasives to the jet has become increasingly mature. The high-pressure abrasive water jet machining technology is a new special machining method that uses high-pressure water flow to carry abrasive particles to cut or surface-treat workpieces. Its working principle is to convert the mechanical energy of the power source into pressure energy through a high-pressure generator to form a high-pressure water beam. The high-pressure water beam forms a negative pressure in the mixing chamber through a nozzle, sucks in abrasive particles, and after the abrasive particles and high-pressure water are turbulently mixed in the mixing chamber, they are ejected through a sand pipe to form a liquid-solid two-phase mixed jet. During this process, the pressure energy of water is converted into the kinetic energy of abrasive particles, and the abrasive particles with huge kinetic energy impact and scour the surface of the workpiece at high speed to realize the forming and strengthening of the surface material of the workpiece.

[0004] At present, there are certain difficulties in adjusting the angle of cavitating water jets, which mainly stem from their complex working principles and physical properties. The traditional design of cavitating water jet nozzles often fixes the jet injection angle, making it difficult to flexibly adjust according to actual needs in practical applications. The internal flow channel structure and shape of the nozzle have an important impact on the flow characteristics of the jet. Changing the injection angle requires redesigning the nozzle, which increases costs and complexity; adjusting the injection angle will disrupt the stability of the flow field, resulting in the weakening or disappearance of the cavitation effect, thereby affecting the impact force and cutting ability of the jet. The pressure distribution and velocity distribution in the flow field are crucial for the generation and maintenance of the cavitation effect. Adjusting the angle will change these distributions, thus affecting the performance of the jet. In practical applications, it is necessary to precisely control the injection angle to ensure the quality of processing or cleaning. However, due to the complexity and instability of cavitating water jets, achieving precise control is somewhat difficult. Existing control systems and adjustment mechanisms cannot meet the requirements for fine adjustment of the injection angle.

[0005] The jet machine disclosed in the literature with Chinese Patent Publication No. CN110815064A and titled "Abrasive Jet Machine Capable of Efficiently Recycling Micro Abrasives" includes a jet chamber, a rebound chamber, a high-pressure fan, and multiple motors. The high-pressure fan rotates to eject the abrasives at high speed towards the surface to be processed. After the abrasives impact the surface to be processed, they rebound into the rebound chamber and enter the recovery chamber for secondary use after passing through the cleaning device. However, the recovery efficiency of this abrasive jet machine is relatively low, and the kinetic energy of the rebounding abrasives is not effectively utilized. The cutting machine disclosed in the literature with Chinese Patent Publication No. CN117817567A and titled "Underground Mobile Water Jet Cutting Machine" includes a cutting machine body, a fixed annular cylinder, a water jet spraying structure, an angle adjustment mechanism, a driving mechanism, and a bottom plate. The bottom corner ends of this cutting machine are equipped with moving wheels, which facilitate small-range adjustment of cutting in both directions. However, it cannot significantly adjust the angle, nor can it adjust the spraying intensity and target distance. Summary of the Invention

[0006] In view of the above-mentioned many deficiencies existing in the prior art, the present invention provides a multifunctional composite water jet collaborative abrasive impact strengthening device and an impact strengthening processing method, which use a multi-nozzle combination to numerically control the pressure to change the impact strength, direction, and target distance, and solve technical problems such as insufficient jet abrasive strength, difficult abrasive recovery, difficult nozzle angle adjustment, and limited range.

[0007] To achieve the above object, a multi-functional composite water jet collaborative abrasive impact strengthening device of the present invention adopts the following technical solutions: It has a processing box body with an open top, and a funnel-shaped collector and an impact platform located in the funnel-shaped collector are arranged inside; the impact platform is covered with a secondary abrasive recycling cover, the top of the secondary abrasive recycling cover is fixedly connected to the outlet of the high-pressure water pipeline, the inlet of the high-pressure water pipeline is communicated with the top of the recycling tank, and a water high-pressure pump is installed near the inlet of the high-pressure water pipeline; the outlet of the high-pressure water pipeline is connected to a cavitation nozzle, a grinding particle pipeline is coaxially sleeved inside the high-pressure water pipeline, the outlet of the grinding particle pipeline is connected to a grinding particle nozzle, and the high-pressure water pipeline and the grinding particle pipeline are connected to a flow rate control valve; the grinding particle pipeline extends out from the side wall of the high-pressure water pipeline and then is connected to the top of the grinding particle recycling stirring tank downward, and a water grinding particle high-pressure pump is arranged on the grinding particle pipeline; the bottom of the funnel-shaped collector is connected to the grinding particle recycling stirring tank through a collecting pipeline, and a concentration monitoring device is arranged above the inner side wall of the grinding particle recycling stirring tank; the center of the bottom of the grinding particle recycling stirring tank is connected to a water storage tank through a grinding particle jet pipeline, and a jet speed regulating valve is arranged on the grinding particle jet pipeline; a stirring device is arranged inside the grinding particle recycling stirring tank; the bottom of the water storage tank is connected to the top of the recycling tank through a water tank transmission pipeline, the bottom of the recycling tank is connected to a grinding particle replenishing tank through a recycling pipeline, an infrared sensor is installed at the bottom inside the recycling tank, a recycling tank valve is installed on the recycling pipeline, and a pair of electromagnet coils are installed on both sides of the inner wall of the recycling tank; the upper part of the side wall of the grinding particle recycling stirring tank is connected to the bottom of the grinding particle replenishing tank through a grinding particle replenishing pipeline, and a grinding particle replenishing valve is arranged on the grinding particle replenishing pipeline; four cavitation nozzles are arranged at the four corners of a rectangle, and several grinding particle nozzles are arranged at intervals in a cross shape between the four cavitation nozzles, and corresponding nozzle valves are arranged on each cavitation nozzle and each grinding particle nozzle.

[0008] The impact strengthening method of the multi-functional composite water jet collaborative abrasive impact strengthening device adopts the following technical solutions: It includes the following steps:

[0009] Step 1): Place the workpiece to be processed on the impact platform and fasten it; turn on the stirring device, water grinding particle high-pressure pump, water high-pressure pump and jet speed regulating valve, and keep the grinding particle replenishing valve and the recycling tank valve closed; the water flows from the water storage tank and the grinding particle recycling stirring tank into the cavitation nozzle through the high-pressure water pipeline, is divided into four high-pressure water pipelines and sprays downward, the grinding particle pipeline is led out from the grinding particle recycling stirring tank and shoots out, and they act on the workpiece to be processed together; the secondary abrasive recycling cover captures the jet abrasive, so that the splashed jet abrasive impacts the workpiece to be processed again.

