Multi-pose operation system and control method thereof

Abstract

The invention provides a multi-pose operation system which comprises a high-pressure power assembly, an abrasive adding assembly, a pulse cavitation abrasive particle jet flow nozzle and a nozzle driving system, the high-pressure power assembly pumps water in a water tank into a water supply pipeline, and the water flows through the abrasive adding assembly after being filtered by a filter; the abrasive adding assembly is used for controlling the amount of abrasive entering the water supply pipeline in unit time. The pulse cavitation abrasive particle jet nozzle comprises a resonant cavity, a water inlet is formed in the side wall of the resonant cavity and connected with a water supply pipeline, one end of the resonant cavity is connected with at least one waveguide tube, the end, away from the resonant cavity, of the waveguide tube is connected with a spraying piece, the outer side of the spraying piece is connected with a spraying head, and the spraying head can conduct jet operation. The nozzle driving system is used for bearing the pulse cavitation abrasive particle jet flow nozzle so as to move the pulse cavitation abrasive particle jet flow nozzle to the surface of the workpiece to be machined. According to the invention, a triple synergistic effect of abrasive cutting, ultrasonic excitation and cavitation impact is formed, so that the jet breaking capacity is obviously enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water jet, in particular to a multi-pose operation system and a control method thereof. BACKGROUND

[0002] Water jet technology has a wide application prospect in the industrial fields of oil and gas exploitation, deep-sea resource development, hard rock mine tunneling, high-end material cutting and major facility cleaning. Compared with traditional mechanical cutters which have serious wear and tear, and blasting operations which have high risk and are limited, high-pressure water jet technology has unique advantages such as cold cutting, no thermal damage and environmental protection, and has become a key solution in the above-mentioned fields.

[0003] Existing water jet technology mainly includes pulse jet, cavitation jet and abrasive jet. Among them, pulse jet is a continuous jet that is gradually dispersed under the action of mechanical truncation, external impact or self-excited oscillation, which can greatly reduce the water cushion effect of continuous jet, and the water hammer effect and high-frequency shock wave caused by pulse can greatly improve the efficiency of jet operation. Cavitation jet is a high-speed gas-liquid two-phase jet produced by phase change of liquid when high-speed single-phase jet flows through a special cavity nozzle or under the action of ultrasonic waves, and the instantaneous shock wave, microjet and local high temperature produced by the collapse of a large number of bubbles will produce great destructive power and enhance the jet destruction ability. Abrasive jet is a high-speed abrasive slurry jet formed by accelerating the acceleration of abrasive such as diamond in single-phase fluid and jetting out in a special nozzle, which uses the sharp edge of abrasive and high-speed kinetic energy to cut and crush the work object, greatly improving the energy utilization efficiency of pure water jet.

[0004] Existing jet systems only contain one or two of the above effects, and the operation level still cannot meet the demand of high efficiency and low energy consumption, and the operation angle is not flexible enough, which ultimately makes the jet operation effect not ideal. SUMMARY

[0005] In order to overcome the problem that the operation level of the existing jet operation system still cannot meet the demand of high efficiency and low energy consumption, and the operation angle is not flexible enough, the present application provides a multi-pose operation system and a control method thereof.

[0006] The present application provides a multi-pose operation system, which comprises a high-pressure power assembly, an abrasive adding assembly, a pulse cavitation abrasive particle jet nozzle, an excitation controller and a nozzle driving system; wherein, The high-pressure power assembly comprises a water tank, a high-pressure pump and a filter connected in sequence through a water supply pipeline, the high-pressure pump pumps water in the water tank into the water supply pipeline, and the water flows through the abrasive adding assembly after being filtered by the filter; The abrasive addition component is located between the high-pressure power component and the pulse cavitation abrasive jet nozzle. It includes a sealed loading port, an abrasive tank, and a discharge valve. The abrasive tank stores abrasive. The discharge valve is used to control the amount of abrasive entering the water supply pipeline per unit time. The inlet end of the abrasive tank is provided with a sealed loading port, which is used to add abrasive particles to the abrasive tank. The pulsed cavitation abrasive jet nozzle includes a resonant cavity, an inlet formed on the side wall of the resonant cavity, the inlet being connected to a water supply pipeline, at least one waveguide connected to one end of the resonant cavity, a spray plate connected to the end of the waveguide away from the resonant cavity, a nozzle connected to the outside of the spray plate, and the nozzle being able to perform jet operation; an amplitude transformer connected to the other end of the resonant cavity, one end of the amplitude transformer extending to the outside of the resonant cavity; The excitation controller is connected to one end of the amplitude transformer located outside the resonant cavity, and is used to output ultrasonic waves to the amplitude transformer. The nozzle drive system is used to carry the pulse cavitation abrasive jet nozzle to move the pulse cavitation abrasive jet nozzle to the surface of the workpiece to be processed.

[0007] Furthermore, the nozzle driving system includes a wall-climbing motion component, which includes a cleaning disc, an airbag, and a magnetic drive component. The cleaning disc is used to support the pulse cavitation abrasive jet nozzle, providing a closed working environment for the pulse cavitation abrasive jet nozzle and recovering wastewater. The airbag is disposed between the cleaning disc and the surface to be worked on to prevent wastewater from overflowing.

[0008] Furthermore, the magnetic drive assembly includes a magnetic wheel, an arc-shaped magnet, a reversing reducer, a frame, a servo motor, and a rubber wheel. The servo motor is mounted on the frame, the reversing reducer is connected to the output shaft of the servo motor, and the rubber wheel is connected to the output shaft of the reversing reducer to drive the rubber wheel to rotate. The magnetic wheel and the arc-shaped magnet are disposed on the frame. The magnetic wheel is used to assist the wall-climbing motion assembly in moving on the wall at different angles and to provide auxiliary adsorption force. The arc-shaped magnet is used to provide adsorption force.

