Subway tunnel segment assembling mechanical arm and method

Abstract

The invention discloses a metro tunnel segment assembling mechanical arm and method.The metro tunnel segment assembling mechanical arm comprises a segment fixing mechanism, a splicing mechanism and a limiter which are sequentially connected, the segment fixing mechanism is used for fixing semicircular segments, and the splicing mechanism comprises a first flexible drive, a second flexible drive and a supporting arm; one end of the supporting arm is movably connected with the duct piece fixing mechanism through the movable part, the other end of the supporting arm is slidably connected with the limiter, and the first flexible drive is connected with the duct piece fixing mechanism and used for rotating the duct piece fixing mechanism from the horizontal state to the vertical state. The second flexible drive is connected with the duct piece fixing mechanism and used for rotating the duct piece fixing mechanism to the outer side of the supporting arm, the limiter is provided with a third drive connected with the supporting arm, and the third drive is used for driving the supporting arms to get close to each other or get away from each other; the pipe piece splicing device adopts a pure mechanical structure design, is low in cost and is suitable for pipe piece splicing of a tunnel simulation test.

Description

Technical Field

[0001] The present invention relates to the technical field of pipe segment assembly, and in particular to a subway tunnel pipe segment assembly mechanical arm and method. Background Art

[0002] Segment assembly is an important part of shield engineering, and its quality directly affects the stress condition of the tunnel and the safety of the overall project. During the assembly process, it usually starts from the standard segment at the bottom, and then the standard segments are installed alternately on the left and right sides, and then the adjacent segments are assembled, and finally the capping segments are installed. During assembly, attention should be paid to tightening the connecting bolts to ensure that the circumferential and axial connections are firm. In the process of simulating shield tunneling, the diameter of the corresponding ring of the segment used in the test is small, and the material quality is greatly reduced. Although the above conditions greatly facilitate the segment assembly work in the experiment, the existing test equipment does not have the function of meeting the segment splicing function in a purely mechanical way.

[0003] Existing technologies, such as a mudstone stratum shield tunnel segment assembly machine and its assembly method with patent number CN117365545A, are not purely mechanical, but rely on an intelligent system to complete the work, resulting in a complex structure and high cost. They are not suitable for the segment assembly work used in experiments. Summary of the invention

[0004] The purpose of the invention is to provide a subway tunnel segment assembly robot arm and method, which solves the problem that the equipment in the prior art is not a purely mechanical working mode, has a complex structure and high cost, and is not suitable for tunnel simulation test segment assembly work.

[0005] The present invention is implemented as follows: a subway tunnel segment assembly mechanical arm includes a segment fixing mechanism, a splicing mechanism and a limiter connected in sequence, the segment fixing mechanism is used to fix a semicircular segment, the splicing mechanism includes a first flexible drive, a second flexible drive and a support arm, one end of the support arm is movably connected to the segment fixing mechanism through a movable part, and the other end of the support arm is slidably connected to the limiter, the first flexible drive is connected to the segment fixing mechanism for rotating the segment fixing mechanism from horizontal to vertical, the second flexible drive is connected to the segment fixing mechanism for rotating the segment fixing mechanism to the outside of the support arm, and the limiter is provided with a third drive connected to the support arm, and the third drive is used to drive the support arms to move closer to or away from each other.

[0006] After the segment fixing mechanism fixes the segment, the first flexible driving action is performed to lift the segment from the ground and put it in a vertical state. At this time, the segment fixing mechanism rotates from horizontal to vertical; the second flexible driving action further moves the segment in the vertical state, so that the segments on adjacent segment fixing mechanisms are in an open relative state. At this time, the segment fixing mechanism rotates from vertical to the outside of the support arm; then, through the action of the third driving, the segment fixing mechanisms are brought close to each other, and at the same time, the segments are also relatively close to complete the splicing of the segments to form an annular segment; in the present invention, one end of the support arm is connected to the segment fixing mechanism through a movable part, and then a first flexible driving and a second flexible driving are provided between the segment fixing mechanism and the support arm to complete the relative setting of the segment opening, and then the third driving is used to bring the support arms close to each other to complete the segment splicing. The design of a purely mechanical structure is low in cost and is suitable for segment splicing in tunnel simulation tests.