[0010] Step 2): Some of the splashed abrasive and water flow into the funnel-shaped collector under the action of gravity and flow into the grinding particle recycling stirring tank to be stirred together; under the action of the water grinding particle high-pressure pump, the uniformly stirred grinding particles in the grinding particle recycling stirring tank are pumped into the grinding particle pipeline and flow into the grinding particle nozzle to complete the recycling of the grinding particles.

[0011] Step 3): Under the action of gravity, the abrasives that have not been sufficiently stirred in the abrasive recycling mixing tank flow into the water storage tank. Under the action of the water high-pressure pump, the water flow is pumped out from the bottom of the water storage tank, taking out the deposited abrasives and flowing through the recycling tank. The electromagnet coil is energized to adsorb the remaining abrasives in the water flow, causing the abrasives to accumulate at the bottom of the recycling tank body. The water flow above the recycling tank then flows into the cavitation nozzle through the high-pressure water pipeline to complete the water flow closed-loop.

[0012] Compared with the prior art, the present invention has the following prominent beneficial effects:

[0013] (1) The nozzle structure of the present invention is composed of four high-pressure water nozzles distributed at the four corners and a low-pressure abrasive nozzle at the cross center. The adjustment of the impact direction, intensity, and target distance can be achieved through the numerical control adjustment of the water pressure, solving the problem of difficult nozzle angle adjustment at present. Four cavitation nozzles are used for abrasive impact strengthening, forming, and blanking. By adjusting the total pressure of the cavitation nozzles, the impact intensity and target distance can be changed, and by adjusting the pressure of each of the four water flow cavitation nozzles respectively, the impact direction and intensity can be changed.

[0014] (2) Inside the abrasive recycling tank of the present invention, through the centrifugal force and gravity, the stirring and recycling of abrasives are realized. At the same time, the outlet of the abrasive jet is raised above the bottom of the mixing tank. Due to the centrifugal force and gravity, the abrasives are not easily introduced into the next pipeline but enter the water storage tank, thus better achieving the recycling purpose. The abrasive can be recycled, reducing the waste of abrasives and lowering the production cost.

[0015] (3) The present invention is equipped with an abrasive recycling cover outside the traditional impact working area, redirecting the abrasive water splashed out during the first impact back to the jet under the nozzle through the recycling cover to achieve secondary abrasive reflux impact and enhance the impact effect.

[0016] (4) A large number of various sensors are added to the present invention and connected to the controller to form a monitoring system to achieve real-time feedback and timely supplement abrasives when the abrasive concentration in the recycling mixing tank decreases.

[0017] (5) The present invention uses four cavitation nozzles plus abrasive impact for processing strengthening. Through the total pressure of the four cavitation nozzles, the impact intensity and target distance can be adjusted; by adjusting the pressure of each nozzle, the impact direction and intensity can be adjusted. The abrasive nozzle is arranged in a "cross" shape in the middle of the four nozzles to increase efficiency. After the abrasive water flow impacts the workpiece to be processed on the impact platform and splashes upward, under the action of the secondary abrasive recycling cover, it enters the original abrasive water flow to perform secondary impact on the workpiece to be processed, improving the processing efficiency. Part of the overflowing abrasive water flow will pass through the funnel-shaped collector and the acceleration channel and be obliquely injected into the abrasive recycling mixing tank at a certain angle, and be quickly stirred under the action of the initial velocity and the motor.

[0018] (6) In the abrasive recycling and stirring tank of the present invention, a numerically controlled abrasive replenishment tank is partially installed, which includes abrasive concentration monitoring to continuously monitor the concentration of abrasives. When the concentration decreases due to loss during processing, abrasives are replenished in a timely manner to ensure that the concentration meets the working requirements. At the same time, the outlet of the abrasive jet is raised above the bottom of the stirring tank. Due to the centrifugal force and gravity, the abrasives are not easily introduced into the next pipeline but enter the water storage tank. Only a small amount of abrasives is contained in the water tank, and before entering the high-pressure pump, it will pass through the recycling tank, which is equipped with an electromagnet coil and an infrared sensor to continuously monitor the abrasive content in the recycling tank. Description of the Drawings

[0019] Figure 1 is the overall structural schematic diagram of a multifunctional composite water jet and abrasive impact device of the present invention;

[0020] Figure 2 is Figure 1 an enlarged schematic diagram of the arrangement of the cavitation nozzle 4 and the abrasive nozzle 5;

[0021] Figure 3 is Figure 2 a half-sectional structural schematic diagram of a single cavitation nozzle enlarged in ;

[0022] Figure 4 is Figure 1 an enlarged schematic diagram of the secondary abrasive recycling cover 10 in ;

[0023] Figure 5 is Figure 1 an enlarged schematic diagram of the local assembly structure in ;

[0024] Figure 6 is Figure 1 an enlarged schematic diagram of the assembly structure when there are three upper inlets and three middle inlets in ;

[0025] Figure 7 is Figure 1 a schematic diagram of the internal liquid motion state when the abrasive recycling and stirring tank in is working;

[0026] Figure 8 is Figure 2 a schematic diagram of the first state of the composite and collaborative processing of four cavitation nozzles in ;

[0027] Figure 9 is Figure 2 a schematic diagram of the second state of the composite and collaborative processing of four cavitation nozzles in.

[0028] Description of the Reference Numerals:

[0029] 1. Processing box; 2. High-pressure water pipeline; 3. Abrasive pipeline; 4. Cavitation nozzle; 4-1. Cavitation nozzle one; 4-2. Cavitation nozzle two; 4-3. Cavitation nozzle three; 4-4. Cavitation nozzle four; 5. Abrasive nozzle; 6. Impact platform; 7. Workpiece clamp; 8. Platform support; 9. Adjusting knob; 10. Secondary abrasive recovery cover; 11. Funnel-shaped collector; 12. Collector support; 13. Collection pipeline; 14. Upper acceleration channel; 15. Middle acceleration channel; 16. Upper inlet; 17. Middle inlet; 18. Abrasive recovery stirring tank; 19. Rotating motor; 20. Rotating shaft; 21. Blade; 22-1. Concentration monitoring device one; 22-2. Concentration monitoring device two; 23. Abrasive replenishment tank; 24. Abrasive replenishment valve; 25. Abrasive jet outlet; 26. Abrasive jet pipeline; 27. Jet speed control valve; 29. Water storage tank; 30. Water tank transmission pipeline; 31. Recovery tank; 32. Infrared sensor; 33-1. Electromagnet coil; 33-2. Electromagnet coil; 34. Recovery tank valve; 35. Water-abrasive high-pressure pump; 36. Water high-pressure pump; 37. Stirring tank cleaning port; 38. Flow rate control valve; 39. Recovery pipeline. Detailed implementation mode

