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介绍了喷浆机器人的结构、工作原理和液压驱动系统的设计，并对枪杆旋转关节所采用的液压位置伺服控制进行了研究分析。使用证明，该喷浆机器人达到了设计要求。
The structure, working principle and design of hydraulic drive system of shotcrete robot are introduced. The hydraulic position servo control adopted by the rotating joint of gun is researched and analyzed. Proof of use, the shotcrete robot to meet the design requirements.