In order to achieve uniform and stable quality of shotcrete operation,the influence and control of parame-ters in the shotcrete process of rock hole are studied in this paper.By using coating modeling,theoretical parameter calculation and experimental verification,it is concluded that gun parameters and feed speed are the key influen-cing factors.The model of coating quality and spray gun parameters and the matching equation of spray feed speed are established,which are applied to the design and control system of actual spray robot.The experiment shows that the small rock hole grouting robot can realize the grouting support operation of the simulated experimental tunnel,so the small rock hole grouting robot designed in this paper can meet the application requirements.
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