[0030] See Figure 1 As shown in, a multifunctional composite water jet synergistic abrasive impact strengthening device of the present invention has a processing box 1, an abrasive recovery stirring tank 18, a water storage tank 29 and a recovery tank 31. Among them, the processing box 1 is cylindrical with an open top. Inside the processing box 1, there are a funnel-shaped collector 11, an impact platform 6, a platform support 8 and an adjusting knob 9. The funnel-shaped collector 11 is fixed on the inner bottom wall of the processing box 1 by a collector support 12 at its bottom, and the top of the funnel-shaped collector 11 is open. The diameter of the upper-large and lower-small funnel-shaped collector 11 is slightly smaller than the inner diameter of the processing box 1 and is fixed on the processing box 1 by the collector support 12. The platform support 8 is perpendicular to the bottom wall of the processing box 1 and is fixed at the center position of the inner bottom wall of the processing box 1 at the bottom. The platform support 8 extends into the funnel-shaped collector 11 through the middle through hole at the bottom of the funnel-shaped collector 11, and the top of the platform support 8 is fixedly connected to the impact platform 6. The impact platform 6 is horizontally arranged, perpendicular to the platform support 8, parallel to the bottom wall of the processing box 1, and is located in the funnel-shaped collector 11.

[0031] An adjusting knob 9 is arranged on the platform support 8 between the inner bottom wall of the processing box 1 and the bottom of the funnel-shaped collector 11. The adjusting knob 9 can adjust the height of the platform support 8, so that the platform support 8 can be telescoped up and down to realize the displacement of the impact platform 6 in the vertical direction. The platform support 8 is divided into upper and lower sections at the adjusting knob 9. By rotating the adjusting knob 9, the upper section of the platform support 8 can be raised and lowered.

[0032] A workpiece gripper 7 is arranged on the upper surface of the impact platform 6 for fixing the workpiece to be machined, which can ensure the stability of the workpiece to be machined during impact and ensure that the impact platform 6 will not tip over due to excessive kinetic energy. An external secondary abrasive recovery cover 10 is provided above the impact platform 6. In the initial state, the bottom height of the secondary abrasive recovery cover 10 is the same as or slightly lower than the bottom height of the impact platform 6. The bottom of the secondary abrasive recovery cover 10 is open, and the diameter of the open bottom is slightly larger than the outer diameter of the impact platform 6. The bottom of the secondary abrasive recovery cover 10 is lower than the top of the funnel-shaped collector 11.

[0033] The top of the secondary abrasive recovery cover 10 protrudes above the top of the funnel-shaped collector 11, and the top of the secondary abrasive recovery cover 10 is fixedly screwed to the outer wall of the outlet of the high-pressure water pipe 2 by threads. The inlet of the high-pressure water pipe 2 is connected to the top of the recovery tank 31, and a high-pressure water pump 36 is installed near the inlet of the high-pressure water pipe 2, which can pump the water in the recovery tank 31 into the high-pressure water pipe 2.

[0034] A cavitation nozzle 4 is connected to the outlet of the high-pressure water pipe 2, and the cavitation nozzle 4 communicates with the top of the secondary abrasive recovery cover 10. An abrasive pipe 3 is coaxially sleeved inside the high-pressure water pipe 2, and an abrasive nozzle 5 is connected to the outlet of the abrasive pipe 3, and the abrasive nozzle 5 also communicates with the top of the secondary abrasive recovery cover 10. The cavitation nozzle 4 and the abrasive nozzle 5 are located directly above the impact platform 6, and also directly above the workpiece gripper 7 and the workpiece to be machined.

[0035] A flow rate control valve 38 is jointly connected to the high-pressure water pipe 2 and the abrasive pipe 3, and the flow rate control valve 38 is close to the cavitation nozzle 4 and the abrasive nozzle 5. The flow rate control valve 38 is composed of an electric regulating valve, a high-precision flow sensor and a microcontroller, and is connected to the total controller through a wireless module. It can collect the flow rate data of the high-pressure water pipe 2 and the abrasive pipe 3 in real time and wirelessly transmit it to the total controller. The target flow rate can be set at the total controller end. The microcontroller drives the regulating valve to dynamically adjust the opening according to the feedback signal to achieve closed-loop control, and at the same time, the real-time flow rate is displayed on the software interface of the total controller.

[0036] The centers of the platform bracket 8, the processing box 1, the impact platform 6 and the funnel-shaped collector 11 are located on the same axis.

[0037] The abrasive pipe 3 extends from the side wall of the high-pressure water pipe 2, and the inlet of the abrasive pipe 3 faces downward and is connected to the top of the abrasive recovery stirring tank 18. A water abrasive high-pressure pump 35 is provided near the inlet of the abrasive pipe 3, and the water abrasive high-pressure pump 35 can pump the abrasive in the abrasive recovery stirring tank 18 into the abrasive nozzle 5 through the abrasive pipe 3, so as to enter the secondary abrasive recovery cover 10 and then impact the workpiece to be machined downward.

[0038] On the side wall of the abrasive recycling stirring tank 18, an upper inlet 16 and a middle inlet 17 are provided. The bottom of the funnel-shaped collector 11 is respectively connected to the upper acceleration channel 14 and the middle acceleration channel 15 through the collection pipe 13. The collection pipe 13 becomes thinner from the inlet to the outlet, and the upper acceleration channel 14 and the middle acceleration channel 15 are thin channels. The upper acceleration channel 14 is connected to the abrasive recycling stirring tank 18 through the upper inlet 16, and the middle acceleration channel 15 is connected to the abrasive recycling stirring tank 18 through the middle inlet 17. The upper inlet 16 is directly above the middle inlet 17. The inlet of the collection pipe 13 is connected to the bottom end of the funnel-shaped collector 11, and the outlet is connected to the side wall of the abrasive recycling stirring tank 18. The inlet is higher than the outlet, and it is arranged obliquely downward from the funnel-shaped collector 11 to the abrasive recycling stirring tank 18.

