Discussion on the Robotic Approach of Disc Cutter Replacement for Shield Machine

Modern Tunnel Boring Machine (TBM) or Shield Machine is a large-scale intelligent tunnel engineering equipment which highly integrates machinery, electricity, fluid, control and information technology. During the tunnel construction, the cutting tools assembled onto the cutter head need to be replaced frequently due to the wear by rocks in complex geological conditions. At present, the shield machine adopts the manual tool changing method with the problems such as long period, huge cost and dangerous working environment, therefore, the operators bear great labor strength and safety risks. The replacement of cutting tools with economical, reasonable and safe solution is an important direction in tunnel construction technology. One approach is to use robot and automation technology instead of manual tool changing. This paper focuses onto this problem, introduces the academic and application situation of cutter changing robots for shield machine from both domestic and foreign researches. And then, this paper analyzes / summaries the technical principle, application scope, advantages and disadvantages of various type of cutter changing robots, and presents the prospect of cutter changing robotic technology for shield machine in China.