New Integrated TBM Disc Cutter Deviation Analysis And Design of The Supporting Cutter-Changing Robot End-Effector

At present, the replacement of disc cutters of the tunnel boring machine (TBM) is a very important and difficult manual operation. Therefore, it is meaningful to study disc cutters of TBM replacement with a robot. In this paper, the machining and assembly deviation of the new integrated disc cutter developed by our research group is modeled and analyzed by using the improved Jacobian-Torsor model, and the analysis results are verified by experiments. On this basis, aiming at the possible radial deviation and angle deviation in the working process of a robot replacing TBM disc cutters, a cutter-changing robot end-effector composed of a guiding mechanism, a flexible connecting mechanism and a universal wrench is designed for the disassembly and assembly of the new integrated disc cutter, and scaled-down models were made for the experiment. The test results show that when there is a radial deviation of 19.21% or an angle deviation of 11° between the fastening bolt and the end-effector of the robot, the robot end-effector can complete the docking with the fastening bolt.