[0039] Above the inner side wall of the abrasive recycling stirring tank 18, a concentration monitoring device is provided. The two concentration monitoring devices are respectively the concentration monitoring device one 22-1 and the concentration monitoring device two 22-2, which are arranged symmetrically face to face to monitor the abrasive concentration in the abrasive recycling stirring tank 18.

[0040] Above the side wall of the abrasive recycling stirring tank 18, the bottom of the abrasive replenishment tank 23 is connected through the abrasive replenishment pipe, and an abrasive replenishment valve 24 is provided on the abrasive replenishment pipe.

[0041] At the center of the bottom of the abrasive recycling stirring tank 18, an abrasive jet outlet 25 is opened, which is connected to the water storage tank 29 through the abrasive jet pipe 26. The water level in the water storage tank 29 is lower than the bottom of the abrasive recycling stirring tank 18. A jet speed regulating valve 27 is provided on the abrasive jet pipe 26 to control the abrasive jet speed. On the bottom side wall of the abrasive recycling stirring tank 18, a stirring tank cleaning port 37 is opened, and the inside of the stirring tank can be cleaned of the deposited abrasives through this cleaning port.

[0042] A stirring device is arranged inside the abrasive recycling stirring tank 18. The stirring device includes multiple layers of blades 21, a rotating motor 19, and a rotating shaft 20. The rotating shaft 20 vertically extends to the middle inside the abrasive recycling stirring tank 18. Multiple layers of blades 21 are arranged on the rotating shaft 20. The rotating motor 19 drives the rotating shaft 20 to rotate, thereby driving the multiple layers of blades 21 to rotate together, and the liquid in the abrasive recycling stirring tank 18 can be stirred.

[0043] The bottom of the water storage tank 29 is connected to the top of the recycling tank 31 through the water tank transmission pipe 30. The bottom of the recycling tank 31 is connected to the abrasive replenishment tank 23 through the pipe 39. An infrared sensor 32 is installed at the inner bottom of the recycling tank 31, and a recycling tank valve 34 is installed on the pipe 39 below the infrared sensor 32. On both sides of the inner wall of the recycling tank 31, a pair of electromagnet coils are installed, which are respectively the electromagnet coil 33-1 and the electromagnet coil 33-2, and the pair of electromagnet coils are arranged face to face.

[0044] The heights of the three boxes, namely the processing box 1, the abrasive recycling and stirring box 18, and the water storage box 19, are arranged in a stepped manner from high to low, and their shapes are all cylindrical.

[0045] See Figure 2 , there are four cavitation nozzles 4, namely cavitation nozzle one 4-1, cavitation nozzle two 4-2, cavitation nozzle three 4-3, and cavitation nozzle four 4-4. These four cavitation nozzles 4 are all perpendicular to the impact platform 6 and face the impact platform 6. The four cavitation nozzles 4 are arranged in a rectangle at the four corners. Between the four cavitation nozzles 4, several abrasive nozzles 5 are arranged at intervals in a cross shape. At each cavitation nozzle 4 and each abrasive nozzle 5, a corresponding nozzle valve is provided, and each nozzle valve is respectively connected to a total controller (the general nozzle valve and the total controller are omitted in the figure) to control the operation of different nozzles.

[0046] See Figure 3 , the inner hole of each cavitation nozzle 4 is gradually shrinking, and the lower end is the throat outlet. The inner diameter of the throat outlet channel is smaller than the inner diameter of the upper end inlet channel. The upper end inlet channel is connected to the throat outlet through a 120° conical hole. Water flows in from the upper end inlet to generate cavitation bubbles. Flanges are respectively installed on the cavitation nozzle 4 and the high-pressure water pipeline 2, and the two are connected together by bolts.

[0047] As Figure 4 and Figure 5 shown, the secondary abrasive recycling cover 10 is in the shape of a lantern, and the bottom opening is slightly lower than the top surface of the impact platform 6 or at the same height as the bottom surface of the impact platform 6. Its purpose is to wrap the workpiece to be processed as completely as possible and collect the jet abrasives splashing out due to kinetic energy release to the greatest extent. The upper part of the secondary abrasive recycling cover 10 is tightened to the structure of the cavitation nozzle 4 and the abrasive nozzle 5. There is a thread at the closing part, which is matched with the external thread of the overall structure of the cavitation nozzle 4. After installation, the secondary abrasive recycling cover 10 is screwed tightly on the outside of the nozzle structure, which is convenient for disassembly and assembly, beneficial to regular inspection and replacement of the recycling cover, and reduces the possibility of accidents during work.

[0048] As Figure 1 and Figure 6 shown, one or more upper inlets 16 and middle inlets 17 can be respectively provided. One upper inlet 16 and one middle inlet 17 are respectively connected to a corresponding upper acceleration channel 14 and a middle acceleration channel 15. When multiple upper inlets 16 and middle inlets 17 are provided, the multiple upper inlets 16 are evenly arranged in the circumferential direction at the same height and are arranged at an acute angle with the tangent direction at the connection with the abrasive recycling and stirring box 18. Similarly, the multiple middle inlets 17 are evenly arranged in the circumferential direction at the same height and are arranged at an angle with the tangent direction at the connection with the abrasive recycling and stirring box 18. Figure 6Only three upper inlets 16 and middle inlets 17 arranged circumferentially at the same height are shown, namely upper inlets 16-1, 16-2, 16-3 and middle inlets 17-1, 17-2, 17-3. The multiple upper inlets 16 and multiple middle inlets 17 are spaced 120° apart from each other in the space at the same height.

