Abstract
This paper presents a novel multilayer cutter transport system for automated disc cutter replacement in slurry-shield tunnel boring machines (TBMs) under hyperbaric conditions. The system addresses the critical challenge of transporting heavy cutters through confined chambers and introduces three key innovations, a problem previously unsolved in robotic TBM maintenance. Our contributions include: (1) a compact two-layer conveyor-lifter mechanism optimized for narrow-space operation, (2) a breadth-first search-based topology optimization framework that maximizes storage capacity while minimizing transition steps, and (3) a comprehensive workflow analysis enabling fully automated cutter exchange. Experimental validations demonstrate reliable transport of three cutters per cycle with 2.4× efficiency improvement over manual methods, representing a significant advancement in TBM automation and worker safety.
