Shotcrete manipulator has been widely used in the construction of high-speed railways, coal mines and other tunnels. At present, workers are still using the remote controller to control the manipulator for spraying operations. There are problems such as high operation risk, large personal injuries, and low construction quality. In order to improve the automation of tunnel construction, this paper proposes a spraying motion planning method based on an 8R manipulator arm. On the basis of kinematics modeling and analysis of the shotcrete manipulator, method design and motion planning of shotcrete are carried out according to tunnel conditions, and verification experiments are carried out in actual tunnel. The experimental results show that the precision of the automatic spraying method is less than 45 m, which can meet the requirements of actual construction.

喷射混凝土机械手已广泛用于高速铁路，煤矿和其他隧道的建设中。目前，工人仍在使用遥控器来控制机械手进行喷涂操作。存在操作风险高，人身伤害大和施工质量低等问题。为了提高隧道施工的自动化程度，提出了一种基于8R机械臂的喷涂运动规划方法。在对喷浆机器人进行运动学建模和分析的基础上，根据巷道条件进行了喷浆方法的设计和运动计划，并在实际巷道中进行了验证实验。实验结果表明，自动喷涂方法的精度小于45 m，