The intelligent robotic system for precast concrete segment production lines is applied in the manufacturing of concrete segments for subways and tunnels. It comprises five robotic workstations: segment mold cleaning, dust removal, release agent spraying, concrete surface rough troweling, and fine troweling. The system utilizes a 2D camera to identify workpiece models and employs a 3D vision system to locate segment components, assisting robotic arms in performing production tasks on various segment mold types.

The mold cleaning, dust removal, and release agent spraying stations operate with inverted robotic arms integrated with 3D vision and external axes (dry ice cleaning targets mold recesses, while dust removal and release agent spraying achieve full coverage). Concrete surface intermediate and finishing troweling stations utilize ground-mounted robotic arms.