[0007] A further technical solution of the present invention is: the first flexible drive includes a first winch and a first rope, one end of the first rope is connected to the first winch, and the other end of the first rope is placed above the movable part and connected to the pipe segment fixing mechanism; the second flexible drive includes a second winch and a second rope, one end of the second rope is connected to the second winch, and the other end of the second rope is connected to the outside of the pipe segment fixing mechanism.

[0008] The segment fixing mechanism is controlled by connecting the first rope to the segment fixing mechanism and the second rope to the segment fixing mechanism, so that the segment is pulled up from the ground to a vertical state and then rotated to both sides until the openings are arranged relative to each other.

[0009] A further technical solution of the present invention is that the first capstan is placed above the support arm, and the second capstan is placed outside the support arm, which is convenient for operation.

[0010] A further technical solution of the present invention is that: the stopper is provided with two splicing mechanisms, the splicing mechanisms can be close to or far away from each other, and the pipe segment fixing mechanism corresponds to the splicing mechanism one by one. The one-to-one matching mode of the two sets of splicing mechanisms and the two sets of pipe segment fixing mechanisms makes it easier to operate the splicing of the pipe segments.

[0011] A further technical solution of the present invention is: the movable part includes a movable rod and a bidirectional commutator, the movable rod is connected to the pipe segment fixing mechanism, and the bidirectional commutator is connected to the support arm.

[0012] The segment fixing mechanism and the splicing mechanism are movably connected via a movable rod. Under the action of the first flexible drive and the second flexible drive, the segment fixing mechanism can be rotated around the support arm to realize segment movement.

[0013] A further technical solution of the present invention is: an upper limiter, a side limiter, a side opening and a bottom opening are provided on one end of the support arm close to the pipe segment fixing mechanism, the side opening and the bottom opening are both connected to the movable part, the upper limiter is used to limit the upper part of the movable part, and the side limiter is used to limit one side of the movable part.

[0014] In the process of the first flexible driving action used to lift the pipe segment from the ground to a vertical state, the upper limiter plays a limiting role. In the process of the second flexible driving action used to rotate the pipe segment in a vertical state to an open relative state, the support arm limits the pipe segment. When the second flexible driving returns to its original position, the side limiter is used to limit the position, completing the accurate splicing of the pipe segment. The side opening and the bottom opening can avoid interference during the rotation of the pipe segment fixing mechanism.

[0015] A further technical solution of the present invention is: the segment fixing mechanism comprises a segment fixing body, a segment fixing member and a segment control member, wherein the segment fixing member is placed at the end of the segment fixing body, and the segment control member is used to drive the segment fixing member to extend and retract. When the segment needs to be fixed, the segment fixing member extends to fix the segment, and when the segment needs to be separated from the segment fixing member, it retracts to ensure the paving of the segment.

[0016] A further technical solution of the present invention is: the segment control component includes a sleeve, a sleeve rod and a limit handle, one end of the sleeve is connected to the segment fixing component, the other end of the sleeve is slidably connected to the sleeve rod, the limit handle is placed on the sleeve, and a limit groove for fixing the limit handle is provided on the segment fixing body.

[0017] A further technical solution of the present invention is that: a connecting portion is provided at one end of the support arm, and a slot for sliding along the limiter is provided on the connecting portion. The slot is clamped on the limiter to slide and play a limiting role, thereby ensuring the stability of the support arm.

