Impinging jet atomization device and method

Abstract

The application discloses an impinging jet atomization device and method, and belongs to the technical field of atomization. The device comprises multiple sets of impinging systems, an optical imaging system and a processing module. Each set of impinging system comprises a six-degree-of-freedom adjusting component, a nozzle and a liquid injection channel. The six-degree-of-freedom adjusting component comprises a three-axis translation adjusting mechanism and a three-axis rotation adjusting mechanism connected to each other, the three-axis translation adjusting mechanism is used for adjusting the three-dimensional translation position of the nozzle in space, and the three-axis rotation adjusting mechanism is used for adjusting the three-dimensional rotation angle of the nozzle in space. The liquid injection channel is connected to the nozzle and is provided with a flow control unit. The optical imaging system is used for collecting images of the nozzle outlet and the jet flow, and a processing unit identifies the actual spatial pose of the nozzle according to the collected images. The application realizes high-degree-of-freedom independent regulation and control of key parameters of impinging atomization, improves the controllability and efficiency of atomization, and is especially suitable for accurate regulation and control of atomization characteristics of low-viscosity fluid and efficient atomization of high-viscosity fluid.

Description

Technical Field

[0001] This invention belongs to the field of atomization technology, specifically relating to an impact jet atomization device and method. Background Technology

[0002] Impact jet atomization is widely used in liquid rocket engines, gas turbines, drug atomizers, and pesticide spraying. The induction modes of liquid film rupture and droplet formation during atomization are mainly divided into aerodynamic wave induction and impact wave induction. Both induction methods are affected by the Reynolds number (…). ) and Weber number ( The combined effects of these factors mean that, under a given jet velocity, a lower value for both dimensionless numbers indicates that the medium has a higher viscosity and surface tension coefficient, which suppresses the intensity of both aerodynamic waves and impact waves. Therefore, it is more difficult for impact jets in high-viscosity media to form effective atomization. In low-viscosity flows, the Reynolds number is usually higher, making it easier to generate turbulence.

[0003] Existing impact jet atomization methods can be mainly divided into liquid impact atomization and gas-assisted atomization. Liquid impact atomization often employs a fixed flow channel structure, where the geometry of the impact is solidified after processing. During operation, only the jet velocity can be adjusted; the initiation position and mode of liquid film rupture cannot be actively changed, thus limiting the ability to control the atomization mode. Gas-assisted atomization uses a high-speed airflow to impact the liquid interface simultaneously with liquid impact. While this can significantly promote liquid breakup, its complex structure and the introduction of additional gaseous components limit its applicability in applications where gases cannot be used. Furthermore, existing atomizing nozzles generally suffer from sensitivity to geometric deviations. Initial processing deviations and system geometric shifts caused by long-term operation are difficult to compensate for, leading to the failure of the atomization control model under ideal conditions. Ultimately, this results in spray characteristics deviating from expectations, accompanied by problems such as a wide droplet size distribution range and insufficient uniformity.

[0004] To improve this situation, some structural design improvements have been made. For example, Chinese patent CN102019236 A discloses adding a resonant cavity to the flow channel inside the nozzle to shorten the liquid film length and accelerate atomization; Chinese patent CN109780541 A discloses achieving wide-range variable-condition pneumatic atomization spraying through flow channel design, reducing pressure drop loss and increasing the maximum jet velocity. However, both of these structures have fixed flow channels and cannot be adjusted for different media conditions. Based on this, Chinese patent CN 104596918 A discloses an impact jet atomization experimental device, whose adjustment mechanism breaks through the limitation of fixed geometric conditions and has three-degree-of-freedom translational adjustment and single-degree-of-freedom rotational adjustment functions, but it still has the following limitations in eliminating initial angle deviation:

[0005] In the atomization process of low-viscosity fluids (such as deionized water), the atomization effect is highly sensitive to geometric conditions, and the aforementioned related technologies cannot accurately avoid initial deviations; while in the atomization process of high-viscosity and non-Newtonian fluids, the shear rate field experienced by the fluid is extremely non-uniform, and the related technologies can only adjust the jet velocity under a fixed geometry, resulting in a limited range of spray parameter adjustment. Summary of the Invention

[0006] This invention provides an impact jet atomization device and method to solve the problems of difficulty in correcting impact jet atomization deviation and limited adjustment range of atomization spray parameters for high-viscosity fluids in the prior art.

[0007] The technical solution for realizing the present invention is as follows: The first aspect of this invention provides an impact jet atomization device, comprising multiple collision systems, an optical imaging system, and a processing module. Each collision system includes a six-degree-of-freedom adjustment component, a nozzle, and a liquid injection passage. The six-degree-of-freedom adjustment component includes a three-axis translation adjustment mechanism and a three-axis rotation adjustment mechanism connected to each other. The nozzle is a capillary needle tube connected to the motion output end of either the three-axis translation adjustment mechanism or the three-axis rotation adjustment mechanism. The three-axis translation adjustment mechanism is used to adjust the three-dimensional translational position of the nozzle in space, and the three-axis rotation adjustment mechanism is used to adjust the three-dimensional rotation angle of the nozzle in space. The liquid injection passage is connected to the nozzle and is equipped with a flow control unit for adjusting the jet velocity of the nozzle. The optical imaging system is used to acquire images of the nozzle outlet and the jet. The processing unit identifies the actual spatial pose of the nozzle based on the images acquired by the optical imaging unit, thereby obtaining the deviation between the nozzle and a preset standard pose. Based on the deviation, the processing unit adjusts the three-axis translation adjustment mechanism and / or the three-axis rotation adjustment mechanism. The processing unit is also used to adjust the jet velocity and orientation of the nozzle by controlling the flow control unit and / or the three-axis translation adjustment mechanism and / or the three-axis rotation adjustment mechanism.

[0008] Optionally, the three-axis translation adjustment mechanism is located at the bottom layer, and the three-axis rotation adjustment mechanism is fixedly installed on the motion output end of the three-axis translation adjustment mechanism. The nozzle is fixedly installed on the motion output end of the three-axis rotation adjustment mechanism via a movable plane. The spatial pose of the nozzle is adjusted by superimposing the motions of the three-axis translation adjustment mechanism and the three-axis rotation adjustment mechanism.