[0009] Furthermore, the nozzle driving system includes a nozzle motion assembly and a jet operation assembly. The nozzle motion assembly includes a ball screw drive assembly, a movable slide connected to the ball screw of the ball screw drive assembly, a nozzle bracket mounted on the movable slide, and a pulse cavitation abrasive jet nozzle mounted on the nozzle bracket, so that the pulse cavitation abrasive jet nozzle can slide back and forth horizontally with the movable slide under the drive of the ball screw drive assembly, and move back and forth vertically on the nozzle bracket. The jet operation assembly is located below the pulse cavitation abrasive jet nozzle and includes a working chamber and a target plate. The target plate is located in the working chamber and is used to fix the workpiece.

[0010] Furthermore, the jet processing assembly also includes a processing chamber filter and an acoustic emission sensor disposed in the processing chamber; wherein, the processing chamber filter is used to filter abrasive particles in the processing chamber; the acoustic emission sensor is used to detect sound waves or elastic waves inside the workpiece and convert them into electrical signals for monitoring the processing status.

[0011] Furthermore, the system also includes a water circulation assembly disposed between the nozzle drive system and the water tank. The water circulation assembly includes a return filter and a return water pipe. The return water pipe connects the nozzle drive system and the water tank, allowing wastewater generated by the nozzle drive system to flow back into the water tank. The return filter is disposed in the return water pipe to prevent residual abrasive particles entering the return water pipe from entering the water tank.

[0012] Furthermore, the water inlet is inclined on the resonant cavity to reduce wear on the inner wall of the resonant cavity; and / or, the waveguide is detachably connected to the resonant cavity, the waveguide is a straight tubular structure, and / or the waveguide is a bent structure.

[0013] Furthermore, the nozzle and the spray blade are axially movable relative to each other, so that the relative position of the nozzle and the outlet of the nozzle in the axial direction can be adjusted; and / or, the nozzle and the spray blade are detachably connected, so that either the nozzle or the spray blade can be replaced.

[0014] Furthermore, the resonant cavity includes a receiving cavity near one end of the waveguide and a connecting cavity near one end of the amplitude transformer, the diameter of which is larger than the diameter of the receiving cavity; the amplitude transformer includes an output section, a transition section, a connecting section, and an input section arranged sequentially along the axial direction, the output section being a cylindrical structure with a diameter matching the diameter of the receiving cavity; the connecting section being a cylindrical structure with a diameter larger than that of the output section, and the connecting section is threadedly connected to the connecting cavity; a transition section is provided between the output section and the connecting section, the transition section being located in the connecting cavity of the resonant cavity, allowing the amplitude transformer to transition smoothly from the output section to the connecting section; the input section is located outside the resonant cavity, and the diameter of the input section is smaller than that of the connecting cavity. The diameter of the connecting section; a small sealing ring is also provided between the inner side wall of the resonant cavity and the outer side wall of the output end of the amplitude transformer to seal the fluid in the resonant cavity; the connecting cavity of the resonant cavity includes a transition cavity and a connecting threaded cavity, the diameter of the transition cavity is smaller than the diameter of the connecting threaded cavity, so that a stepped plane is formed between the transition cavity and the connecting threaded cavity of the resonant cavity; the transition section of the amplitude transformer is set in the transition cavity and maintains a gap with the side wall of the transition cavity; the connecting section of the amplitude transformer is connected to the connecting threaded cavity of the resonant cavity, and a large sealing ring is provided between the connecting section of the amplitude transformer and the stepped plane of the resonant cavity to isolate vibration between the resonant cavity and the amplitude transformer.

[0015] Another aspect of the present invention provides a control method for a multi-pose working system based on the above-described embodiments, the method comprising: The nozzle drive system controls the pulse cavitation abrasive jet nozzle to move to the predetermined working position; Adjust the high-pressure pump to make the injection pressure meet the set value, and control the discharge valve to open so that the abrasive tank adds abrasive particles to the high-speed water flow in the water supply pipeline and mixes them thoroughly. Turn on the excitation controller and adjust the amplitude and frequency to the set values. High-pressure water enters the pulse cavitation abrasive jet nozzle through the water supply pipeline. The high-speed jet of fully mixed abrasive particles is sprayed into the surface to be processed through the spray plate.

[0016] The multi-position jet processing system provided by this invention, in conjunction with a pulsed cavitation abrasive jet nozzle, forms a "hydraulic combination" of cavitation erosion and abrasive erosion when abrasive is added. This fully leverages the respective advantages of pulsed jet water hammer impact, cavitation jet erosion, and abrasive jet particle abrasion, enhancing erosion and crushing capabilities. Simultaneously, it allows for flexible switching of operating modes, achieving non-destructive cleaning of vulnerable materials through the synergistic effect of pulse and cavitation in the absence of abrasive, adapting to different operational needs. Furthermore, the system possesses mobile operation capabilities, adapting to the spatial requirements of different operational scenarios, further expanding the application areas of jet processing.

[0017] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. In the drawings: Figure 1 This is a schematic diagram of the structure of a pulse cavitation abrasive jet nozzle according to an embodiment of the present invention; Figure 2 for Figure 1 A cross-sectional view along the AA direction; Figure 3 This is a schematic diagram of the jet operation system according to an embodiment of the present invention. Detailed Implementation

[0019] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0020] It should be noted that the pulse cavitation abrasive jet nozzle 30 provided in this embodiment of the invention is as follows: Figure 1 As shown, the pulse cavitation abrasive jet nozzle provided in this embodiment of the invention is a multi-nozzle nozzle device 32, having an oblique water inlet end and a nozzle end that can be in any direction.