[0018] The present invention also provides a method for assembling subway tunnel segments, the method being based on the mechanical arm and comprising the following steps:

[0019] S1: Assemble the segments into a semicircular shape, with the opening of the semicircular segment facing upward, and fix the segments with segment fixing pieces;

[0020] S2: The first flexible drive drives the pipe segment to switch from the state of opening upward to the state of opening toward the end of the support arm, and the second flexible drive drives the pipe segment to switch from the state of opening toward the end of the support arm to the state of the pipe segment opening toward the outside of the support arm. At this time, the pipe segment openings are relatively arranged, and the third drive is used to drive adjacent support arms to approach each other. The pipe segments in the state of opening relative to each other are close to form a ring, thereby completing the splicing of the pipe segments.

[0021] The present invention also provides an assembly method based on the mechanical arm. In the initial state, the capstan on the splicing mechanism is released, and the pipe segment fixing mechanism is in a horizontal state under the influence of gravity. The pipe segment initially assembled into a semicircle is connected to the upper pipe segment fixing mechanism. The upper capstan on the splicing mechanism is first rotated to gradually pull the pipe segment fixing mechanism to a vertical state. The side capstans on both sides of the splicing mechanism are then rotated and the upper capstan is controlled to appropriately loosen the upper rope to realize the rotation of the pipe segment fixing mechanism to both sides. The jack on the splicing mechanism is controlled to advance toward the middle to realize the connection of the two semicircular pipe segments and complete the pipe segment splicing.

[0022] The beneficial effects of the present invention are as follows: after the segment fixing mechanism of the present invention fixes the segment, the first flexible driving action is performed to lift the segment from the ground and put it in a vertical state, and the second flexible driving action further moves the segment in the vertical state, so that the segments on adjacent segment fixing mechanisms are in an open relative state, and then the third driving action is performed to make the segment fixing mechanisms approach each other, and at the same time the segments are also relatively close, so that the segment splicing is completed to form an annular segment; in the present invention, one end of the support arm is connected to the segment fixing mechanism through a movable part, and then the first flexible driving and the second flexible driving are provided between the segment fixing mechanism and the support arm to complete the relative setting of the segment openings, and then the third driving is performed to make the support arms approach each other to complete the segment splicing. The purely mechanical structure design has low cost and is suitable for segment splicing in tunnel simulation tests. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of a subway tunnel segment assembly mechanical arm provided by the present invention;

[0024] Figure 2 It is a structural schematic diagram of a pipe segment fixing mechanism provided by the present invention;

[0025] Figure 3 It is a structural schematic diagram of the end portion of the pipe segment fixing mechanism provided by the present invention;

[0026] Figure 4 It is a structural schematic diagram of the splicing mechanism provided by the present invention;

[0027] Figure 5 It is a structural schematic diagram of the limiter provided by the present invention;

[0028] Figure 6 It is a structural schematic diagram of the movable part provided by the present invention.

[0029] Reference numerals: 1. segment fixing mechanism, 11. segment fixing body, 12. side rope connecting end, 13. upper rope connecting end, 14. segment control member, 141. sleeve, 142. sleeve rod, 143. limit handle, 15. segment fixing member,

[0030] 2. Splicing mechanism, 21. First flexible drive, 22. Second flexible drive, 24. Support arm, 25. Movable part, 251. Connecting rod, 252. Bidirectional commutator, 211. First winch, 212. First rope, 221. Second winch, 222. Second rope, 201. Upper stopper, 202. Side stopper, 29. Connecting part, 291. Slot,

[0031] 3. Limiter, 34. Third drive. DETAILED DESCRIPTION

[0032] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0033] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0034] Embodiment 1:

[0035] Figure 1-6 A subway tunnel segment assembly mechanical arm is shown, comprising a segment fixing mechanism 1, a splicing mechanism 2 and a limiter 3 connected in sequence, the segment fixing mechanism 1 is used to fix a semicircular segment, the splicing mechanism 2 comprises a first flexible drive 21, a second flexible drive 22 and a support arm 24, one end of the support arm 24 is movably connected to the segment fixing mechanism 1 through a movable part 25, and the other end of the support arm 24 is slidably connected to the limiter 3, the first flexible drive 21 is connected to the segment fixing mechanism 1 for rotating the segment fixing mechanism 1 from horizontal to vertical, the second flexible drive 22 is connected to the segment fixing mechanism 1 for rotating the segment fixing mechanism 1 to the outside of the support arm 24, and the limiter 3 is provided with a third drive 34 connected to the support arm 24, and the third drive 34 is used to drive the support arms 24 to move closer to or away from each other.

