In order to make the objectives, technical features, and technical effects of the technical solutions of the present invention clearer, the exemplary solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of specific embodiments of the present invention.
 See Figure 1-Figure 5 , This application discloses a segment assembly vehicle, including a traveling vehicle, a segment grabbing assembly 200, an assembly arm assembly 300, a service platform 400, a support arm assembly 500 and a control system 600. The traveling vehicle in this embodiment is a crawler The bottom of the crawler vehicle is provided with a telescopic leg 101 and a support cylinder 102. The support cylinders 102 are arranged in a figure eight shape on both sides of the crawler vehicle 100. The expansion and contraction of the support cylinders 102 can ensure that the crawler vehicle 100 can be both flat and round. When traveling in the bottom tunnel, the telescopic outrigger 101 provided by the crawler 100 is in a retracted state. During assembly operations, the outriggers are lowered to support the weight of the whole machine and the tube segments; It can be pivotally connected to both sides of the tracked vehicle, and then the inclination can be adjusted by adjusting the oil cylinder. At the same time, a support shoe is provided at the end of the supporting oil cylinder to facilitate stable support.
 The segment grabbing assembly 200 in this embodiment is used for grabbing segments. The segment grabbing assembly 200 in the prior art can achieve the effect to be achieved by this application, and the specific structure is no longer important. The assembly arm assembly 300 is arranged between the crawler 100 and the segment grabbing assembly 200, and drives the segment grabbing assembly 200 to adjust the position and assembling the segment 701; the support arm assembly 500 is set on the service platform 400 and the track Between the vehicles 100, the support arm assembly 500 drives the service platform 400 to adjust the position and level.
 Specifically, the structure of the assembly arm assembly 300 disclosed in this embodiment includes a first assembly arm 302 and a second assembly arm 303. A first turntable 301 is provided between the first assembly arm 302 and the crawler vehicle 100, and the first assembly arm 302 The assembling arm 302 is hinged with the first turntable 301; the second assembling arm 303 is pivotally connected with the first assembling arm 302, and the second assembling arm 303 is a telescopic arm structure, between the second assembling arm 303 and the tube piece grabbing assembly 200 An adjustment mechanism is provided. The adjustment mechanism drives the segment grabbing assembly 200 to swing and rotate in multiple directions relative to the second assembly arm 303; between the assembly arm and the first turntable, and between the first assembly arm and the second assembly arm In this embodiment, a swing-type oil cylinder is used for connection to provide pitch drive. It can also be driven by a telescopic rod-type oil cylinder or other mechanisms to drive mutual swinging actions. Among them, the second assembling arm is a telescopic arm structure, and is provided with a telescopic power push rod that drives the telescopic action, so as to facilitate targeted adjustments for different distances in different directions.
 This embodiment provides the specific structures of the following types of adjustment mechanisms. The adjustment mechanism can be a multi-degree-of-freedom turntable or a universal adjustment head arranged at the end of the second assembly arm, or other existing technologies that can achieve this The adjustment assembly with local structural features satisfies the swing of multiple degrees of freedom and the rotation in the circumferential direction, so as to realize the fine adjustment and assembly of the tube slice orientation; the adjustment mechanism may also include two swing cylinders arranged in a cross, a third assembly arm and a second assembly arm. With three revolving platforms, the third assembling arm swings in multiple degrees of freedom relative to the second assembling arm, and the segment grabbing assembly is connected to the third assembling arm through the third revolving platform. The second form is selected in the figure in this embodiment.
 In the above structure, the assembly arm assembly may also include more articulated assembly arms, and is not limited to a two-stage or three-stage assembly arm structure. The present embodiment only optimizes the structural features to achieve structural integration and compactness. It is easy to control and transfer, and provides corresponding structural features to optimize the product structure and promote construction efficiency and construction quality. In addition, a base can be fixed on the corresponding first turntable, The base can also be a telescopic structure to adjust the working range of the entire assembly arm assembly, or a new second turntable 309 is provided between the first assembly arm and the second assembly arm, which can enable the second assembly While the arm swings relative to the first assembly arm, it can also rotate circumferentially. The purpose is to further optimize the structure according to the different tunnel cross-sectional shapes and adjust the difficulty of segment assembly to ensure construction quality. figure 2 Shown.