[0021] Furthermore, the pulsed cavitation abrasive jet nozzle 30 provided in this embodiment of the invention includes a resonant cavity 34, an inlet 35 formed on the side wall of the resonant cavity 34, at least one waveguide 33 connected to one end of the resonant cavity 34, a spray plate 31 connected to the end of the waveguide 33 away from the resonant cavity 34, a nozzle 32 connected to the outside of the spray plate 31, the nozzle 32 being a self-excited oscillating cavitation nozzle, and an amplitude transformer 38 connected to the other end of the resonant cavity 34. One end of the amplitude transformer 38 extends to the outside of the resonant cavity 34 to connect to an external excitation device, and the other end extends into the interior of the resonant cavity 34 to transfer the excitation energy of the external excitation device to the interior of the resonant cavity 34. The inlet 35 is inclined on the resonant cavity 34 to reduce wear on the inner wall of the resonant cavity 34. The waveguide 33 is detachably connected to the resonant cavity 34, and the waveguide 33 is a straight structure or a bent structure so that the nozzle 32 can be oriented in any direction.

[0022] In this embodiment of the invention, a water path for the nozzle is formed along the axial direction of the resonant cavity 34 and the waveguide 33. High-pressure water carrying abrasive enters the resonant cavity 34 from the inlet 35 and flows through this water path to the nozzle 32, thereby ejecting the abrasive slurry or water. This invention provides an inlet 35 on the resonant cavity 34 to directly inject pre-mixed abrasive into the resonant cavity 34, avoiding the problems of abrasive kinetic energy loss caused by adding abrasive at the nozzle and the impact of cavitation due to abrasive mixing, thus improving the spraying effect of the abrasive slurry. Furthermore, the abrasive slurry of this invention is fully mixed outside the nozzle, avoiding uneven mixing caused by mixing inside the nozzle. Simultaneously, it can be applied to different types of abrasive media according to different environmental requirements, including but not limited to water, mud, rock sand, and corundum, making the nozzle provided by this invention have a wider range of applications.

[0023] Furthermore, in this embodiment of the invention, the diameter of the resonant cavity 34 is larger than the diameter of the waveguide 33. Multiple waveguides 33 can be connected to the end of one resonant cavity 34. The output end of the amplitude transformer 38 in the resonant cavity 34 can provide sufficient ultrasonic pulse excitation to the abrasive slurry. Subsequently, the abrasive slurry is transmitted via the waveguide 33 and self-excited oscillation at the nozzle 31 to generate a dual-excitation cavitation jet. This invention adds a waveguide 33 between the resonant cavity 34 and the nozzle 32 for flow guidance. The waveguide 33 has advantages such as efficient energy transmission, fluid stability control, reduced wear and energy loss, precise jet control, cavitation suppression, improved system stability, and adaptability to high-pressure conditions, further improving the jetting effect. Simultaneously, by adjusting the number and angle of the waveguides 33, the jet area and jet direction can be flexibly controlled, increasing the working area and jet direction flexibility of the nozzle compared to a nozzle directly connected to the resonant cavity 34 and the nozzle 32.

[0024] Furthermore, under flooded conditions, the nozzle provided in this embodiment of the invention can independently adjust and optimize key fluid parameters affecting the fluid, such as water pressure and abrasive mixing velocity. Simultaneously, the nozzle blade 31 combined with the nozzle head 32 features a simple structure, tight connection, and very high reliability. In addition, at least one waveguide 33 allows the device to flexibly and adaptably handle practical problems.

[0025] Furthermore, in this embodiment of the invention, ultrasonic pulse excitation is used inside the excitation component, combined with a self-excited oscillating cavitation nozzle, which greatly improves the cavitation capability of the nozzle jet. This invention provides a nozzle that combines the triple effects of abrasive, cavitation, and excitation, improving nozzle efficiency. It provides a new means for the application of cavitation jets under non-submerged conditions and lays the foundation for further improving the working efficiency of pulsed cavitation jets under submerged conditions.

[0026] Furthermore, in this embodiment of the invention, the inlet 35 and the resonant cavity 34 are connected by a thread, which facilitates the connection of external pipelines to the inlet 35. Since the water flowing into the inlet 35 can be grinding wheel slurry, the inlet 35 has an inclined structure, preventing water from entering perpendicularly to the side wall of the resonant cavity 34, thus improving fluid guidance and reducing wear on the inner wall of the resonant cavity 34. In a preferred embodiment of the invention, the angle between the inlet 35 and the axial direction of the resonant cavity 34 is between 20 and 30 degrees, preferably 25 degrees, to reduce wear on the inner wall of the resonant cavity. The angle between 20 and 30 degrees achieves a more balanced effect compared to other angles, that is, it avoids excessive wear while maintaining efficient energy transfer of the water flow.

[0027] Furthermore, in one specific embodiment of the present invention, such as Figure 1 and Figure 2As shown, one end of the resonant cavity 34 is connected to four waveguides 33. Each waveguide 33 is symmetrically arranged around its center position. The ends of each waveguide 33 closest to the resonant cavity 34 are parallel to each other, while the ends furthest from the resonant cavity 34 are bent away from its axial direction, thus separating the waveguides 33 and allowing each nozzle 32 to face different directions, increasing the operating angle of the nozzle 32. Simultaneously, the four waveguides 33 can also provide... Figure 3 The linear structure shown is designed to increase the working area of ​​the nozzle 32 in the same direction.