[0009] Optionally, the three-axis translation adjustment mechanism includes: an x-translation adjustment mechanism for achieving horizontal linear motion, a y-translation adjustment mechanism for achieving horizontal linear motion, and a z-translation adjustment mechanism for achieving vertical linear motion. The three-axis rotation adjustment mechanism includes: an x-rotation adjustment mechanism for achieving rotational motion about a horizontal axis, a y-rotation adjustment mechanism for achieving rotational motion about a horizontal axis, and a z-rotation adjustment mechanism for achieving rotational motion about a vertical axis. The x-translation, y-translation, and z-translation adjustment mechanisms, as well as the x-rotation, y-rotation, and z-rotation adjustment mechanisms, are connected in series, and a nozzle is mounted at the series-connected motion output end.

[0010] Optionally, the x-translation adjustment mechanism, y-translation adjustment mechanism, z-translation adjustment mechanism, x-rotation adjustment mechanism, y-rotation adjustment mechanism and z-rotation adjustment mechanism are all optical slide groups, and the adjustment accuracy of each translation adjustment mechanism is 1μm, and the adjustment accuracy of each rotation adjustment mechanism is 0.1°.

[0011] Optionally, the x-translation adjustment mechanism, y-translation adjustment mechanism, z-translation adjustment mechanism, x-rotation adjustment mechanism, y-rotation adjustment mechanism and z-rotation adjustment mechanism are all connected to stepper motors and reduction gears for driving. The processing unit is connected to the stepper motors to acquire and control the motion of each adjustment mechanism.

[0012] Optionally, two collision systems are available.

[0013] Optionally, a three-axis translation adjustment mechanism or a three-axis rotation adjustment mechanism is fixedly installed on the fixed frame 1. The optical imaging system includes two sets of optical imaging units with optical axes arranged orthogonally to each other. The optical imaging units are used to synchronously acquire images of the nozzle outlet and the jet from two vertical directions respectively.

[0014] A second aspect of the present invention provides an impact jet atomization method, employing the aforementioned impact jet atomization device, comprising the following steps: The optical imaging system acquires images of the nozzle outlet and jet, the processing unit identifies the actual spatial pose of the nozzle, obtains the deviation between it and the preset standard pose, and adjusts the three-axis translation adjustment mechanism and / or the three-axis rotation adjustment mechanism according to the deviation so that the nozzles on both sides reach the preset standard pose. The relative spatial position between multiple collision systems is adjusted by a three-axis translation adjustment mechanism and / or a three-axis rotation adjustment mechanism, and / or the jet velocity and orientation between two collision systems are adjusted by a flow control unit, so as to introduce geometric asymmetry conditions and / or velocity asymmetry conditions between multiple jets. After adjustment, multiple jets collide with each other, and by utilizing geometric asymmetry and / or velocity asymmetry, the liquid film formed after the collision is induced to exhibit at least one of the following behaviors: directional deflection, curling, oscillation, or perforation, thereby changing the liquid film breakup mode and droplet size distribution.

[0015] Optionally, to bring the nozzles on both sides into a preset standard position, the following steps are included: The optical axes of the two optical imaging units are arranged orthogonally to each other and pre-aligned with the six-degree-of-freedom adjustment components. The adjustment mechanisms of the six-degree-of-freedom adjustment components are reset to zero, and the fluid is supplied stably with a preset Reynolds number to form a stable laminar liquid column. The angle and position of the jet are identified by the optical imaging unit, and each rotation adjustment mechanism and each translation adjustment mechanism are adjusted to make the jet reach the preset direction and position. The initial deviation readings of each adjustment mechanism are recorded to establish the initial deviation vector. Adjust each adjustment mechanism, measure the actual pose change of the nozzle outlet after each adjustment through the optical imaging unit, establish the coupling matrix between the input adjustment amount and the actual pose change, and complete the system calibration.

[0016] Optionally, the geometric asymmetry condition includes one or more of the following: asymmetry in the length of the free segments of the two jets, asymmetry in the angle of the free segments of the two jets, and axial misalignment of the two jets; the velocity asymmetry condition is: the velocities of the two jets are not equal. The processing unit establishes a transfer relationship between the atomization feature vector C and the pose vectors P1 and P2 at the output ends of the two collision systems: C = B1P1 + B2P2, where B1 and B2 represent the coordinates of the two jets, respectively. Open-loop control is achieved by taking the adjustment amount of each adjustment mechanism of the six-degree-of-freedom adjustment component as input and the atomization feature vector C as output. The optical imaging unit acquires images of the nozzle outlet and jet in real time, feeds the images back to the processing unit, compares them with the target value, and adjusts the six-degree-of-freedom adjustment component and / or flow control unit according to the comparison result to achieve closed-loop control.

[0017] Compared with the prior art, the apparatus and method provided by the present invention have the following characteristics: This invention provides an impact jet atomization device and method that achieves six-degree-of-freedom nozzle adjustment through a three-axis translational adjustment mechanism and a three-axis rotational adjustment mechanism. This allows for precise control of the translational and rotational postures of each jet, enabling adjustment of geometrically asymmetric conditions such as the length and angle of the free segment of each jet, and axial misalignment. Simultaneously, flow control units are configured on both sides of the nozzle to independently adjust the flow rates of the two jets, achieving control over asymmetric flow rates. With six-degree-of-freedom adjustable jet postures and independently controllable flow rates, comprehensive active control of key impact atomization parameters is achieved. Based on the established six-degree-of-freedom adjustment components, an optical imaging system and processing unit are used to perform system deviation calibration based on optical imaging and image recognition detection. This identifies the actual spatial posture of the nozzle, obtaining its deviation from a preset standard posture, completing the calibration, and obtaining the initial deviation vector of each jet state relative to the reference state, as well as the input coupling of each adjustment mechanism. Subsequently, the three-axis translational adjustment mechanism and / or the three-axis rotational adjustment mechanism are adjusted according to the deviation to complete the calibration. By calibration and adjustment, a transition matrix between the target asymmetric state and the current state is established, suppressing initial processing deviations and system geometric shifts caused by long-term use. This invention adjusts the jet velocity and orientation of the nozzle by regulating the flow control unit and / or the three-axis translational and / or rotational adjustment mechanisms. This actively and precisely introduces and controls various geometric and velocity asymmetries of the jet impact, utilizing the resulting droplet pre-forming mechanisms such as liquid film deflection, curling, oscillation, and perforation to expand the adjustment range of atomization parameters. Ultimately, it achieves multi-degree-of-freedom precision control of the impact atomization process, liquid film breakup mode, and droplet size distribution. By utilizing controllable asymmetric impact conditions, periodic oscillations and directional perforation of the liquid film are actively induced, particularly improving the efficiency and controllability of liquid film breakup under low to medium Reynolds numbers. This invention has high scalability; based on this method, dedicated mechanical structures can be designed for different application scenarios, suitable for precise control of low-viscosity fluid atomization characteristics and efficient atomization of high-viscosity fluids. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of an impact jet atomizing device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a six-degree-of-freedom adjustment component provided in some embodiments of the present invention; Figure 3 This is a schematic diagram of some of the relevant control parameters of the jet provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of another part of the relevant control parameters of the jet provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the calibration process provided in an embodiment of the present invention; Figure 6The diagram illustrates the liquid film deflection perforation induction effect provided in this embodiment of the invention. In the diagram, (a) shows the symmetrical jet impact effect with a free segment angle of 70°, (b) shows the symmetrical jet impact effect with a free segment angle of 90°, (c) shows the asymmetrical jet impact effect with a free segment length of 70°, (d) shows the asymmetrical jet impact with a free segment angle of 90°, (e) shows the asymmetrical jet impact with a free segment velocity of 90°, and (f) shows the axial misalignment jet impact with a free segment angle of 90°.

