Research On Sealing Structure Design Of Storage Tank Gate Of Cutter Changing Robot For Shield Machine

In the process of shield machine construction,the cutter will be inevitably damaged,which requires frequent shutdown for tool replacement.At present,the tool replacement mainly depends on the manual tool replacement operation has obvious shortcomings,the new tool changing operation mode of "machine replacing people" has become a research hotspot in the field.The robot is mainly integrated into the shield machine through the shield-robot interface system.As the core part of the interface system,the storage tank gate isolates the mud water pressure of the excavation bunker.Its performance directly affects the operating efficiency,service life and tunnel construction safety of the tool changing robot.Therefore,it is urgent to design a highly reliable storage tank gate and internal sealing structure to ensure reliable integration and efficient operation of the robot.The main research contents are as follows:(1)The tool change robot storage tank of operation principle and application condition of gate are analyzed,this paper puts forward a gate structure scheme and its internal sealing structure scheme suitable for the storage compartment of the tool changing robot,determines that the forward seal and side seal in the internal sealing structure adopt X-type seal and O-type seal with skeleton respectively,and completes the size design of the main structure of the gate,which provides a size basis for the design of the sealing structure later.(2)The hyperelastic constitutive model and material parameters of rubber materials are obtained by uniaxial tensile test.The preliminary design of the cross-sectional structure size of the O-type seal with skeleton and the sealing groove in the gate side sealing structure is completed.The finite element analysis model of the gate side sealing structure is established in ABAQUS.The effects of the compression rate,material hardness and the structural parameters of the sealing groove on the sealing performance are studied based on the control variable method.Taking the tensile performance index,shear performance index and maximum contact pressure of the closed working state of the seal under the medium pressure of 2.0MPa as the inspection indexes,the orthogonal optimization test is carried out,and the significant degree of the joint effect of various factors on the sealing performance is obtained.Further,the optimal combination scheme of various parameters is obtained by using the comprehensive balance analysis method,and the reliability of the optimization scheme is verified by numerical simulation.(3)The preliminary design of the cross-sectional structure size of the X-type seal and the sealing groove in the gate forward sealing structure is completed.The finite element analysis model of the gate forward sealing structure is established in abaqsu,and the single factor influence law of the compression rate and material hardness on the sealing performance is analyzed.Taking the maximum von Mises stress,maximum shear stress and maximum contact pressure of the seal in the external stroke state under the medium pressure of 2.0MPa as the inspection indexes,the orthogonal optimization test is carried out,and the significance of the influence of the main structural parameters of the seal on the sealing performance is obtained.Further,the optimal combination scheme of each structural parameter is obtained by using the matrix analysis method,and the reliability of the optimization scheme is verified by numerical simulation.(4)The gate performance test-bed is built to carry out the gate static sealing test and durability test under the two states of opening and closing.The test results show that the two sealing structures have good sealing performance and verify the accuracy of the finite element simulation results.