[0028] It should be noted that the waveguides 33 shown in the attached diagram are bent at angles away from each other, allowing the nozzles of each waveguide 33 to accommodate a larger working area. In practical applications, the bending angle of each waveguide 33 can be set as needed, and each waveguide 33 can also be bent simultaneously in the same direction to spray abrasive slurry at a specific angle. In this embodiment of the invention, the abrasive slurry is guided by connecting waveguides 33 to the resonant cavity 34. Compared with existing nozzles, the device is more flexible and versatile, and can achieve multi-directional spraying according to operational requirements.

[0029] Furthermore, in this embodiment of the invention, each waveguide 33 is detachably connected to the end of the resonant cavity 34, so waveguides 33 of different specifications or angles can be replaced as needed, further improving the flexibility of the nozzle.

[0030] Furthermore, in this embodiment of the invention, the spray nozzle 31 has a water outlet at its center, which can generate a cavitation effect under the action of high-pressure fluid during operation; the nozzle 32 is located at the end of the waveguide 33 and is coaxial with the water outlet of the spray nozzle 31, forming a converging jet outlet. In practical applications, the jet direction can be adjusted or the nozzle form can be changed according to operational requirements. The nozzle 32 has a through hole at its center, and the waveguide 33 is sleeved in the through hole of the nozzle 32. The waveguide 33 and the through hole of the nozzle 32 are connected and fixed by a threaded connection, so the waveguide 33 and the nozzle 32 are detachably connected.

[0031] Furthermore, the nozzle 32 and the spray plate 31 can move relative to each other in the axial direction, so that the relative positions of the outlets of the spray plate 31 and the nozzle 32 in the axial direction can be adjusted; and / or, the nozzle 32 and the spray plate 31 are detachably connected, so that either the nozzle 32 or the spray plate 31 can be replaced. Therefore, in actual use, the nozzle 32 and the spray plate 31 can be replaced as needed, or the distance between the outlet of the nozzle 32 and the spray plate 31 can be adjusted, further improving the flexibility of the nozzle.

[0032] Furthermore, in this embodiment of the invention, the resonant cavity 34 includes a receiving cavity near one end of the waveguide 33 and a connecting cavity near one end of the amplitude transformer 38. The diameter of the connecting cavity is larger than the diameter of the receiving cavity to more stably connect the amplitude transformer 38. The amplitude transformer 38 includes an output section 1, a transition section 2, a connecting section 3, and an input section 4 arranged sequentially along the axial direction. The output section 1 is a cylindrical structure with a diameter matching the diameter of the receiving cavity. The connecting section 3 is a cylindrical structure with a diameter larger than the diameter of the output section, and the connecting section 3 is connected to the connecting cavity by a thread. A transition section 2 is provided between the output section 1 and the connecting section 3. The transition section 2 is located in the connecting cavity of the resonant cavity 34, so that the amplitude transformer 38 is slowly connected from the output section 1 to the connecting section 3. The input section 4 is located outside the resonant cavity 34, and the diameter of the input section 4 is smaller than the diameter of the connecting section 3.

[0033] In this embodiment of the invention, the amplitude rod 38 and the resonant cavity 34 are connected by threads, which not only facilitates the connection and disassembly of the amplitude rod 38 and the resonant cavity 34, but also eliminates the fastening cover structure in the prior art, avoids excessive vibration caused by the use of the fastening cover, and improves the stability of the nozzle during operation.

[0034] Furthermore, a small sealing ring 36 is provided between the inner wall of the resonant cavity 34 and the outer wall of the output section 1 of the amplitude transformer 38 to seal the resonant cavity 34 and prevent the fluid in the resonant cavity 34 from flowing out through the amplitude transformer 38.

[0035] Specifically, such as Figure 1 As shown, a groove for accommodating the small sealing ring 36 is formed on the side wall of the receiving cavity. The small sealing ring 36 is disposed in the groove. During the process of the amplitude transformer 38 rotating into the resonant cavity 34, the small sealing ring 36 will not be displaced due to the movement of the amplitude transformer 38. At the same time, the small sealing ring 36 can also effectively prevent the fluid in the resonant cavity 34 from flowing out through the amplitude transformer 38. To increase the sealing effect, multiple small sealing rings 36 can be provided, and the multiple small sealing rings 36 are distributed at intervals along the axial direction of the resonant cavity 34.

[0036] Furthermore, the connecting cavity of the resonant cavity 34 includes a transition cavity and a connecting threaded cavity. The diameter of the transition cavity is smaller than the diameter of the connecting threaded cavity, so that a stepped plane in the radial direction is formed between the transition cavity and the connecting threaded cavity of the resonant cavity 34. The transition section 2 of the amplitude transformer 38 is disposed in the transition cavity and maintains a gap with the side wall of the transition cavity. The connecting section 3 of the amplitude transformer 38 is connected to the connecting threaded cavity of the resonant cavity 34, and a large sealing ring 37 is provided between the transition section 2 of the amplitude transformer 38 and the stepped plane of the resonant cavity 34 to isolate vibration between the resonant cavity 34 and the amplitude transformer 38.

[0037] In this embodiment of the invention, the transition cavity of the resonant cavity 34 is a cylindrical cavity, and the outer tangent of the transition section 2 of the amplitude transformer 38 is arc-shaped, allowing for a smooth transition between the output section 1 and the connecting section 3. Simultaneously, a large gap is maintained between the transition section 2 and the transition cavity, effectively reducing collisions between the amplitude transformer 38 and the resonant cavity 34, and also reducing the precision requirements for the machining of the transition cavity and the transition section 2. Furthermore, a large sealing ring 37 is disposed on the stepped plane of the resonant cavity 34, allowing the large sealing ring 37 to isolate the vibration of the amplitude transformer 38 along the axial direction and provide a second seal. The large sealing ring 37 and the small sealing ring 36 work together to effectively seal and isolate the components.