[0036] After the segment fixing mechanism fixes the segment, the first flexible driving action is performed to lift the segment from the ground and put it in a vertical state. The second flexible driving action further moves the segment in the vertical state, so that the segments on adjacent segment fixing mechanisms are in an open relative state. Then, through the action of the third driving, the segment fixing mechanisms are brought close to each other, and the segments are also relatively close to each other, so that the segment splicing is completed to form an annular segment. In the present invention, one end of the support arm is connected to the segment fixing mechanism through a movable part, and then the first flexible driving and the second flexible driving are provided between the segment fixing mechanism and the support arm to complete the relative setting of the segment openings. Then, through the third driving, the support arms are brought close to each other to complete the segment splicing. The purely mechanical structure design has low cost and is suitable for segment splicing in tunnel simulation tests.

[0037] In this embodiment, the first flexible drive 21 includes a first winch 211 and a first rope 212, one end of the first rope 212 is connected to the first winch 211, and the other end of the first rope 212 is placed above the movable part 25 and connected to the pipe segment fixing mechanism 1, and the second flexible drive 22 includes a second winch 221 and a second rope 222, one end of the second rope 222 is connected to the second winch 221, and the other end of the second rope 222 is connected to the outside of the pipe segment fixing mechanism 1.

[0038] The segment fixing mechanism is controlled by connecting the first rope to the segment fixing mechanism and the second rope to the segment fixing mechanism, so that the segment is pulled up from the ground to a vertical state and then rotated to both sides until the openings are arranged relative to each other.

[0039] In this embodiment, concealed grooves for accommodating the first rope 212 and the second rope 222 are provided on the upper side and the outer side of the support arm 24 .

[0040] In this embodiment, a side rope connection end 12 is provided on the outer side of the connection between the pipe segment fixing mechanism 1 and the movable part 25, and an upper rope connection end 13 is provided at one end of the connection between the pipe segment fixing mechanism 1 and the movable part 25. The upper rope connection end 13 is connected to the first rope 212, and the side rope connection end 12 is connected to the second rope 222.

[0041] In this embodiment, the first capstan 211 is placed above the support arm 24, and the second capstan 221 is placed outside the support arm 24 for easy operation.

[0042] In this embodiment, two splicing mechanisms 2 are provided on the stopper 3. The splicing mechanisms 2 can be close to or far away from each other, and the pipe segment fixing mechanism 1 corresponds to the splicing mechanism 2 one by one.

[0043] In this embodiment, there are two groups of splicing mechanisms 2, and two groups of pipe segment fixing mechanisms 1, which correspond one to one with the splicing mechanisms 2. The one-to-one matching mode of two groups of splicing mechanisms and two groups of pipe segment fixing mechanisms makes it easier to operate the splicing of pipe segments.

[0044] In this embodiment, the pipe segments on a single group of the pipe segment fixing mechanism 1 are semicircular. The pipe segments are first assembled into a semicircle, and then installed by the device of the present invention, which is convenient and quick to install.

[0045] In this embodiment, the movable member 25 includes a movable rod 251 and a bidirectional commutator 252 . The movable rod 251 is connected to the segment fixing mechanism 1 , and the bidirectional commutator 252 is connected to the support arm 24 .

[0046] In this embodiment, the bidirectional commutator 252 is a cross structure.