[0019] Explanation of reference numerals in the attached figures: 1. Fixed frame; 2. Six-degree-of-freedom adjustment component; 3. Liquid injection passage end interface; 4. Liquid injection passage; 5. Liquid storage container; 6. Flow control unit; 7. Nozzle; 8. Fluid pipeline interface; 9. Flexible pipeline; 10. Moving plane; 11. Z-rotation adjustment mechanism; 12. Y-rotation adjustment mechanism; 13. X-rotation adjustment mechanism; 14. Z-translation adjustment mechanism; 15. Y-translation adjustment mechanism; 16. X-translation adjustment mechanism; 17. Stepper motor. Detailed Implementation

[0020] To enable those skilled in the art to better understand and implement the technical solutions of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0021] The technical solutions provided by the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0022] Firstly, the first part of the embodiments of the present invention provides an impact jet atomization device, specifically as follows: Figure 1As shown, the system includes multiple collision systems, an optical imaging system, and a processing module. Each collision system includes a six-degree-of-freedom adjustment component 2, a nozzle 7, and a liquid injection passage 4. The six-degree-of-freedom adjustment component 2 includes a three-axis translation adjustment mechanism and a three-axis rotation adjustment mechanism connected to each other. The nozzle 7 is a capillary needle tube, connected to the motion output end of either the three-axis translation adjustment mechanism or the three-axis rotation adjustment mechanism. The three-axis translation adjustment mechanism is used to adjust the three-dimensional translational position of the nozzle 7 in space, and the three-axis rotation adjustment mechanism is used to adjust the three-dimensional rotation angle of the nozzle 7 in space. The liquid injection passage 4 is connected to the nozzle 7 and is equipped with a flow control unit 6 for adjusting the jet velocity of the nozzle 7. An optical imaging system is used to acquire images of the nozzle 7 outlet and the jet. The processing unit identifies the actual spatial pose of the nozzle 7 based on the images acquired by the optical imaging unit, thus obtaining the deviation between it and a preset standard pose. Based on the deviation, it adjusts the three-axis translation and / or three-axis rotation adjustment mechanisms. The processing unit also adjusts the flow control unit 6 and / or the three-axis translation and / or three-axis rotation adjustment mechanisms to regulate the jet velocity and orientation of the nozzle 7. Through the six-degree-of-freedom adjustment component 2 and the flow control unit 6, the geometric asymmetry and velocity asymmetry of the jet impact are actively introduced and controlled, thereby causing a controllable directional deflection of the liquid film formed after the impact. This changes the development and breakup pattern of the liquid film, further altering the downstream droplet size distribution. Different asymmetric conditions lead to different forms of liquid film deflection; even slight asymmetry can result in completely different development and breakup modes of the liquid film. Figure 6 It demonstrates the specific changes in liquid film development under symmetric and individual asymmetric conditions.

[0023] This invention provides an impact jet atomization device for achieving high-precision self-calibration and active control of asymmetric conditions in jet impact atomization. Firstly, the nozzles are endowed with extremely high adjustability through hardware: utilizing a three-axis translational adjustment mechanism and a three-axis rotational adjustment mechanism, each nozzle can independently adjust its three-dimensional position and three-dimensional angle in space, thereby precisely controlling geometric parameters such as the free segment length of the jet, the impact angle, and axial misalignment. Through a flow control unit independently configured for each nozzle, the volumetric flow rate of each jet is adjusted, thereby controlling the velocity asymmetry during impact. This provides a physical means for subsequently actively introducing geometric and velocity asymmetric conditions, overcoming the limitation of traditional devices that can only achieve symmetrical impact.

[0024] To address system drift issues caused by processing errors or long-term use, the device initiates automatic calibration: the optical imaging system acquires real-time images of the nozzle outlet and the jet, and the processing unit calculates the nozzle's current true spatial pose using image recognition technology. The processing unit compares the actual pose with a preset standard pose to obtain the deviation vector. Based on this deviation, the processing unit automatically controls the three-axis translation / rotation adjustment mechanism for fine-tuning until the deviation is eliminated. This suppresses initial processing deviations and system geometric shifts caused by long-term use, ensuring that each experiment or production run starts from a precise reference state, guaranteeing the repeatability and reliability of the results. In this invention, passive asymmetry elimination is replaced by active asymmetry utilization: after calibration, the processing unit actively applies a known adjustment amount, measures the system response, and establishes a transition matrix between the target asymmetric state and the current state. This is equivalent to obtaining a control model that controls the influence of each adjustment mechanism (translation, rotation, flow velocity) on the final jet state. The processing unit actively and precisely regulates the three-axis translation / rotation mechanism, introducing controlled geometric asymmetry (such as jet misalignment and deflection angle). The flow control unit introduces controlled velocity asymmetry (e.g., momentum ratio not equal to 1). This transforms passive impact into active one, precisely creating and controlling various asymmetric conditions during the impact process to induce specific liquid film breakup behaviors. Actively introduced asymmetric conditions fundamentally alter the liquid film behavior after jet impact: symmetrical impacts typically produce stable, symmetrically unfolded liquid films. Actively introduced asymmetric impacts, however, induce dynamic breakup modes such as liquid film skewing, curling, periodic oscillations, and directional perforation. Utilizing these asymmetric-induced liquid film instabilities, particularly at low to medium Reynolds numbers (traditionally a range with low atomization efficiency), promotes efficient liquid film breakup, thereby expanding the adjustment range of atomization parameters, improving the precise control of low-viscosity fluid atomization, and achieving efficient atomization of high-viscosity fluids.

