Design and Implementation of Disc Cutter Changing Robot for Tunnel Boring Machine (TBM)

摘要

Although Tunnel Boring Machine (TBM) is a well- developed semi-automated equipment for infrastructure construction, it still needs manual operation such as disc cutter changing task. There is still no practical solution answering the arising accident reports of injury or death during the manually underground cutter changing process around the world. In this paper, we first analysis the current situation and key problems preventing the implementation of automatic cutter changing operation. Then, describe a proposal with detailed consideration solving several main challenges, such as a narrow but long path versus large working space and large payload in the existing TBM, complicated environmental information that is difficult to obtain, such as dark, high pressure, mud and rust. In the finally part an implementation, test, and discussion are carried out to verify the feasibility of this first prototype.