一、前言喷射混凝土施工工艺,目前在国内许多行业中已逐渐推广开来。但操作喷咀的工人劳动条件十分恶劣,而这种恶劣的劳动条件至今还没得到根本改善。为了改善工人的劳动条件,国内少数几个行业已设计和试用过喷射混凝土机械手,想以此代替工人直接操作喷咀,有的已小批量生产。这些机械手中,有的技术先进,但结构复杂,加工难度大,操作保养要求高,成本相应的也高。正因为这样,有人也设 I. INTRODUCTION Shotcrete construction technology has been gradually promoted in many domestic industries. However, the working conditions of the workers who operate the nozzle are very poor, and this poor working condition has not yet been fundamentally improved. In order to improve the working conditions of workers, a few domestic industries have designed and tried sprayed concrete manipulators, in order to replace workers directly to operate nozzles, and some have been produced in small batches. Some of these robots have advanced technology, but their structures are complex, they are difficult to process, they require high operation and maintenance, and their costs are relatively high. Because of this, some people also have