[0025] This invention provides an impact jet atomization device and method that achieves six-degree-of-freedom nozzle adjustment through a three-axis translational adjustment mechanism and a three-axis rotational adjustment mechanism. This allows for precise control of the translational and rotational postures of each jet, enabling adjustment of geometrically asymmetric conditions such as the length and angle of the free segment of each jet, and axial misalignment. Simultaneously, flow control units are configured on both sides of the nozzle to independently adjust the flow rates of the two jets, achieving control over asymmetric flow rates. With six-degree-of-freedom adjustable jet postures and independently controllable flow rates, comprehensive active control of key impact atomization parameters is achieved. Based on the established six-degree-of-freedom adjustment components, an optical imaging system and processing unit are used to perform system deviation calibration based on optical imaging and image recognition detection. This identifies the actual spatial posture of the nozzle, obtaining its deviation from a preset standard posture, completing the calibration, and obtaining the initial deviation vector of each jet state relative to the reference state, as well as the input coupling of each adjustment mechanism. Subsequently, the three-axis translational adjustment mechanism and / or the three-axis rotational adjustment mechanism are adjusted according to the deviation to complete the calibration. By calibration and adjustment, a transition matrix between the target asymmetric state and the current state is established, suppressing initial processing deviations and system geometric shifts caused by long-term use. This invention adjusts the jet velocity and orientation of the nozzle by regulating the flow control unit and / or the three-axis translational and / or rotational adjustment mechanisms. This actively and precisely introduces and controls various geometric and velocity asymmetries of the jet impact, utilizing the resulting droplet pre-forming mechanisms such as liquid film deflection, curling, oscillation, and perforation to expand the adjustment range of atomization parameters. Ultimately, it achieves multi-degree-of-freedom precision control of the impact atomization process, liquid film breakup mode, and droplet size distribution. By utilizing controllable asymmetric impact conditions, periodic oscillations and directional perforation of the liquid film are actively induced, particularly improving the efficiency and controllability of liquid film breakup under low to medium Reynolds numbers. This invention has high scalability; based on this method, dedicated mechanical structures can be designed for different application scenarios, suitable for precise control of low-viscosity fluid atomization characteristics and efficient atomization of high-viscosity fluids.

[0026] If the hierarchical relationship and coupling method between the translation and rotation adjustment mechanisms are unclear, the six degrees of freedom adjustments may interfere with each other. For example, when the rotation mechanism drives the nozzle to change its orientation, its rotation center may not be located at the ideal position of the nozzle outlet, causing the originally calibrated nozzle spatial position to shift. This makes it impossible to independently decouple the translation and rotation adjustments, increasing the difficulty of system calibration and precise control.

[0027] To address the motion coupling problem caused by unclear adjustment levels, this invention imposes the following specific restrictions on the physical installation relationship of the two adjustment mechanisms: the three-axis translation adjustment mechanism is located at the bottom layer, the three-axis rotation adjustment mechanism is fixedly installed on the motion output end of the three-axis translation adjustment mechanism, and the nozzle 7 is fixedly installed on the motion output end of the three-axis rotation adjustment mechanism via a movable plane 10. The spatial orientation of the nozzle 7 is adjusted by the superposition of the motions of the three-axis translation adjustment mechanism and the three-axis rotation adjustment mechanism. By adjusting the spatial orientation of the movable plane 10, the spatial orientation of the corresponding columnar jet and the spatial position of the nozzle 7 orifice can be changed independently and continuously, thereby achieving precise control of the geometric parameters of the impact jet.

[0028] By using translational adjustment as the foundation and rotational adjustment as the superimposed layer, independent and continuous adjustment of the spatial position and orientation of nozzle 7 is achieved. Specifically, the three-axis translational adjustment mechanism is responsible for transporting the nozzle 7 outlet to the target spatial coordinate point, while the three-axis rotational adjustment mechanism independently adjusts the spatial orientation of the jet at this position; the two are uncoupled. This allows the position and angle of nozzle 7 to be adjusted separately without mutual compensation, greatly simplifying the kinematic model and calibration process, thereby significantly improving the precision control capability over the geometric parameters of the impacting jet (such as free segment length, impact angle, axial misalignment, etc.).

[0029] While the above clarifies the hierarchical structure where the three-axis translational adjustment mechanism is located at the bottom and the three-axis rotational adjustment mechanism is fixedly installed at its motion output end, a key issue remains in actual design and control: the specific configuration of the motion axes of the six-degree-of-freedom adjustment components and their series connection sequence are still unclear. If the arrangement of the translational and rotational axes lacks uniform constraints, unexpected coupling may occur between different degrees of freedom. For example, when adjusting a certain rotation angle, the nozzle outlet position may experience additional offset due to the mechanism's geometric layout. Furthermore, different axis sequences directly affect the complexity of the forward and inverse kinematics solutions, thereby increasing the difficulty of implementing the control algorithm and the workload of calibration.

[0030] To address the coupling and control complexity issues arising from the unclear configuration and connection sequence of the motion axes, this invention imposes the following specific restrictions on the structure and connection relationships of the six-degree-of-freedom adjustment components: (Refer to...) Figure 2The three-axis translation adjustment mechanism includes: an x-translation adjustment mechanism 16 for horizontal linear motion, a y-translation adjustment mechanism 15 for horizontal longitudinal linear motion, and a z-translation adjustment mechanism 14 for vertical linear motion. The three-axis rotation adjustment mechanism includes: an x-rotation adjustment mechanism 13 for rotation around a horizontal axis, a y-rotation adjustment mechanism 12 for rotation around a horizontal longitudinal axis, and a z-rotation adjustment mechanism 11 for rotation around a vertical axis. The x-translation adjustment mechanism 16, y-translation adjustment mechanism 15, z-translation adjustment mechanism 14, x-rotation adjustment mechanism 13, y-rotation adjustment mechanism 12, and z-rotation adjustment mechanism 11 are connected in series, and a nozzle 7 is installed at the series-connected motion output end.

