Development of "SPL Robots" for Construction of Tunnels Linings

The traditional methods used in the construction of primary linings in tunnels have the disadvantages that, because the lining materials are sprayed directly on to the excavated rock face, concrete materials rebound and dust is genetrated, leading to deterioration of the working conditions, as well as rendering the process uneconomic because of the loss of the materials. The robotised Sliding press lining(SPL) method aims at solving these problems. The present paper deals with the development of the SPL robot and experiments carried out using the SPL robot in a test tunnel.