Install cdrdao and bchunk:

sudo apt-get install cdrdao bchunk

Assume your .toc/.bin files are yourfile.toc and yourfile.bin, run the following commands:

toc2cue yourfile.toc yourfile.cue
bchunk yourfile.bin yourfile.cue yourfile.iso

You're able to convert easily to wav by

sox *.cdr file.wav