[0031] By clearly defining the specific functional directions of the six motion axes and their series connection sequence, complete decoupling and independent control of the six degrees of freedom motion are achieved. Specifically, any translation adjustment mechanism only changes the spatial position of nozzle 7 without affecting its orientation, and any rotation adjustment mechanism only changes the spatial orientation of nozzle 7 without affecting its position, and the motion between the axes does not interfere with each other. This gives the system's kinematic model a concise analytical form, facilitating fast and accurate inverse kinematics calculations, thereby significantly reducing the complexity of the control algorithm and the workload of calibration. At the same time, the clear axis sequence design also provides a clear control channel mapping relationship for subsequent closed-loop calibration based on optical imaging, further improving the precision adjustment capability and response speed of the impact jet geometry parameters (such as free segment length, impact angle, axial misalignment, etc.).

[0032] A key issue remains in practical engineering applications: the specific type and adjustment precision of the aforementioned adjustment mechanism are not yet defined. If a conventional mechanical adjustment structure is used, its transmission clearance, return error, and long-term stability may be insufficient to meet the high precision requirements of jet posture in impact atomization experiments. Furthermore, the lack of adjustment precision for each axis will prevent the system from quantifying the nozzle's spatial posture adjustment capability, thus affecting the repeatability and control precision of asymmetric impact conditions, especially in scenarios requiring precise control of micron-level liquid film breakup behavior.

[0033] To address the issues of insufficient adjustment resolution and poor repeatability caused by unclear adjustment mechanism types and precision, this invention imposes the following specific limitations on the implementation of the six-degree-of-freedom adjustment components: the adjustment errors of the x-translation adjustment mechanism 16, y-translation adjustment mechanism 15, and z-translation adjustment mechanism 14 do not exceed 1 μm; and the adjustment errors of the x-rotation adjustment mechanism 13, y-rotation adjustment mechanism 12, and z-rotation adjustment mechanism 11 do not exceed 0.1°.

[0034] Optionally, by employing an optical slide group as the specific implementation of the six-degree-of-freedom adjustment component, its high rigidity, low transmission backlash, and excellent motion repeatability significantly improve the stability and long-term reliability of the nozzle's 7-position orientation adjustment. Simultaneously, by limiting the translational adjustment accuracy to 1 micrometer and the rotational adjustment accuracy to 0.1 degrees, the system can achieve sub-millimeter-level precise positioning of the nozzle's spatial position and sub-angle-level precise control of the jet's spatial direction. This level of precision matches the characteristic scale of liquid film breakup in impact atomization, ensuring that asymmetric impact conditions (such as jet axial misalignment and deflection angle) can be accurately and repeatedly set and reproduced. This provides a reliable execution foundation for subsequent closed-loop calibration and transfer matrix modeling based on optical imaging, ultimately achieving multi-degree-of-freedom precise control of the atomization process.

[0035] Optionally, the x translation adjustment mechanism 16, y translation adjustment mechanism 15, z translation adjustment mechanism 14, x rotation adjustment mechanism 13, y rotation adjustment mechanism 12 and z rotation adjustment mechanism 11 are all connected to stepper motors and reduction gears for driving. The processing unit is connected to the stepper motor 17 to acquire and control the motion of each adjustment mechanism.

[0036] By configuring a stepper motor 17 and a reduction gear drive for the six-degree-of-freedom adjustment component, the stepping angle of the stepper motor 17 is converted into a finer displacement or rotation increment using the reduction ratio of the reduction gear, thereby matching and achieving the execution requirements of 1-micron translational accuracy and 0.1-degree rotational accuracy. Furthermore, the processing unit is directly connected to the stepper motor 17, enabling real-time acquisition of the motion of each axis and sending precise pulse control signals, forming a complete closed-loop automatic control system from optical imaging recognition → deviation calculation → drive command output → mechanism motion adjustment. This allows the system to automatically complete initial pose calibration, deviation calibration, and the active introduction and dynamic adjustment of asymmetric impact conditions without manual intervention, significantly improving the automation level, adjustment response speed, and asymmetric condition reproduction accuracy of the device, providing a reliable execution layer foundation for subsequent multi-degree-of-freedom precision control of the atomization process.

[0037] While theoretically multiple collision systems (such as three or four) can also achieve jet convergence, the dual-jet collision structure is the simplest, has the lowest control difficulty, and can cover most impact atomization applications (such as rocket engine combustion chambers, spray cooling, pesticide spraying, etc.). Too many systems will significantly increase system complexity and cost, and the mutual interference between jets will exponentially increase the difficulty of six-degree-of-freedom adjustment and flow rate control, potentially reducing the stability and repeatability of atomization control.

[0038] To address the aforementioned issues of uncertain device configuration and uncontrollable control complexity caused by the unclear number of collision system sets, this invention imposes the following specific limitation on the number of system sets: Two collision systems are used. The inner surface of nozzle 7 is finely machined to generate two uniform and stable columnar jets. The relevant parameters describing the two impacting jets include jet diameters D1 and D2, free section lengths L1 and L2 before collision, free section angles α1 and α2, and axial misalignment distance 2δ, as shown below. Figure 3 and Figure 4 As shown. The injection passage 4 includes a liquid storage container 5, a flow control unit 6, a flexible pipe 9, and related connecting components. Each nozzle 7 is connected to the liquid storage container 5 and the flow control unit 6 via an independent flexible pipe 9, enabling independent and precise control of the liquid flow rate delivered to the two nozzles 7, thereby adjusting the flow velocities u1 and u2 of the two jets. The top of the six-degree-of-freedom adjustment component 2 is equipped with a movable plane 10 that can be independently adjusted with multiple degrees of freedom. The movable plane 10 is fixedly connected to the end interface 3 of the injection passage 4. The liquid storage container 5, controlled by the flow control unit 6, continuously and stably supplies fluid medium to the nozzles 7.

[0039] By limiting the system to two collision systems, a classic and widely used impact atomization configuration of dual-jet collision was constructed. In this configuration, the two jets can achieve head-on collisions or eccentric collisions with a certain angle and misalignment. The spatial orientation of the nozzles 7 on both sides is independently controlled by the aforementioned six-degree-of-freedom adjustment component 2, and the flow velocity of each jet is independently controlled by its respective flow control unit 6. This allows for a systematic study and proactive introduction of the influence of geometric asymmetry and velocity asymmetry on liquid film breakup behavior. Compared to multi-jet (three or more jets) schemes, the dual-jet scheme, while ensuring asymmetric control capability, significantly simplifies the system's mechanical structure, kinematic model, and control algorithm complexity, reduces device cost and calibration difficulty, and improves the stability and repeatability of the atomization process, facilitating its application from laboratory research to engineering projects.