[0038] The nozzle provided in this embodiment of the invention adopts a lightweight integrated design to reduce mass and inertial load, making it easy to carry and operate unmanned. During operation, the high-pressure fluid carrying abrasive is excited by the amplitude transformer 38 to form a periodic pulse flow, which generates cavitation bubbles at the nozzle 31 and is crushed by impact at the nozzle outlet 32, forming a triple synergistic effect of "abrasive cutting - ultrasonic excitation - cavitation impact", thereby significantly improving the jet erosion capability and energy utilization rate.

[0039] The pulsed cavitation abrasive jet nozzle 30 provided in this embodiment of the invention adopts a modular design, and the structural parameters of the pulsed cavitation abrasive jet nozzle 30 can be adjusted as needed. Specifically, the structural parameters can be the diameter and angle of the inlet 35, the diameter of the resonant cavity 34, the diameter of the outlet of the spray plate 31, the material of the spray plate 31, the length and diameter of the waveguide 33, the natural frequency of the amplitude transformer 38, etc., so that the pulsed cavitation abrasive jet nozzle 30 can be applied to a variety of scenarios.

[0040] Furthermore, embodiments of the present invention also provide a multi-position jet processing system applying the above-described pulsed cavitation abrasive jet nozzle 30, such as... Figure 3 As shown, the jet operation system includes a jet operation circuit consisting of a high-pressure power component 10, an abrasive addition component 20, a pulse cavitation abrasive jet nozzle 30, a spray group drive system, and a water circulation component 70.

[0041] Furthermore, the high-pressure power assembly 10 includes a water tank 11, a high-pressure pump 13, a filter 14, a temperature regulator 15, a pressure gauge 17, a flow meter 18, and a thermometer 16, sequentially connected via a water supply pipeline 12. The high-pressure pump 13 can receive control signals to pump water from the water tank 11 into the water supply pipeline and adjust the liquid flow rate and pressure in real time. The temperature regulator 15 can adjust the temperature of the liquid flow. The thermometer 16, pressure gauge 17, and flow meter 18 continuously monitor the system's temperature, pressure, and flow rate to ensure the stability and consistency of the operation process. The high-pressure power assembly 10 provided in this embodiment of the invention provides high-pressure power fluid to the jet operation system and ensures the pressure and temperature of the jet operation, serving as the initial operating device for the entire system.

[0042] Furthermore, the abrasive addition component 20 is disposed between the high-pressure power component 10 and the pulse cavitation abrasive jet nozzle 30, and is used to supply abrasive to the pulse cavitation abrasive jet nozzle 30. Specifically, it includes a pressure gauge 21, a sealed loading port 24, an abrasive tank 23, and a discharge valve 22. The pressure gauge 21 is disposed on the water supply pipeline to detect the pressure of the flowing liquid. The discharge valve 22 is disposed between the abrasive tank 23 and the water supply pipeline. The abrasive tank 23 stores abrasive, and the discharge valve 22 is used to control the amount of abrasive entering the water supply pipeline per unit time to adapt to different operating requirements. The inlet end of the abrasive tank 23 is provided with a sealed loading port 24, which is used to add abrasive particles to the abrasive tank 23, control the opening and closing status, and ensure that the abrasive tank is completely sealed during operation.

[0043] In this embodiment of the invention, the abrasive addition component 20 is disposed between the high-pressure power component 10 and the pulse cavitation abrasive jet nozzle 30. This allows the abrasive to be fully mixed before entering the pulse cavitation abrasive jet nozzle 30, resulting in more uniform abrasive mixing. Furthermore, for jet operations where abrasive is not required, simply closing the discharge valve 22 is sufficient. The abrasive addition control is flexible and easy to operate, making it suitable for various different operating scenarios.

[0044] Furthermore, the pulse cavitation abrasive jet nozzle 30 provided in this embodiment includes an amplitude transformer 38, a large sealing ring 37, a small sealing ring 36, an inclined inlet 35, a resonant cavity 34, a waveguide 33, a nozzle 32, and a spray plate 31. Additionally, the excitation controller 39 provided in this embodiment is used to adjust the frequency of emitted ultrasonic waves to adapt to different application requirements and to adjust the output power of the ultrasonic waves, thereby affecting the intensity and effect of the ultrasonic waves. The amplitude transformer 38 is used to efficiently transfer ultrasonic excitation energy to the fluid inside the flow guide assembly, generating active excitation. The pulse cavitation abrasive jet nozzle 30 has been described in the foregoing embodiments and will not be repeated here.

[0045] The pulsed cavitation abrasive jet nozzle 30 provided in this embodiment of the invention employs dual excitation to generate high-amplitude, high-frequency pressure pulses, enhancing the kinetic energy and effect of the abrasive particles and improving efficiency. By mixing the abrasive particles with the working fluid in a reasonable ratio, optimal grinding performance and processing effect are obtained. The cavitation effect generated by the high-frequency pulse signal increases the impact force on the workpiece surface and the grinding effect by the energy released from the formation and collapse of cavitation bubbles, thereby improving processing efficiency. By adjusting the opening size and structure of the nozzle, it can adapt to the processing requirements of workpieces made of different materials.