[0047] In this embodiment, an upper limiter 201, a side limiter 202, a side opening and a bottom opening are provided on the support arm 24 at one end close to the pipe segment fixing mechanism 1. The side opening and the bottom opening are both connected to the movable part 25. The upper limiter 201 is used to limit the upper part of the movable part 25, and the side limiter 202 is used to limit one side of the movable part 25.

[0048] In this embodiment, the support arm 24 is provided with an upper stopper 201, a side stopper 202, a side opening and a bottom opening at one end close to the segment fixing mechanism 1. The side opening and the bottom opening are both connected to the movable part 25 to ensure that interference is avoided during the process of the first flexible drive 21 and the second flexible drive 22 driving the movable part 25 to rotate. The upper stopper 201 is used to limit the upper part of the movable part 25, and the side stopper 202 is used to limit one side of the movable part 25. In the process of the first flexible drive 21 being used to lift the segment from the ground to a vertical state, the upper stopper 201 plays a limiting role. In the process of the second flexible drive 22 being used to rotate the segment in a vertical state to a state relative to the opening, the support arm 24 limits the segment. When the second flexible drive 22 is returned to its position, it is limited by the side stopper 202; the accurate splicing of the segment is completed.

[0049] In this embodiment, the side limiter 202 is disposed on a side where the two groups of support arms 24 are relatively close to each other.

[0050] In this embodiment, the segment fixing mechanism 1 includes a segment fixing body 11, a segment fixing member 15 and a segment control member 14. The segment fixing member 15 is disposed at the end of the segment fixing body 11, and the segment control member 14 is used to drive the segment fixing member 15 to extend and retract.

[0051] In this embodiment, the end of the segment fixing mechanism 1 is provided with a retractable segment fixing member 15. When the segment needs to be fixed, the segment fixing member 15 is extended, and when the segment needs to be detached from the segment fixing member 15, it is retracted to ensure the paving of the segment.

[0052] In this embodiment, the segment control component 14 includes a sleeve 141, a sleeve rod 142 and a limit handle 143. One end of the sleeve 141 is connected to the segment fixing component 15, and the other end of the sleeve 141 is slidably connected to the sleeve rod 142. The limit handle 143 is placed on the sleeve 141, and a limit groove for fixing the limit handle 143 is provided on the segment fixing body 11.

[0053] In this embodiment, when the segment fixing mechanism 1 needs to fix the segment, the limit handle is rotated out of the limit groove, and the sleeve can slide along the sleeve rod, thereby driving the segment fixing member 15 to extend from the segment fixing mechanism 1 and be fixed on the positioning part of the segment, and then the sleeve is rotated so that the limit handle is stuck in the limit groove to complete the fixing of the segment. The segment fixing member 15 is controlled by the segment control member 14 to realize the extension and contraction of the segment fixing member 15, thereby achieving the function of fixing the segment.

[0054] In this embodiment, the segment fixing mechanism 1 is H-shaped. The ends of the H-shaped segment fixing mechanism 1 are provided with segment fixing parts 15, which are more firm and stable for fixing the segments. The middle part of the segment fixing mechanism 1 is connected to the support arm 24 through a movable part 25, and a side rope connecting end 12 is provided in the middle part of the outer side of the segment fixing mechanism 1. With reference to the segment fixing mechanism 1 being in a vertical state, an upper rope connecting end 13 is provided in the upper groove of the segment fixing mechanism 1.

[0055] In this embodiment, a connecting portion 29 is provided at one end of the support arm 24 , and a slot 291 for sliding along the limiter 3 is provided on the connecting portion 29 .

[0056] In this embodiment, the third drive 34 is a jack, which is welded to the support arm 24 , and the support arm 24 is restricted inside the limiter 3 via a connecting portion 29 with a slot 291 .

[0057] In this embodiment, the pipe segments on a single group of the pipe segment fixing mechanism 1 are semicircular. The pipe segments are first assembled into a semicircle, and then installed by the device of the present invention, which is convenient and quick to install.