 The specific structure of the support arm assembly in this embodiment includes a first support arm 501 and a second support arm 502. A fourth turntable 503 is provided between the first support arm 501 and the crawler vehicle 100; one end of the second support arm 502 It is hinged with the first support arm 501, the other end of the second support arm 502 is hinged with the service platform 400, and adjustments are arranged between the first support arm 501 and the second support arm 502, and between the second support arm 502 and the service platform 400. The horizontal power push rod 504 realizes the rotation, lifting and leveling of the service platform, which is convenient for the working staff. In this embodiment, the first support arm or/and the second support arm is a telescopic arm structure, and is provided with a telescopic power push rod that drives the telescopic action; at the same time, the support arm assembly may also include more articulated support arms, It is not limited to a two-stage or three-stage support arm structure.
 Further, in order to improve its adjustment performance, increase its assembly operation range and overall flexibility, a first slide is provided on the crawler vehicle, the first turntable is slidably arranged on the first slide, and the first turntable and A sliding push rod is provided between the crawler vehicles; at the same time, a second slide is also provided on the crawler, and the fourth turntable is slidably arranged on the second slide, and a slide is provided between the fourth turntable and the crawler. The push rod is moved to realize the integral movement of the segment grabbing assembly and the assembling arm assembly.
 The application also discloses a method for assembling tube segments, using the above-mentioned tube segment assembling vehicle to assemble tube segments, specifically including the following steps:
 Start the segment assembly vehicle and move the whole vehicle to the working position to complete the stable support of the segment assembly vehicle, which is specifically adjusted and supported by the telescopic outriggers and support cylinders;
 Control the action of the assembly arm assembly to drive the segment grabbing assembly to grab the segment;
 After the grasping is completed, raise the tube segment to the position to be assembled by adjusting the assembling arm assembly, and raise the service platform to the work station through the support arm assembly to complete the segment bolt connection;
 Repeat the process of grabbing and assembling the segments until the assembling of the segments is completed.
 The invention has a crawler vehicle as a transportation device, which can travel in flat-bottomed or round-bottomed tunnels; the crawler vehicle is provided with telescopic outriggers, and the telescopic outriggers are put down under working conditions; the segment assembly arm has a three-stage arm, and the snatch device grabs the segment After that, the tube segment is placed in the assembly position through the turntable, swing cylinder, and telescopic cylinder to achieve expansion and rotation; the support arm assembly corresponding to the service platform has two-stage arms, and the arms are articulated. Revolve to the designated position, assist the operator to complete the work of connecting the segment bolts.
 The embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.
 The term "and/or" herein means that there can be three relationships. For example, A and/or B can mean: A alone exists, A and B exist at the same time, and B exists alone. In addition, the character "/" in this text generally indicates that the associated objects before and after are in an "or" relationship.
 Unless otherwise defined, the technical terms or scientific terms used herein shall be the ordinary meanings understood by those with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one" or "one" do not necessarily indicate quantitative restrictions. "Include" or "include" and other similar words mean that the element or item appearing before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. Similar words such as "connected" or "connected" are not currently intended to be physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "Down", "Left", "Right", etc. are only used to indicate the relative position relationship. When the absolute position of the described object changes, the relative position relationship may also change accordingly.
 The exemplary embodiments of the present invention are described in detail above with reference to the preferred embodiments. However, those skilled in the art can understand that, without departing from the concept of the present invention, various modifications and variations can be made to the above specific embodiments. Modifications, and various combinations of various technical features and structures proposed by the present invention can be made without exceeding the protection scope of the present invention, which is determined by the appended claims.