[0046] Furthermore, since the pulse cavitation abrasive jet nozzle 30 provided in this embodiment of the invention adopts a modular and lightweight design, and is connected to an external high-pressure water circuit through a water supply pipeline, it is convenient to drive the pulse cavitation abrasive jet nozzle 30 to move for flow operations via a drive system. Specifically, the spray group drive system provided in this embodiment of the invention is used to carry the pulse cavitation abrasive jet nozzle 30 and drive the pulse cavitation abrasive jet nozzle 30 to move it to the surface to be processed. Specifically, it can be a wall-climbing motion component 40 and a nozzle motion component.

[0047] Furthermore, the wall-climbing motion assembly 40 includes a cleaning disc 42, an airbag 41, and a magnetic drive assembly. The cleaning disc 42 is used to support the pulse cavitation abrasive jet nozzle 30, providing a closed working environment and recycling wastewater. The airbag 41 is disposed between the cleaning disc 42 and the surface to be worked on, and can conform to the irregular surface to further provide a sealed space for the jet operation and prevent wastewater from overflowing.

[0048] The multi-position operation system provided in this invention uses a wall-climbing motion component 40 to drive the cavitation abrasive jet nozzle 30, enabling it to crawl on the surface of large and heavy equipment. It is suitable for surface maintenance operations on large components such as ships and wind turbine towers. Furthermore, the system's operating space is completely enclosed, allowing for the full containment and recovery of water mist and wastewater generated during operation. After filtration, the water is recycled, completely changing the traditional high-pressure water jet operation's pervasive water mist and overflowing wastewater, achieving "near-zero emissions" and "high-efficiency operation." Simultaneously, the enclosed environment stabilizes the flow field, and combined with the robot's precise movement, it enables uniform and controllable surface treatment (such as rust removal to Sa2.5 grade) or cutting.

[0049] Furthermore, the wall-climbing motion assembly 40 provided in this embodiment of the invention also includes a magnetic chuck 43, an arc-shaped magnet 44, a reversing reducer 45, a frame 46, a servo motor 47, and rubber wheels 48. The frame 46 provides rigid support for the wall-climbing motion assembly 40. The servo motor 47 is mounted on the frame 46, and the reversing reducer 45 is mounted on the frame 46 and connected to the output shaft of the servo motor 47. The reversing reducer 45 changes the rotation direction of the servo motor 47, reducing the speed and increasing the output torque, thus improving the driving capability. The rubber wheels 48 are connected to the output shaft of the reversing reducer 45 and are used to bear the weight of the mechanism, driving the wall-climbing mechanism to move smoothly. The magnetic chuck 43 and the arc-shaped magnet 44 are disposed on the frame 46. The magnetic chuck 43 assists the wall-climbing mechanism in moving on the wall at different angles and provides auxiliary suction force to prevent the wall-climbing motion assembly 40 from tipping over. The arc-shaped magnet 44 provides suction force to ensure the wall-climbing mechanism moves stably on the wall surface.

[0050] Furthermore, another embodiment of the present invention provides a spray group drive system including a spray group motion component 50 and a jet operation component 60. The spray group motion component 50 includes a ball screw drive component, a movable slide 59 connected to the screw of the ball screw drive component, a nozzle bracket 58 mounted on the movable slide 59, and a pulse cavitation abrasive jet nozzle 30 mounted on the nozzle bracket 58, so that the pulse cavitation abrasive jet nozzle 30 can slide back and forth in the horizontal direction under the drive of the movable slide 59 and the nozzle bracket 58, and move back and forth in the vertical direction on the nozzle bracket 58. The jet operation component 60 is disposed below the pulse cavitation abrasive jet nozzle 30 and includes a working chamber 62 and a target plate 63. The target plate 63 is disposed in the working chamber 62 and is used to fix the workpiece 64 to be processed.

[0051] Furthermore, the ball screw drive assembly provided in this embodiment of the invention includes a gantry drive system, a gantry 51, a ball screw 55, a vertical ball screw, a guide rod 54, a vertical guide rod, a guide rod support 53, a screw support 52, a stepper motor 56, and a coupling 57. The ball screw 55 and guide rod 54 are mounted on the gantry 51, and the gantry drive system can drive the gantry 51 to move back and forth as a whole, realizing the movement of the nozzle along the x-direction. The movable slide 59 is connected to the gantry 51 via the transverse ball screw 55 and guide rod 54, and can drive the nozzle seat to move laterally (y-direction). The spray assembly bracket 58 is connected to the movable slide 59 via the vertical ball screw and vertical guide rod, and can drive the nozzle to move longitudinally (z-axis direction). Therefore, the movement of the nozzle in space can be driven.

[0052] Furthermore, the gantry frame 51 provides a rigid mounting platform for the moving parts, bears various forces generated during movement, and ensures stable operation of the entire system; the movable slide 59 is connected to the ball screw 55, which drives the linear motion of the movable slide 59; guide rods 54 are also provided on both sides of the ball screw 55, and the movable slide 59 is slidably connected to the guide rods 54. The guide rods 54 constrain the linear motion of the movable slide 59, reduce motion deviation, and ensure smooth and precise motion; both the guide rod support 53 and the screw support 52 are mounted on the movable slide 59. The guide rod support 53 is used to mount the vertical guide rod on the movable slide 59. Above; the ball screw support 52 is used to mount the vertical ball screw on the movable slide 59. The spray assembly bracket 58 is connected to the movable slide 59 through the vertical guide rod and the vertical ball screw, and can reciprocate on the movable slide 59 in the vertical direction under the drive of the stepper motor 56. The stepper motor 56 is set at one end of the ball screw 55 to provide power and drive the ball screw 55 to rotate. The coupling 57 is used to connect the stepper motor 56 and the ball screw 55 and transmit torque. The nozzle bracket 58 is used to fix the nozzle and mount it on the movable slide 59, thus realizing the movement of the pulse cavitation abrasive jet nozzle 30 in three-dimensional space.