[0040] Optionally, a three-axis translation adjustment mechanism or a three-axis rotation adjustment mechanism is fixedly installed on the fixed frame 1. The optical imaging system includes two sets of optical imaging units arranged orthogonally to each other. The optical imaging units are used to synchronously acquire images of the nozzle 7 outlet and the jet from two vertical directions. Figure 2This document demonstrates a specific structure of a six-degree-of-freedom adjustment component 2 on one side, connected to the end interface 3 of the injection passage 4 and the capillary needle nozzle 7 via its movable plane 10. This structure is used to adjust the direction of the jet generated by the nozzle 7 and the spatial position of the nozzle 7 orifice, while simultaneously fixing the fluid pipe interface 8, the flexible pipe 9 of the injection passage 4, and the movable plane 10. The z-rotation adjustment mechanism 11 adjusts the free segment angle; the y-rotation adjustment mechanism 12 and the x-rotation adjustment mechanism 13 jointly adjust the normal vector direction of the movable plane 10 to compensate for initial direction deviation; the z-translation adjustment mechanism 14 adjusts the asymmetry of axial misalignment between the two jets; and the y-translation adjustment mechanism 15 and the x-translation adjustment mechanism 16 jointly adjust the free segment lengths of the two jets. Each adjustment mechanism has a minimum adjustment accuracy of 1 micrometer. In this specific embodiment, an optical slide group is used, and automatic control is achieved using a stepper motor 17 and a reduction gear. The specific mechanical structure of each adjustment mechanism is not limited to the method shown here; it can be customized according to the actual usage environment in different application scenarios.

[0041] By uniformly mounting the adjustment mechanisms onto the fixed frame 1, a common mechanical mounting reference and coordinate system reference are provided for the nozzles 7 on both sides, ensuring that the motion quantities of each adjustment mechanism are defined in the same global coordinate system, which facilitates kinematic modeling and deviation calculation by the processing unit. Simultaneously, by configuring two sets of optical imaging units with mutually orthogonal optical axes, stereoscopic vision measurement of the spatial pose of the nozzles 7 is achieved: images from two orthogonal directions can complementaryly provide complete information on six degrees of freedom (three translational components and three rotational components), eliminating the depth blur and angular blind spots of monocular vision. Based on the synchronous dual-view images, the processing unit can accurately reconstruct the actual position of the nozzle 7 outlet in three-dimensional space and the direction vector of the jet, thereby accurately calculating the complete six-degree-of-freedom deviation from the preset standard pose. This provides reliable input data for subsequent closed-loop calibration and transfer matrix modeling, ultimately achieving precise control of the geometric parameters of the impact jet.

[0042] This invention is applicable to a wide range of liquids with different densities, viscosities and surface tensions; at the same time, by changing capillary needles with different inner diameters, the jet diameters D1 and D2 can be adjusted to meet atomization requirements of different scales.

[0043] Furthermore, the second part of the embodiments of the present invention provides an impact jet atomization method, which uses the above-mentioned impact jet atomization device and includes the following steps: The optical imaging system acquires images of the nozzle 7 outlet and jet, the processing unit identifies the actual spatial pose of the nozzle 7, obtains the deviation between it and the preset standard pose, and adjusts the three-axis translation adjustment mechanism and / or the three-axis rotation adjustment mechanism according to the deviation so that the nozzles 7 on both sides reach the preset standard pose. The relative spatial position between multiple collision systems is adjusted by a three-axis translation adjustment mechanism and / or a three-axis rotation adjustment mechanism, and / or the jet velocity and orientation between two collision systems are adjusted by a flow control unit 6, so as to introduce geometric asymmetry conditions and / or velocity asymmetry conditions between multiple jets.

[0044] After adjustment, multiple jets collide with each other, and by utilizing geometric asymmetry and / or velocity asymmetry, the liquid film formed after the collision is induced to exhibit at least one of the following behaviors: directional deflection, curling, oscillation, or perforation, thereby changing the liquid film breakup mode and droplet size distribution.

[0045] refer to Figure 5 To bring the nozzles 7 on both sides into a preset standard position, the following steps are included: The optical axes of the two optical imaging units are arranged orthogonally to each other and pre-aligned with the six-degree-of-freedom adjustment component 2. The adjustment mechanisms of the six-degree-of-freedom adjustment component 2 are reset to zero, and the fluid is supplied stably with a preset Reynolds number to form a stable laminar liquid column. The angle and position of the jet are identified by the optical imaging unit, and each rotation adjustment mechanism and each translation adjustment mechanism are adjusted to make the jet reach the preset direction and position. The initial deviation readings of each adjustment mechanism are recorded to establish the initial deviation vector. Adjust each adjustment mechanism, measure the actual pose change of nozzle 7 outlet after each adjustment through the optical imaging unit, establish the coupling matrix between the input adjustment amount and the actual pose change, and complete the system calibration.

[0046] The six-degree-of-freedom adjustment components 2 of this invention are a pair, each controlling a nozzle 7 on one side. Each six-degree-of-freedom adjustment component 2 on one side has six degrees of freedom: three-axis translation and three-axis rotation. It is necessary to calibrate the initial deviation and the input coupling between each degree-of-freedom adjustment mechanism, such as... Figure 5 As shown. The specific system deviation calibration method is implemented through the following steps:

[0047] (1) Place two sets of optical imaging systems with orthogonal optical axes, assemble the atomizing device, pre-align the movable plane 10 of its six-degree-of-freedom adjustment component 2 with an optical axis, so that the optical axis is approximately parallel to the movable plane 10, and the nozzle 7 and the jet impact area are located within the imaging area. (2) Set each adjustment mechanism of the six-degree-of-freedom adjustment component 2 to zero, and supply fluid stably under the condition of Reynolds number 200 to form a stable laminar liquid column; (3) Establish a coordinate system with the parallel optical axis as the x-axis and the vertical upward direction as the y-axis, according to the right-hand rule, with the positive x-direction as the right; use the optical imaging system to identify the jet angle, adjust the left x-rotation adjustment mechanism 13 and z-rotation adjustment mechanism 11 to make the jet vertically downward, and record the readings Δφx1 and Δφz1; (4) Adjust the z rotation adjustment mechanism 11 to 90°+Δφz1, and adjust the y rotation adjustment mechanism 12 so that the tangent of the jet outlet is parallel to the optical axis. At this time, the vertical optical axis optical imaging system detects the jet angle of 90° and records Δφy1. (5) Repeat steps (2) to (4) for the other side of the six-degree-of-freedom adjustment component 2 to obtain Δφx2, Δφy2, Δφz2; (6) Adjust the left z-rotation adjustment mechanism 11 to 35°+Δφz1 and the right z-rotation adjustment mechanism 11 to -35°+Δφz2. Adjust the translation mechanism on either side to make the jet heights on both sides equal and the liquid film symmetrical. Record the translation readings Δdx on both sides. i Δdy i , Δdz i (i=1,2), the initial deviation vector M of the two adjustment mechanisms is obtained. i =[Δdx i , Δdy i , Δdz i , Δφx i ,Δφy i , Δφz i ] T ; (7) Adjust each degree of freedom of the six-degree-of-freedom adjustment components 2 on both sides in sequence and record the reading vector R. i =[dx i dy i ,dz i , φx i , φy i , φz i ] T The nozzle 7 outlet relative to the standard state (R) was measured using two optical imaging systems during each adjustment. i = M i The coordinates and direction vector P of ) i =[pdx i , pdy i pdz i , pφx i , pφy i , pφz i ] T This allows us to determine the coupling matrix A between the various regulating mechanisms. i Satisfying P i =A i (R i -M i ).

[0048] Optionally, the geometric asymmetry condition includes one or more of the following: asymmetry in the length of the free segments of the two jets, asymmetry in the angle of the free segments of the two jets, and axial misalignment of the two jets; the velocity asymmetry condition is: the velocities of the two jets are not equal. The processing unit establishes a transmission relationship between the atomization feature vector C and the pose vectors P1 and P2 at the output ends of the two collision systems: C = B1P1 + B2P2, where B1 and B2 represent the coordinates of the two jets, respectively. Open-loop control is achieved by taking the adjustment amount of each adjustment mechanism of the six-degree-of-freedom adjustment component 2 as input and the atomization feature vector C as output. The optical imaging unit acquires images of the nozzle 7 outlet and the jet in real time, feeds the images back to the processing unit, compares them with the target value, and adjusts the six-degree-of-freedom adjustment component 2 and / or the flow control unit 6 according to the comparison result to achieve closed-loop control.

[0049] After system calibration, when the two jets are perfectly symmetrical, the morphology of the liquid film is controlled by the flow velocity u1 (u1=u2) and the free segment angle α1 (α1=α2), such as... Figure 6 As shown in (a) and 6(b), the morphology of the liquid film exhibits a nonlinear relationship with the flow velocity and the free segment angle. Piecewise polynomial fitting is used to characterize the size of the liquid film and the droplet size distribution, serving as a symmetry benchmark. When the jet flow rate u1 and the sum of the free segment angles α1+α2 on the left side remain symmetrical, various parameters can be adjusted to achieve different atomization effects. Adjusting the free segment lengths L1 and L2 asymmetrically... Figure 6 As shown in (c), this will cause the central axis of the liquid film to remain vertically downward, while both sides will slightly curl up towards the shorter side. Simultaneously, the curvature and angle of the liquid filaments formed by the contraction of the liquid film will change, indirectly altering the breakup pattern of the liquid film and the spatial distribution of the droplets. Adjusting the asymmetry of the free segment angles α1 and α2 is as follows... Figure 6 As shown in (d), this will cause the entire liquid film to deflect towards the angle bisector of the free segment, amplifying the instability of the liquid film. Under certain critical conditions, this will induce perforation and rupture of the upper liquid film, resulting in smaller droplets and improved atomization. Adjusting the jet velocities u1 and u2 asymmetrically... Figure 6 As shown in (e), this will cause the liquid film to bend and deflect towards the low-velocity side, while amplifying the instability of the liquid film and changing the spatial distribution of droplets. Under certain critical conditions, this will cause the liquid film to perforate and rupture, thus improving the atomization effect. Adjusting the axial misalignment distance 2δ as follows: Figure 6 As shown in (f), the liquid film rotates around the central axis, the lateral velocity component of the upper liquid film increases, and rupture is induced; the lower liquid film separates into two fan-shaped jets with a certain angle and mutual coupling, which changes the form of liquid film development under symmetry, increases the droplet dispersion angle and reduces the droplet size.

[0050] Based on the aforementioned asymmetric-induced liquid film and droplet distribution characteristics, the atomization feature vector C can be used to characterize six dimensions of parameters of the impacting jet: deflection, rotation, curling, two-dimensional droplet diffusion angle, and particle size distribution coefficient (such as Sotter mean diameter). The segmented transfer matrices B1 and B2 represent the relationship between the coordinates and direction vectors P1 and P2 of the two jets and the feature vector C: C = B1P1 + B2P2. This achieves open-loop control with the adjustment parameters of each degree of freedom of the six-degree-of-freedom adjustment component 2 as input and the atomization feature vector C as output. By introducing real-time detection methods for the corresponding output parameters for correction, closed-loop control of the atomization effect can be achieved.

[0051] In summary, this invention achieves highly independent control over key parameters of impact atomization and introduces a new atomization mechanism through controllable liquid film deflection and perforation induction. Under the same average flow rate, compared to symmetrical impact jets, the impact region exhibits increased fluctuation amplitude, generating more small-scale droplets and significantly improving the controllability and efficiency of atomization. It is particularly suitable for the precise control of atomization characteristics of low-viscosity fluids and the efficient atomization of high-viscosity fluids.

[0052] The above description is only a preferred embodiment, and the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or changes made based on the technical solution and concept of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An impact jet atomizing device, characterized in that, It includes multiple collision systems, an optical imaging system, and a processing module. Each collision system includes: The six-degree-of-freedom adjustment component (2) includes a three-axis translation adjustment mechanism and a three-axis rotation adjustment mechanism that are interconnected; The nozzle (7) is a capillary needle tube, which is connected to the motion output end of the three-axis translation adjustment mechanism or the three-axis rotation adjustment mechanism. The three-axis translation adjustment mechanism is used to adjust the three-dimensional translation position of the nozzle (7) in space, and the three-axis rotation adjustment mechanism is used to adjust the three-dimensional rotation angle of the nozzle (7) in space. The injection passage (4) is connected to the nozzle (7), and the injection passage (4) is equipped with a flow control unit (6) for adjusting the jet flow rate of the nozzle (7); The optical imaging system is used to acquire images of the nozzle (7) outlet and jet; the processing unit identifies the actual spatial pose of the nozzle (7) based on the images acquired by the optical imaging unit, thereby obtaining the deviation between it and the preset standard pose, and adjusts the three-axis translation adjustment mechanism and / or the three-axis rotation adjustment mechanism according to the deviation. The processing unit is also used to adjust the jet velocity and orientation of the nozzle (7) by adjusting the flow control unit (6) and / or the three-axis translation adjustment mechanism and / or the three-axis rotation adjustment mechanism.

