一、机械结构和动作原理中型喷浆机器人的结构方案如图1所示。该机器人有6个自由度,即大臂俯仰、小臂摆动、水平伸缩臂伸缩、手腕转动、喷枪摆动和喷枪转动。其动作原理与结构特点是:(1)大臂1在油缸2驱动下做俯仰运动;(2)小臂3做水平摆动,由于小臂采用 First, the mechanical structure and action principle Medium-sized shotcrete robot structure shown in Figure 1. The robot has six degrees of freedom, namely boom pitch, arm swing, telescopic telescopic arm, wrist rotation, gun swing and gun rotation. Its operating principle and structural features are: (1) boom 1 in the cylinder 2 driven pitch do pitching; (2) arm 3 to do the horizontal swing, the use of the arm