[0053] Furthermore, the jet processing assembly 60 provided in this embodiment of the invention also includes a processing chamber filter 61 and an acoustic emission sensor 65 disposed in the processing chamber 62; wherein, the processing chamber filter 61 is used to filter abrasive particles in the processing chamber 62 to prevent abrasive particles from entering the return water pipe 72 with the water flow; the acoustic emission sensor 65 is used to detect sound waves or elastic waves inside the workpiece and convert them into electrical signals for monitoring the operation status.

[0054] Furthermore, the embodiments of the present invention also include a water circulation assembly 70 disposed in the loop, including a return filter 71 and a return water pipe 72; wherein the return filter 71 is used to prevent residual abrasive particles entering the return water pipe 72 from entering the water tank 11, so that the water can be recycled.

[0055] Furthermore, the jetting system provided in this embodiment of the invention also includes a wireless control component 80, which includes a controller 81, a display 82, and a signal transmitter and receiver 83. It is used to adjust the parameters in the system so that the system operates under specified conditions. The parameters include the pressure of the pressure gauge 17, the flow rate of the flow meter 18, the oscillation frequency of the excitation controller 39, and the rotation angle of the stepper motor 46 or the rotation angle of the servo motor 57. The wireless control component 80 allows control of the equipment within a certain distance, enhancing the convenience and flexibility of operation.

[0056] Furthermore, embodiments of the present invention also provide a control method for applying the above-described jet operation system, the control method comprising: S1. Control the nozzle drive system to move the pulse cavitation abrasive jet nozzle to the predetermined working position; In this embodiment of the invention, for a system using the wall-climbing motion component 40, the rotation angle of the servo motor can be adjusted to move the wall-climbing mechanism and the nozzle to a predetermined working position; for a system using the nozzle motion component 50, the rotation angle of the stepper motor can be adjusted to move the nozzle to a predetermined working position.

[0057] S2. Adjust the high-pressure pump to make the injection pressure meet the set value, and control the discharge valve to open so that the abrasive tank adds abrasive particles to the high-speed water flow in the water supply pipeline and mixes them thoroughly. In this embodiment of the invention, for scenarios where abrasives are not required, simply closing the discharge valve 22 is sufficient.

[0058] S3. Turn on the excitation controller and adjust the amplitude and frequency to the set values. High-pressure water enters the pulse cavitation abrasive jet nozzle through the water supply pipeline. The high-speed jet of fully mixed abrasive particles is sprayed into the surface to be processed through the spray plate.

[0059] In this embodiment of the invention, during the operation, the position of the jet operation can be changed by adjusting the rotation angle of the servo motor to drive the wall climbing mechanism, or by adjusting the rotation angle of the stepper motor to change the position of the jet operation. Afterward, the water returns to the water tank through the return water pipe to complete the circulation operation.

[0060] The multi-position jet processing system and its control method provided in this invention form a "hydraulic combination" of cavitation erosion and abrasive erosion when abrasive is added to the pulsed cavitation abrasive jet nozzle. This fully leverages the advantages of pulsed jet water hammer impact, cavitation jet erosion, and abrasive jet particle abrasion, enhancing erosion and crushing capabilities. Simultaneously, it allows for flexible switching of operating modes, achieving non-destructive cleaning of vulnerable materials through the synergistic effect of pulse and cavitation in the absence of abrasive, adapting to different operational needs. Furthermore, the system possesses mobile operation capabilities, adapting to the spatial requirements of different operational scenarios, further expanding the application areas of jets.

[0061] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art and should not be interpreted in an idealized or overly formal sense unless specifically defined.

[0062] Furthermore, those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, any of the claimed embodiments can be used in any combination.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi- pose work system, characterized by, The application relates to a high-pressure power assembly, an abrasive adding assembly, a pulse cavitation abrasive particle jet nozzle, an excitation controller and a nozzle driving system. The high-pressure power assembly comprises a water tank, a high-pressure pump and a filter which are sequentially connected through a water supply pipeline; the high-pressure pump pumps water in the water tank into the water supply pipeline and the water flows through the filter and then the abrasive adding assembly. The abrasive adding assembly is arranged between the high-pressure power assembly and the pulse cavitation abrasive particle jet nozzle and comprises a sealed charging port, an abrasive tank and a discharging valve; the abrasive tank stores abrasive; the discharging valve is used for controlling the amount of abrasive entering the water supply pipeline per unit time; the feeding end of the abrasive tank is provided with the sealed charging port which is used for adding abrasive particles into the abrasive tank. The pulse cavitation abrasive particle jet nozzle comprises a resonance cavity; a water inlet is formed in the side wall of the resonance cavity and is connected with the water supply pipeline; at least one waveguide tube is connected with one end of the resonance cavity; a spray piece is connected with the end of the waveguide tube away from the resonance cavity; a spray head is connected with the outer side of the spray piece; the spray head can perform jet operation; the other end of the resonance cavity is connected with a variable amplitude rod; one end of the variable amplitude rod extends to the outer side of the resonance cavity. The excitation controller is connected with the end of the variable amplitude rod outside the resonance cavity and is used for outputting ultrasonic waves to the variable amplitude rod. The nozzle driving system is used for carrying the pulse cavitation abrasive particle jet nozzle so as to move the pulse cavitation abrasive particle jet nozzle to a surface to be processed.

