China's first heavy‑duty intelligent TBM robot specializing in cutterhead tool changing. [Photo/Xiamen Daily]
China's first heavy‑duty intelligent tunnel boring machine (TBM) robot specializing in cutterhead tool changing underwent a test run on the Xiamen‑Kinmen Bridge project on June 25. The entire system, including all hardware and software, is built using proprietary technology developed in China.
This is the first time a robot has been used to change cutter tools on a large-diameter shield tunnel, eliminating the need to send workers into the tunnel. The result is drastically improved safety and efficiency — especially in difficult ground conditions and under high water pressure.
When paired with a digital twin smart management system, the robot reduces the time to replace a single disc cutter to 25-40 minutes — a productivity gain of over 50 percent.
Featuring 11 independently controlled joints, the robot excels at avoiding obstacles and manipulating objects. With a 500 kg payload and flexible reach, it can access the entire cutterhead of 10 to 18 meter super large shield machines, easily gripping and precisely replacing heavy disc cutters.
Paired with a digital twin smart management system, the intelligent shield tool‑changing robot uses 3D infrared machine vision to quickly scan and identify the exact position and wear condition of each cutter in the dark, damp, and low‑visibility front chamber, achieving positioning accuracy within 1 millimeter.