抄録
In recent years, shotcrete is being applied as the eternal lining. Shotcrete can be placed without using molds shortly after excavation. On the other side, the shotcreting thickness and finishability are largely based on the experience of the nozzle man. Therefore, high technique is needed. In such a background, we developed the fully automatic shotcreting robot, which used sprayed mortar for TBM and then achieved to make practical use. This paper describes the outline of the robot and the way of controlling to get the design thickness and the good finishability.