[0058] Embodiment 2:

[0059] A method for assembling subway tunnel segments, the method being based on the robotic arm described in the first embodiment, the method comprising the following steps:

[0060] S1: Assemble the segments into a semicircular shape, with the opening of the semicircular segment facing upward, and fix the segments by using the segment fixing member 1;

[0061] S2: The first flexible drive 21 drives the pipe segment to switch from the state of opening upward to the state of opening toward the end of the support arm 24, and the second flexible drive 22 drives the pipe segment to switch from the state of opening toward the end of the support arm 24 to the state of the pipe segment opening toward the outside of the support arm 24. At this time, the pipe segment openings are relatively arranged, and the third drive 34 drives the adjacent support arms 24 to move closer. The pipe segments in the state of opening relative to each other move closer to form a ring, thereby completing the splicing of the pipe segments.

[0062] The present invention also provides an assembly method based on the mechanical arm. In the initial state, the capstan on the splicing mechanism is released, and the pipe segment fixing mechanism is in a horizontal state under the influence of gravity. The pipe segment initially assembled into a semicircle is connected to the upper pipe segment fixing mechanism. The upper capstan on the splicing mechanism is first rotated to gradually pull the pipe segment fixing mechanism to a vertical state. The side capstans on both sides of the splicing mechanism are then rotated and the upper capstan is controlled to appropriately loosen the upper rope to realize the rotation of the pipe segment fixing mechanism to both sides. The jack on the splicing mechanism is controlled to advance toward the middle to realize the connection of the two semicircular pipe segments and complete the pipe segment splicing.

[0063] In this embodiment, in the initial state, the semicircular segment opening is placed upward, and the segment fixing mechanism 1 rotates downward under the action of gravity to the level of the segment fixing body 11, and is fixed on the segment through the segment fixing piece 15. The segment fixing body 11 is pulled by the first flexible drive 21, and the segment fixing body 11 is rotated upward to be vertical. At this time, the segment opening is facing the end of the support arm 24. The segment fixing body 11 is pulled by the second flexible drive 22 to continue to move, and the segment fixing body 11 moves toward the outside of the support arm 24. At this time, the segment opening is facing the outside of the support arm 24, and the third drive makes the support arms 24 approach each other to complete the splicing of the segments.

[0064] In this embodiment, a method for assembling subway tunnel segments includes the following steps:

[0065] S1: first assemble the segments into a semicircular shape, with the opening of the semicircular segment facing upwards, and in the initial state of the subway tunnel segment transportation and splicing test device, push the segment control member 14 to insert the segment fixing member 15 on the segment fixing mechanism 1 into the corresponding groove of the segment to complete the segment fixing;

[0066] S2: After the segment is fixed, the robot arm moves to the splicing position, and first rotates the first capstan 211 on the splicing mechanism 2 to gradually pull the segment fixing mechanism 1 to a vertical state. At this time, the segment switches from opening upward to opening toward the end of the support arm; then rotate the second capstan 221 on both sides of the splicing mechanism 2 and control the first capstan 211 to appropriately loosen the first rope 212 to realize the rotation of the segment fixing mechanism 1 to both sides. At this time, the segment switches from opening toward the support arm to a state where adjacent segments have openings relative to each other, and control the third drive 23 on the splicing mechanism 2 to advance toward the middle to realize the connection of the two semicircular segments.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A subway tunnel segment assembly robot, characterized in that: The invention comprises a pipe segment fixing mechanism (1), a splicing mechanism (2) and a limiter (3) which are connected in sequence. The pipe segment fixing mechanism (1) is used to fix a semicircular pipe segment. The splicing mechanism (2) comprises a first flexible drive (21), a second flexible drive (22) and a support arm (24). One end of the support arm (24) is movably connected to the pipe segment fixing mechanism (1) through a movable member (25). The other end of the support arm (24) is slidably connected to the limiter (3). The first flexible drive (21) is connected to the pipe segment fixing mechanism (1) to rotate the pipe segment fixing mechanism (1) from horizontal to vertical. The second flexible drive (22) is connected to the pipe segment fixing mechanism (1) to rotate the pipe segment fixing mechanism (1) to the outside of the support arm (24). The limiter (3) is provided with a third drive (34) connected to the support arm (24). The third drive (34) is used to drive the support arms (24) to move closer to or farther from each other.