[0049] The principle of cavitating water jet generation is to pressurize the water medium with a water-abrasive high-pressure pump 35 and a water high-pressure pump 36, and then convert the pressure energy of the water medium into the kinetic energy of the water jet through a cavitating nozzle 4, and eject it at subsonic or supersonic speed, so as to form a high-speed water jet beam. Concentrate the high-speed water jet beam on a point on the material, and the cutting, punching, forming, cleaning, surface shot peening strengthening, etc. of the workpiece material can be completed by using the water energy. The cavitating water jet shot peening technology overcomes the disadvantages of the traditional shot peening technology such as high cost, complex equipment, high surface roughness of the workpiece, and environmental pollution. The principle of water jet with abrasives refers to adding a certain number of abrasive particles into the water jet to form an abrasive water jet, and using the impact, shear breakage (cutting) and erosion effects of the abrasive water jet to cut the workpiece. In the abrasive water jet, the mass and speed of the abrasive particles are very large, so it has a very high kinetic energy. When the abrasive water jet impacts the workpiece surface, the abrasive particles will have an impact on the workpiece surface, causing the material on the workpiece surface to deform and break. At the same time, the abrasive particles will also produce a shear breakage (cutting) effect on the workpiece surface, cutting off and removing the material on the workpiece surface. In addition, the water in the abrasive water jet will also have an erosion effect on the workpiece surface, dissolving and removing the material on the workpiece surface. The water jet with abrasives technology has the advantages of high cutting efficiency, good cut quality, high material utilization rate, strong versatility, no heat generation of the workpiece during cutting, and good environmental protection effect. However, too high an impact speed will cause the nozzle to wear quickly, resulting in frequent replacement and affecting normal working use. Therefore, the abrasive addition method of the present invention is a post-injection type. First, a cavitating water jet is formed in the cavitating nozzle 4, and then as Figure 2The abrasive grains are ejected at the center "plus" sign of the four cavitation nozzles 4 shown. During the high-speed flow of the cavitating water jet, the pressure is low where the flow velocity is fast. When the local pressure drops below the saturated vapor pressure of water, cavitation occurs. During the growth and collapse of the cavitation bubbles, the surrounding fluid rapidly moves towards the center of the cavitation bubbles, resulting in a locally negative pressure region. Under the action of the pressure difference of the surrounding fluid, the abrasive grains are sucked into this negative pressure region and thus entrained into the cavitating water jet. The water jet is usually in a turbulent state, and turbulence has irregular pulsating characteristics and vortex structures. Near the jet boundary layer, these vortex structures can entrain the abrasive grains into the interior of the jet. When the cavitation bubbles collapse, shock waves are also generated. The shock waves propagate in the fluid, causing strong disturbances to the surrounding fluid. This disturbance will change the pressure field and velocity field around the abrasive grains, making them more vulnerable to the entrainment effect of the jet. This method can better control the injection time, quantity, and position of the abrasive grains. For example, in the present invention, the position of the abrasive grains ejected is adjusted to adjust the position where the abrasive jet acts on the workpiece to be processed, solving the problem of difficult adjustment of the nozzle angle.

[0050] Before the device works, inject water to two-thirds of the box volume into the water storage tank 29 to ensure sufficient water source during the operation of the device.

[0051] When the device works, place the workpiece to be processed on the impact platform 6 and fasten it with the workpiece clamp 7. At the same time, turn on the motor 19 of the stirring device, the water-abrasive high-pressure pump 35, the water high-pressure pump 36, and the jet speed regulating valve 27, and keep the abrasive replenishing valve 24 and the recovery tank valve 34 in the closed state. The high-pressure water pipeline 2 draws water from the temporarily stored water storage tank 29. When the water flow passes through the water storage tank 29 and the abrasive recovery and stirring tank 18 and enters the cavitation nozzle 4 through the high-pressure water pipeline 2, it is divided into four high-pressure water pipelines, which are respectively ejected downward from the cavitation nozzle one 4-1, the cavitation nozzle two 4-2, the cavitation nozzle three 4-3, and the cavitation nozzle four 4-4. The abrasive pipeline 3 draws water from the abrasive recovery and stirring tank 18 to provide jet abrasive grains for the abrasive nozzle 5. At this time, precise flow and water pressure regulation can be carried out through the jet speed regulating valve 27. The jet speed regulating valve 27 is connected to the total controller, and remote control can be achieved through the total controller.

[0052] The high-pressure water jet is ejected from the cavitation nozzle 4 at high speed, cooperating with the abrasive grains ejected from the abrasive nozzle 5, and acts on the workpiece to be processed on the impact platform 6 together. Due to its extremely high speed, the jet has a large kinetic energy. After impacting the workpiece to be processed, the jet splashes around along the projection of the axis line on the impact platform 6 due to the release of kinetic energy. The secondary abrasive recovery cover 10 can effectively capture the jet abrasive grains, enabling the splashed jet abrasive grains to rush towards the main abrasive jet along the arc-shaped outer wall of the secondary abrasive recovery cover 10, and after converging with the main jet, impact the workpiece to be processed again for secondary impact, significantly enhancing the processing effect.

[0053] After the high-speed abrasive jet impacts the workpiece to be processed, it splashes outwards. Due to the uncertainty of the splashing direction and the action of gravity, some of the splashed abrasive grains and water flow cannot be captured by the secondary abrasive recovery cover 10, and will flow downward into the funnel-shaped collector 11 under the action of gravity. The funnel-shaped collector 11 can collect all the flowing abrasive grains and water flow. Such an arrangement can collect the outward-splashing jet abrasive grains and water flow more efficiently, greatly improve the work efficiency, and at the same time reduce the loss of magnetic abrasive grains, achieving the effect of abrasive grain recycling, so as to achieve the purpose of green environmental protection. The abrasive grains and water flow that enter the funnel-shaped collector 11 flow downward together into the collection pipe 13. Since the collection pipe 13 becomes thinner from thick, according to the principle of fluid mechanics, the abrasive grains and water flow achieve an acceleration effect in the collection pipe 13. The water flow and abrasive grains are divided into two parts before entering the abrasive recovery stirring box body 18, and respectively enter the upper acceleration channel 14 and the middle acceleration channel 15. Taking Figure 6 as an example, the acceleration channels are respectively divided into three inlets in the upper and middle parts, the upper inlets 16-1, 16-2, 16-3 and the middle inlets 17-1, 17-2, 17-3. The acceleration channels are obliquely injected into the abrasive recovery stirring box 18 at an angle along the tangential direction of the box body of the abrasive recovery stirring box 18. The schematic diagram of the injected abrasive grains and water flow is as shown in Figure 7 . This arrangement can reduce the phenomenon that the data obtained by the abrasive grain concentration monitoring system does not match the actual situation due to the excessive or too low local concentration caused by the accumulation of abrasive grains when the abrasive grains enter the abrasive recovery stirring box 18, ensure the effectiveness and normal and stable operation of the monitoring system data, and can also reduce the working pressure of the original stirring state in the abrasive recovery stirring box 18, making the abrasive grains more evenly distributed in the abrasive recovery stirring box 18. Since the abrasive grains and water flow have a certain initial velocity after passing through the acceleration channels before entering the abrasive recovery stirring box body 18, and the box body is designed as a cylindrical barrel, an eddy current is formed in the box body without stirring, which can bring a certain kinetic energy to the rotating blades. The motor 19 is connected to the rotating shaft 20 in the box body, and four layers of spiral blades are evenly arranged on the shaft from high to low, making the stirring more efficient and uniform. Coupled with the original eddy current brought by the abrasive grain water, the working pressure of the motor 19 is reduced, which implements the concept of green environmental protection to a certain extent. During the stirring process, the abrasive grains will be affected by the centrifugal force. The centrifugal force will cause the abrasive grains to move towards the edge of the abrasive recovery stirring box 18, as shown in Figure 7 , and a relatively high-concentration abrasive grain layer is formed near the box wall. In addition to gathering towards the edge, a complex circulating flow will also be formed inside the box body. The abrasive grains near the bottom of the box body of the abrasive recovery stirring box 18 will move upward along the box wall under the combined action of the centrifugal force and the liquid flow, and then there will be a downward flow in the central area. During this circulating process, the abrasive grains will be continuously mixed and redistributed, forming an annular water flow, and the abrasive grains are carried along in this water flow, making the distribution of the abrasive grains more uniform throughout the box body.