2. The impact jet atomizing device as described in claim 1, characterized in that, The three-axis translation adjustment mechanism is located at the bottom layer, the three-axis rotation adjustment mechanism is fixedly installed on the motion output end of the three-axis translation adjustment mechanism, and the nozzle (7) is fixedly installed on the motion output end of the three-axis rotation adjustment mechanism through a movable plane (10); The spatial orientation of the nozzle (7) is adjusted by the superposition of the motion of the three-axis translation adjustment mechanism and the three-axis rotation adjustment mechanism.

3. The impact jet atomizing device as described in claim 1, characterized in that, The three-axis translation adjustment mechanism includes: an x-translation adjustment mechanism (16) for realizing horizontal linear motion, a y-translation adjustment mechanism (15) for realizing horizontal linear motion, and a z-translation adjustment mechanism (14) for realizing vertical linear motion. The three-axis rotation adjustment mechanism includes: an x-rotation adjustment mechanism (13) for realizing rotational motion around a horizontal transverse axis, a y-rotation adjustment mechanism (12) for realizing rotational motion around a horizontal longitudinal axis, and a z-rotation adjustment mechanism (11) for realizing rotational motion around a vertical axis. The x translation adjustment mechanism (16), y translation adjustment mechanism (15), z translation adjustment mechanism (14), x rotation adjustment mechanism (13), y rotation adjustment mechanism (12) and z rotation adjustment mechanism (11) are connected in series, and the nozzle (7) is installed at the motion output end connected in series.

4. The impact jet atomizing device as described in claim 3, characterized in that, The x translation adjustment mechanism (16), y translation adjustment mechanism (15), z translation adjustment mechanism (14), x rotation adjustment mechanism (13), y rotation adjustment mechanism (12) and z rotation adjustment mechanism (11) are all optical slide groups, and the adjustment accuracy of each translation adjustment mechanism is 1μm, and the adjustment accuracy of each rotation adjustment mechanism is 0.1°.

5. The impact jet atomizing device as described in claim 3, characterized in that, The x translation adjustment mechanism (16), y translation adjustment mechanism (15), z translation adjustment mechanism (14), x rotation adjustment mechanism (13), y rotation adjustment mechanism (12) and z rotation adjustment mechanism (11) are all connected to stepper motors and reduction gears for driving. The processing unit is connected to the stepper motor (17) to acquire and control the motion of each adjustment mechanism.

6. The impact jet atomizing device as described in claim 1, characterized in that, The collision system consists of two sets.

7. The impact jet atomizing device as described in claim 6, characterized in that, The three-axis translation adjustment mechanism or the three-axis rotation adjustment mechanism is fixedly installed on the fixed frame (1). The optical imaging system includes two sets of optical imaging units arranged orthogonally to each other. The optical imaging units are used to synchronously acquire images of the nozzle (7) outlet and the jet from two vertical directions.

8. A method for atomizing impact jets, characterized in that, The impact jet atomizing device according to any one of claims 1 to 7 includes the following steps: The optical imaging system acquires images of the nozzle (7) outlet and jet, the processing unit identifies the actual spatial pose of the nozzle (7), obtains the deviation between it and the preset standard pose, and adjusts the three-axis translation adjustment mechanism and / or the three-axis rotation adjustment mechanism according to the deviation so that the nozzles (7) on both sides reach the preset standard pose. The relative spatial position between multiple collision systems is adjusted by the three-axis translation adjustment mechanism and / or the three-axis rotation adjustment mechanism, and / or the jet velocity and orientation between two collision systems are adjusted by the flow control unit (6) to introduce geometric asymmetry conditions and / or velocity asymmetry conditions between multiple jets. After adjustment, multiple jets collide with each other, and by utilizing the geometric asymmetry and / or velocity asymmetry conditions, the liquid film formed after the collision is induced to exhibit at least one of the following behaviors: directional deflection, curling, oscillation, or perforation, so as to change the liquid film breakup mode and droplet size distribution.

9. The impact jet atomization method as described in claim 8, characterized in that, The process of bringing the two nozzles (7) to a preset standard position includes the following steps: The optical axes of the two optical imaging units are arranged orthogonally to each other and pre-aligned with the six-degree-of-freedom adjustment component (2); The adjustment mechanisms of the six-degree-of-freedom adjustment component (2) are reset to zero, and the fluid is supplied stably with a preset Reynolds number to form a stable laminar liquid column; The optical imaging unit identifies the angle and position of the jet, adjusts each rotation adjustment mechanism and each translation adjustment mechanism to make the jet reach the preset direction and position, records the initial deviation reading of each adjustment mechanism, and establishes the initial deviation vector. Adjust each adjustment mechanism, measure the actual pose change of the nozzle (7) outlet after each adjustment through the optical imaging unit, establish the coupling matrix between the input adjustment amount and the actual pose change, and complete the system calibration.

10. The impact jet atomization method as described in claim 9, characterized in that, The geometric asymmetry conditions include one or more of the following: asymmetry in the free segment lengths of the two jets, asymmetry in the free segment angles of the two jets, and axial misalignment of the two jets; the velocity asymmetry condition is that the velocities of the two jets are not equal. The processing unit establishes the transmission relationship between the atomization feature vector C and the pose vectors P1 and P2 at the output ends of the two collision systems: C = B1 P1 + B2 P2, where B1 and B2 represent the coordinates of the two jets respectively; the adjustment amount of each adjustment mechanism of the six-degree-of-freedom adjustment component (2) is used as input, and the atomization feature vector C is used as output to realize open-loop control; the optical imaging unit acquires the image of the nozzle (7) outlet and the jet in real time, feeds the image back to the processing unit, compares it with the target value, and adjusts the six-degree-of-freedom adjustment component (2) and / or the flow control unit (6) according to the comparison result to realize closed-loop control.

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