2. The subway tunnel segment assembly robot according to claim 1, characterized in that: The first flexible drive (21) comprises a first winch (211) and a first rope (212), one end of the first rope (212) is connected to the first winch (211), and the other end of the first rope (212) is placed above the movable part (25) and connected to the pipe segment fixing mechanism (1), and the second flexible drive (22) comprises a second winch (221) and a second rope (222), one end of the second rope (222) is connected to the second winch (221), and the other end of the second rope (222) is connected to the outside of the pipe segment fixing mechanism (1).

3. The subway tunnel segment assembly robot according to claim 2, characterized in that: The first capstan (211) is placed above the support arm (24), and the second capstan (221) is placed outside the support arm (24).

4. A subway tunnel segment assembly robot according to any one of claims 1 to 3, characterized in that: The stopper (3) is provided with two splicing mechanisms (2), the splicing mechanisms (2) can be moved closer to or farther from each other, and the pipe segment fixing mechanism (1) corresponds to the splicing mechanism (2) one by one.

5. A subway tunnel segment assembly robot according to any one of claims 1 to 3, characterized in that: The movable member (25) comprises a movable rod (251) and a bidirectional commutator (252); the movable rod (251) is connected to the pipe segment fixing mechanism (1); and the bidirectional commutator (252) is connected to the support arm (24).

6. A subway tunnel segment assembly robot according to any one of claims 1 to 3, characterized in that: An upper stopper (201), a side stopper (202), a side opening and a bottom opening are provided on one end of the support arm (24) close to the pipe segment fixing mechanism (1); the side opening and the bottom opening are both connected to the movable part (25); the upper stopper (201) is used to limit the upper part of the movable part (25); and the side stopper (202) is used to limit one side of the movable part (25).

7. A subway tunnel segment assembly robot according to any one of claims 1 to 3, characterized in that: The segment fixing mechanism (1) comprises a segment fixing body (11), a segment fixing member (15) and a segment control member (14); the segment fixing member (15) is disposed at the end of the segment fixing body (11); and the segment control member (14) is used to drive the segment fixing member (15) to extend and retract.

8. The subway tunnel segment assembly robot according to claim 7, characterized in that: The segment control member (14) comprises a sleeve (141), a sleeve rod (142) and a limit handle (143); one end of the sleeve (141) is connected to the segment fixing member (15); the other end of the sleeve (141) is slidably connected to the sleeve rod (142); the limit handle (143) is placed on the sleeve (141); and a limit groove for fixing the limit handle (143) is provided on the segment fixing body (11).

9. A subway tunnel segment assembly robot according to any one of claims 1 to 3, characterized in that: A connecting portion (29) is provided at one end of the support arm (24), and a slot (291) for sliding along the limiter (3) is provided on the connecting portion (29).

10. A method for assembling subway tunnel segments, characterized in that: The method is based on the robotic arm according to any one of claims 1 to 9, and the method comprises the following steps: S1: Assemble the pipe segments into a semicircular shape, with the opening of the semicircular pipe segment facing upward, and fix the pipe segments using pipe segment fixing pieces (1); S2: The first flexible drive (21) drives the pipe segment to switch from the state of opening upward to the state of opening toward the end of the support arm (24), and the second flexible drive (22) drives the pipe segment to switch from the state of opening toward the end of the support arm (24) to the state of the pipe segment opening toward the outside of the support arm (24). At this time, the pipe segment openings are arranged relative to each other, and the third drive (34) drives the adjacent support arms (24) to approach each other. The pipe segments in the state of opening relative to each other approach each other to form a ring, thereby completing the splicing of the pipe segments.

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