[0054] Under the action of the water mill abrasive high-pressure pump 35, the evenly stirred abrasives in the abrasive recycling and stirring tank 18 will be pumped into the abrasive pipeline 3 from the opening at the top of the tank body, flow through the abrasive pipeline 3 and into the abrasive nozzle 5 to complete the recycling of the abrasives. Under the action of gravity, the abrasives that have not been fully stirred in the abrasive recycling and stirring tank 18 will be close to the bottom of the tank body. The abrasive jet outlet 25 is opened 10 cm above the bottom of the axis of the abrasive recycling and stirring tank 18. The bottom abrasives cannot move upward spontaneously due to gravity deposition, so that as few abrasives as possible flow into the subsequent pipelines and the water storage tank 29 through the abrasive jet outlet 25. The water and abrasive flow flows from the abrasive recycling and stirring tank 18, flows into the abrasive jet pipeline 26 through the abrasive jet outlet 25, passes through the jet speed regulating valve 27 to further reduce the flow rate and reduce the impact pressure on the pipeline and the water storage tank 29.

[0055] Under the action of the water high-pressure pump 36, the water flow is pumped out from the bottom of the water storage tank 29, and the deposited abrasives can be carried out. After passing through the water tank transmission pipeline 30 and flowing through the recycling tank 31, the electromagnet coils 33-1 and 33-2 are energized to continuously adsorb the abrasives remaining in the water flow, so that the abrasives accumulate at the bottom of the recycling tank body 31. The water flow above the recycling tank 31 then passes through the high-pressure water pipeline 2 and into the cavitation nozzle 4 to complete the water flow closed-loop. The water flow becomes high-speed water after passing through the high-pressure pump, converges with the abrasive jet and enters the nozzle for the next step of work.

[0056] At this time, when the infrared sensor 32 senses that the abrasives in the recycling tank 31 are full, it will feedback to the total controller to turn off the electromagnet coils 33-1 and 33-2. When the recycling tank valve 34 is opened, the collected abrasives will fall into the abrasive replenishment tank 23 under the action of gravity, and then the electromagnet coils 33-1 and 33-2 continue to work normally.

[0057] In the abrasive recycling and stirring tank 18, the concentration detection device 1 22-1 and the concentration monitoring device 2 22-2 are placed opposite to each other, with the height above the upper inlet 16 and connected to the total controller to monitor the abrasive concentration and synchronize the information to the abrasive replenishment tank 23. When the concentration detection device 1 22-1 and the concentration monitoring device 2 22-2 detect that the abrasive concentration is too low, the electromagnet coils 33-1 and 33-2 are powered off, and the abrasives fall under the action of gravity, opening the recycling tank valve 34 and the replenishment pipeline valve 24. At this time, there are already more abrasives accumulated in the recycling tank body 31. After the replenishment pipeline valve 24 is opened, the abrasives fall downward into the abrasive temporary storage tank 23 under the action of gravity, and then enter the abrasive recycling and stirring tank body 18 through the opened recycling tank valve 34 to be stirred with the low-concentration abrasive liquid.

[0058] After the processing is completed, turn off the motor 19 of the stirring device, the water mill abrasive high-pressure pump 35, and the water high-pressure pump 36, and open the cleaning port 37 of the stirring tank to clean the abrasives deposited inside the abrasive recycling and stirring tank body 18.

[0059] During the processing, the corresponding nozzle valves on the four nozzles, namely the cavitation nozzle 1 4-1, the cavitation nozzle 2 4-2, the cavitation nozzle 3 4-3, and the cavitation nozzle 4 4-4, can be adjusted to change the impact intensity of each cavitation nozzle and also the impact angle of the four cavitation nozzles. The corresponding nozzle valve of the abrasive nozzle 5 can be adjusted to change the flow rate and injection intensity of the abrasive jet. Through the flow velocity control valve 38, the supply amounts of the abrasive and the high-pressure water are controlled. Through flow rate adjustment, the mixing ratio of the abrasive and the liquid and the total flow rate are precisely controlled. If the abrasive flow rate is too large, it will lead to too high injection intensity, causing the nozzle head to wear out earlier and unable to work. Reducing the flow rate to an appropriate range can not only ensure the working efficiency but also reduce the wear of the nozzle head.

[0060] The following specifically describes the composite and collaborative working process of the four cavitation nozzles 4 and the multiple abrasive nozzles 5:

[0061] First, establish a coordinate system with the cross center of the abrasive nozzle 5 as the origin. Take the line connecting the center of the first cavitation nozzle 4-1 to the center of the third cavitation nozzle 4-3 as the X direction, the line connecting the center of the first cavitation nozzle 4-1 to the center of the second cavitation nozzle 4-2 as the Y direction, and the Z direction is vertically upward. The four high-pressure cavitation nozzles 4 and the abrasive nozzle 5 are both connected to the main controller. Through digital control technology, the speed of the high-pressure water flow and the number of abrasives can be precisely regulated. In the working state, the four high-pressure cavitation nozzles 4 will eject high-pressure water at the same pressure and speed. Before the four water jets interact with each other, each water jet has its own independent flow characteristics. They flow in an approximately parallel direction, and parameters such as speed, flow rate, and the diameter of the water flow are relatively stable. Since the four water flows are ejected from nozzles of the same type and have nearly the same initial speed and pressure, each water jet can be regarded as a cylindrical water body moving rapidly in space. Its boundary is relatively clear, and the internal water flow speed distribution is generally the largest at the center. Due to factors such as friction with the surrounding air near the edge, the speed gradually decreases. There is a certain pressure inside each water jet. The pressure is relatively low on the central axis of the water jet, while at the boundary of the jet, due to contact with the surrounding static air or other media, a certain pressure difference will be generated. This pressure difference enables the water jet to maintain its shape and flow forward. When the four water jets start to converge, they will collide. At the collision point, there will be a strong momentum exchange between water molecules. According to the law of conservation of momentum, high-speed moving water molecules will transfer momentum to other water molecules during the collision. When the speed of one of the water jets is slightly higher, it will transfer part of its momentum to the water jet with a lower speed during the collision, causing the speed and direction of these water jets to change. This momentum exchange will cause the flow directions of the four water jets to gradually approach the center, forming a water flow pattern similar to a vortex or convergence. After the four water jets converge, a new and larger water flow body will be formed. The shape of this water flow body will be affected by various factors. In the present invention, the purpose of changing the direction of the large water flow body is achieved through the pressure difference between the water columns. Because during the convergence process, the water bodies of the four water jets fully penetrate and exchange positions with each other, and the mixing of abrasives in the converged water flow is more uniform.

[0062] Solution 1: When adjusting the cavitation nozzle 1 (4-1) and the cavitation nozzle 2 (4-2) to increase their speeds while decreasing the speeds of the other cavitation nozzle 3 (4-3) and the cavitation nozzle 4 (4-4), according to Bernoulli's principle, the pressure in the area with increased flow velocity will decrease, while the pressure in the area with decreased flow velocity will increase. Therefore, the high-speed water flow from the cavitation nozzle 1 (4-1) and the cavitation nozzle 2 (4-2) will generate a lower pressure, lower than that of the cavitation nozzle 3 (4-3) and the cavitation nozzle 4 (4-4), thus forming a pressure difference. This pressure difference will cause the water flow to move from the high-pressure area to the low-pressure area, thereby changing the speed and direction of the overall water flow. In this case, the water flow ejected from the cavitation nozzle 3 (4-3) and the cavitation nozzle 4 (4-4) will shift towards the direction of the water flow ejected from the cavitation nozzle 1 (4-1) and the cavitation nozzle 2 (4-2), resulting in the overall water flow shifting towards the positive direction of the Z-axis, as Figure 8 shown, achieving enhanced processing of the upper part of the workpiece to be processed on the impact platform 6.

[0063] Solution 2: When only increasing the speed of the cavitation nozzle 1 (4-1) while decreasing the speeds of the cavitation nozzle 2 (4-2), the cavitation nozzle 3 (4-3), and the cavitation nozzle 4 (4-4), according to Bernoulli's principle, the pressure at the cavitation nozzle 1 (4-1) decreases significantly, and the jet flows ejected from the other three nozzles are greater than the pressure at the cavitation nozzle 1 (4-1), so they will swing towards the cavitation nozzle 1 (4-1), and the combined total water flow shifts towards the second quadrant, as Figure 9 shown, achieving impact processing of the upper left corner of the workpiece to be processed on the impact platform 6.

[0064] Solution 3: When increasing the speeds of the cavitation nozzle 1 (4-1), the cavitation nozzle 2 (4-2), and the cavitation nozzle 3 (4-3) while only decreasing the speed of the cavitation nozzle 4 (4-4), the total jet flow also swings towards the second quadrant, achieving impact processing of the upper left corner of the workpiece to be processed on the impact platform 6. The effect of Solution 3 is similar to that of Solution 2. However, in Solution 3, increasing the speeds of three of the nozzles will lead to increased wear of multiple nozzles. Therefore, after economic consideration, the present invention generally uses the method of increasing the jet flow speed of one or two of the nozzles to change the position of impact processing. During operation, it is only necessary to increase the speed of the cavitation nozzle corresponding to directly above the position where processing is required.

[0065] When the overall water flow shifts in a certain direction, increase the abrasive particles ejected by the abrasive nozzle 5 at this position. Correspondingly, reduce the abrasive particles ejected by the abrasive nozzle 5 above the opposite position to meet the working requirements. During processing, by adjusting the flow velocity and pressure of each high-pressure water nozzle, the adjustment of the impact direction is achieved. Adding the "cross"-shaped arranged abrasive nozzles 5 improves the impact efficiency and realizes precise processing of each position on the processing platform, solving the problem that the traditional cavitation water jet nozzle cannot adjust the angle.

Claims

1. A multifunctional composite water jet coordinated abrasive impact strengthening device, comprising a processing box (1), characterized in that: The top of the processing box (1) is open, and a funnel-shaped collector (11) and an impact platform (6) located in the funnel-shaped collector (11) are provided inside; the impact platform (6) is covered with a secondary abrasive recovery cover (10), the top of the secondary abrasive recovery cover (10) is fixedly connected to the outlet of a high-pressure water pipeline (2), the inlet of the high-pressure water pipeline (2) is connected to the top of a recovery box (31), and a water high-pressure pump (36) is installed near the inlet of the high-pressure water pipeline (2); the outlet of the high-pressure water pipeline (2) is connected to a cavitation nozzle (4), the inside of the high-pressure water pipeline (2) is coaxially sleeved with an abrasive pipeline (3), the outlet of the abrasive pipeline (3) is connected to an abrasive nozzle (5), and a flow rate control valve (38) is connected to the high-pressure water pipeline (2) and the abrasive pipeline (3); the abrasive pipeline (3) extends from the side wall of the high-pressure water pipeline (2) and is connected to the top of an abrasive recovery stirring box (18) downward, and a water abrasive high-pressure pump (35) is provided on the abrasive pipeline (3); The bottom of the funnel-shaped collector (11) is connected to the abrasive recovery stirring box (18) via a collection pipe (13), and a concentration monitoring device is arranged above the inner wall of the abrasive recovery stirring box (18); The center of the bottom of the abrasive recovery mixing box (18) is connected to a water storage tank (29) via an abrasive jet pipeline (26), and a jet speed regulating valve (27) is arranged on the abrasive jet pipeline (26); A stirring device is arranged inside the abrasive recovery stirring box (18); The bottom of the water storage tank (29) is connected to the top of the recovery tank (31) via a water tank transmission pipeline (30), the bottom of the recovery tank (31) is connected to the abrasive replenishment tank (23) via a recovery pipeline (39), an infrared sensor (32) is installed at the bottom of the recovery tank (31), a recovery tank valve (34) is installed on the recovery pipeline (39), and a pair of electromagnet coils are installed on both sides of the inner wall of the recovery tank (31); The upper side wall of the abrasive recovery mixing box (18) is connected to the bottom of the abrasive replenishing box (23) via an abrasive replenishing pipe, and an abrasive replenishing valve (24) is provided on the abrasive replenishing pipe; Four cavitation nozzles (4) are arranged at four corners of a rectangle, and a plurality of abrasive nozzles (5) are arranged in a cross-like manner with intervals between the four cavitation nozzles (4). Each cavitation nozzle (4) and each abrasive nozzle (5) is provided with a corresponding nozzle valve.