2. The system of claim 1, wherein, The nozzle driving system comprises a wall-climbing motion assembly which comprises a cleaning disc, an air bag and a magnetic driving assembly; the cleaning disc is used for carrying the pulse cavitation abrasive particle jet nozzle, providing a closed operation environment for the pulse cavitation abrasive particle jet nozzle and recycling waste water; the air bag is arranged between the cleaning disc and the surface to be processed and prevents waste water from overflowing.

3. The system of claim 2, wherein, The magnetic driving assembly comprises a magnetic wheel disc, an arc-shaped magnet, a reversing reducer, a rack, a servo motor and a rubber wheel; the servo motor is mounted on the rack; the reversing reducer is connected with the output shaft of the servo motor; the rubber wheel is connected with the output shaft of the reversing reducer so as to drive the rotation of the rubber wheel; the magnetic wheel disc and the arc-shaped magnet are arranged on the rack; the magnetic wheel disc is used for assisting the wall-climbing motion assembly to move on walls with different angles and providing auxiliary adsorption force; the arc-shaped magnet is used for providing adsorption force.

4. The system of claim 1, wherein, The nozzle driving system comprises a nozzle motion assembly and a jet operation assembly; the nozzle motion assembly comprises a ball screw driving assembly; a moving slide is connected with the ball screw of the ball screw driving assembly; a nozzle bracket is mounted on the moving slide; the pulse cavitation abrasive jet nozzle is mounted on the nozzle bracket so that the pulse cavitation abrasive jet nozzle can reciprocate along the horizontal direction under the drive of the ball screw driving assembly and reciprocate along the vertical direction on the moving slide; the jet operation assembly is arranged below the pulse cavitation abrasive jet nozzle and comprises an operation cavity and a target disc; the target disc is arranged in the operation cavity and is used for fixing a workpiece.

5. The system of claim 4, wherein, The jet operation assembly further comprises an operation cavity filter and an acoustic emission sensor which are arranged in the operation cavity; the operation cavity filter is used for filtering abrasive particles in the operation cavity; the acoustic emission sensor is used for detecting internal acoustic waves or elastic waves of the workpiece and converting the internal acoustic waves or elastic waves into electric signals so as to monitor the operation state.

6. The system of claim 1, wherein, The system further comprises a water circulation assembly arranged between the nozzle driving system and the water tank, the water circulation assembly comprising a backflow filter and a backwater pipeline connecting the nozzle driving system and the water tank, so that the waste water generated by the nozzle driving system can flow back to the water tank, and the backflow filter is arranged in the backwater pipeline to prevent residual abrasive particles in the backwater pipeline from entering the water tank.

7. The system of any one of claims 1-6, wherein, The water inlet is obliquely arranged on the resonant cavity to reduce the wear of the inner wall of the resonant cavity; and / or the waveguide is detachably connected to the resonant cavity, the waveguide being a linear tubular structure, and / or the waveguide being a bent structure.

8. The system of any one of claims 1-6, wherein, The nozzle and the spray sheet are axially relatively movable, so that the relative position of the spray sheet and the water outlet of the nozzle in the axial direction can be adjusted; and / or the nozzle and the spray sheet are detachably connected, so that any one of the nozzle and the spray sheet can be replaced.

9. The system of any one of claims 1-6, wherein, The resonant cavity comprises a containing cavity near one end of the waveguide and a connecting cavity near one end of the amplitude-varying rod, the diameter of the connecting cavity is larger than that of the containing cavity; the amplitude-varying rod comprises an output section, a transition section, a connecting section and an input section arranged in sequence in the axial direction, the output section being a cylindrical structure with a diameter matching that of the containing cavity; the connecting section being a cylindrical structure with a diameter larger than that of the output section, the connecting section being threadedly connected to the connecting cavity; the transition section being arranged between the output section and the connecting section, the transition section being located in the connecting cavity of the resonant cavity, so that the amplitude-varying rod is slowly connected between the output section and the connecting section; the input section being located outside the resonant cavity, and the diameter of the input section being smaller than that of the connecting section; a small sealing ring is further arranged between the inner side wall of the containing cavity of the resonant cavity and the outer side wall of the output end of the amplitude-varying rod, so as to seal the fluid in the resonant cavity; the connecting cavity of the resonant cavity comprises a transition cavity and a connecting threaded cavity, the diameter of the transition cavity being smaller than that of the connecting threaded cavity, so that a step plane is formed between the transition cavity and the connecting threaded cavity of the resonant cavity; the transition section of the amplitude-varying rod is arranged in the transition cavity, and a gap is maintained between the transition section and the side wall of the transition cavity; the connecting section of the amplitude-varying rod is connected to the connecting threaded cavity of the resonant cavity, and a large sealing ring is arranged between the connecting section of the amplitude-varying rod and the step plane of the resonant cavity, so as to isolate the vibration between the resonant cavity and the amplitude-varying rod.

10. A control method of a multi-position work system according to any one of claims 1 to 9, characterized by, The method comprises: controlling the nozzle driving system to move the pulse cavitation abrasive particle jet nozzle to a predetermined working position; adjusting the high-pressure pump to make the jetting pressure meet the set value, and controlling the discharge valve to open, so that the abrasive tank adds abrasive particles to the high-speed water flow in the water supply pipeline and fully mixes them; turning on the excitation controller and adjusting the amplitude and frequency to the set value, the high-pressure water enters the pulse cavitation abrasive particle jet nozzle through the water supply pipeline, and the high-speed jet flow fully mixed with the abrasive particles is sprayed into the surface to be processed through the spray sheet.

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