2. The multifunctional composite water jet coordinated abrasive impact strengthening device according to claim 1 is characterized in that: An upper inlet (16) and a middle inlet (17) are arranged on the side wall of the abrasive recovery stirring box (18), the upper inlet (16) is located directly above the middle inlet (17), the bottom of the funnel-shaped collector (11) is respectively connected to the upper acceleration channel (14) and the middle acceleration channel (15) through a collecting pipe (13), the upper acceleration channel (14) is connected to the abrasive recovery stirring box (18) through the upper inlet (16), and the middle acceleration channel (15) is connected to the abrasive recovery stirring box (18) through the middle inlet (17).

3. The multifunctional composite water jet coordinated abrasive impact strengthening device according to claim 2 is characterized in that: The upper inlet 16 and the middle inlet (17) are one or more, respectively. One upper inlet (16) and one middle inlet (17) are connected to a corresponding upper acceleration channel (14) and a corresponding middle acceleration channel (15), respectively. When multiple upper inlets (16) and middle inlets (17) are provided, the multiple upper inlets (16) are evenly arranged along the circumferential direction at the same height and are arranged at an acute angle to the tangent direction of the connection with the abrasive recovery stirring box (18); the multiple middle inlets (17) are evenly arranged along the circumferential direction at the same height and are arranged at an angle to the tangent direction of the connection with the abrasive recovery stirring box (18).

4. The multifunctional composite water jet coordinated abrasive impact strengthening device according to claim 1, characterized in that: The stirring device comprises a plurality of blades (21), a rotating motor (19) and a rotating shaft (20). The rotating shaft (20) extends vertically into the middle of the abrasive recovery stirring box (18). The plurality of blades (21) are arranged on the rotating shaft (20). The rotating motor (19) drives the rotating shaft (20) to rotate.

5. The multifunctional composite water jet coordinated abrasive impact strengthening device according to claim 1 is characterized in that: The platform support (8) is perpendicular to the bottom wall of the processing box (1), and the bottom is fixed at the center position of the inner bottom wall of the processing box (1). The platform support (8) extends into the funnel-shaped collector (11) from the middle through hole at the bottom of the funnel-shaped collector (11), and the top of the platform support (8) is fixedly connected to the impact platform (6); an adjustment knob (9) is provided on the platform support (8) between the inner bottom wall of the processing box (1) and the bottom of the funnel-shaped collector (11), and the adjustment knob (9) can adjust the height of the platform support (8).

6. An impact strengthening method using the multifunctional composite water jet coordinated abrasive impact strengthening device as claimed in claim 1, characterized in that The following steps are involved: Step 1): placing the workpiece to be processed on the impact platform (6) and fastening it; The stirring device, the abrasive high-pressure pump (35), the water high-pressure pump (36) and the jet speed regulating valve (27) are turned on, and the abrasive replenishing valve (24) and the recovery tank valve (34) are kept closed; water flows from the water storage tank (29) and the abrasive recovery mixing tank (18) through the high-pressure water pipeline (2) into the cavitation nozzle (4), and is divided into four high-pressure water pipelines to be sprayed downward, and the abrasive pipeline (3) is drained from the abrasive recovery mixing tank (18) and acts on the workpiece to be processed together; the secondary abrasive recovery cover (10) captures the jet abrasive particles, so that the splashed jet abrasive particles impact the workpiece to be processed again; Step 2): a portion of the splashed abrasive particles and water flow into the funnel-shaped collector (11) under the action of gravity, and flow into the abrasive particle recovery mixing box (18) for mixing; under the action of the water abrasive particle high-pressure pump (35), the abrasive particles stirred evenly in the abrasive particle recovery mixing box (18) are pumped into the abrasive particle pipeline (3) and flow into the abrasive particle nozzle (5), completing the circulation of the abrasive particles; Step 3): Under the action of gravity, the abrasive particles that are not fully stirred in the abrasive recovery mixing box (18) flow into the water storage tank (29). Under the action of the water high-pressure pump (36), water is pumped out from the bottom of the water storage tank (29), taking out the deposited abrasive particles, and flowing through the recovery box (31). The electromagnet coil is energized to absorb the abrasive particles remaining in the water flow, so that the abrasive particles are accumulated at the bottom of the recovery box (31). The water flow above the recovery box (31) flows into the cavitation nozzle (4) through the high-pressure water pipe (2), completing the water flow closed loop.

7. The impact strengthening method according to claim 6, characterized in that: When the infrared sensor (32) senses that the recovery box (31) is full of abrasive particles, the electromagnetic coil is closed; when the recovery box valve (34) is opened, the collected abrasive particles fall into the abrasive particle replenishing box (23) under the action of gravity, and then the electromagnetic coil continues to work.

8. The impact strengthening method according to claim 6, characterized in that: When the concentration detection device detects that the abrasive concentration is too low, the electromagnet coil is powered off, the abrasive falls under the action of gravity, the recovery box valve (34) and the replenishment pipeline valve (24) are opened, and the abrasive falls into the abrasive recovery stirring box (18).

9. The impact strengthening method according to claim 6, characterized in that: The supply amount of abrasive particles and high-pressure water is controlled by a flow rate control valve (38), and the corresponding nozzle valves on the four cavitation nozzles and the abrasive particle nozzle (5) are adjusted to change the impact intensity and angle of each cavitation nozzle, change the abrasive particle jet and injection intensity, and control the supply amount of abrasive particles and high-pressure water by the flow rate control valve (38).

10. The impact strengthening method according to any one of claims 6 to 9, characterized in that: When the water jet speed of one of the cavitation nozzles (4) is adjusted to increase, while the water jet speed of the other cavitation nozzles (4) is reduced, a pressure difference is formed, which causes the water flow to flow from the high-pressure area to the low-pressure area, changes the speed and direction of the overall water flow, and realizes partial enhanced processing of the workpiece to be processed.

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