Subway tunnel segment assembling mechanical arm

Abstract

The utility model discloses a metro tunnel segment assembling mechanical arm which comprises a segment fixing mechanism, a splicing mechanism and a limiter which are connected in sequence, 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 segment fixing mechanism through a movable part, and the other end of the supporting arm is connected with the limiter. The other end of the supporting arm is slidably connected with the limiter, the first flexible drive is connected with the segment fixing mechanism and used for rotating the segment fixing mechanism from the horizontal state to the vertical state, the second flexible drive is connected with the segment fixing mechanism and used for rotating the segment fixing mechanism to the outer side of the supporting arm, and the limiter is provided with a third drive connected with the supporting arm. The third driver is used for driving the supporting arms to get close to or 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] This utility model relates to the field of tunnel segment assembly technology, and in particular to a robotic arm for assembling subway tunnel segments. Background Technology

[0002] Segment assembly is a crucial step in shield tunneling, directly impacting the tunnel's stress distribution and overall project safety. The assembly process typically begins with the lower standard segments, alternating between left and right sides, followed by adjacent segments, and finally the capping segments. During assembly, it's essential to tighten the connecting bolts to ensure secure circumferential and axial connections. In the simulated shield tunneling experiment, the segments used had smaller corresponding ring diameters and significantly reduced material weight. While these conditions greatly facilitated the segment assembly work, existing testing equipment lacks the capability for purely mechanical segment splicing.

[0003] Existing technologies, such as the segment assembly machine and its assembly method for shield tunnels in mudstone strata with patent number CN117365545A, are not purely mechanical and rely on intelligent systems to complete the work, resulting in complex structures and high costs. They are not suitable for segment assembly work used in experiments. Utility Model Content

[0004] The purpose of this utility model is to provide a robotic arm for assembling subway tunnel segments, which solves the problem that existing equipment is not purely mechanical in operation, has a complex structure and high cost, and is not suitable for tunnel simulation test segment assembly work.

[0005] This utility model is implemented as follows: a metro tunnel segment assembly robotic arm includes a segment fixing mechanism, a splicing mechanism, and a limiter connected in sequence. 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 via a movable component, 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 to rotate the segment fixing mechanism from horizontal to vertical. The second flexible drive is connected to the segment fixing mechanism to rotate the segment fixing mechanism to the outside of the support arm. The limiter is provided with a third drive connected to the support arm, which is used to drive the support arms to move closer or further apart from each other.

[0006] After the segment fixing mechanism secures the segment, the first flexible drive action lifts the segment from the ground to a vertical position, at which point the segment fixing mechanism rotates from horizontal to vertical. The second flexible drive action further moves the vertically positioned segment, causing the segments on adjacent segment fixing mechanisms to be in an open-to-face state. At this point, the segment fixing mechanism rotates from vertical to the outside of the support arm. Then, through the action of the third drive, the segment fixing mechanisms are brought closer together, and the segments are also brought closer together, completing the segment splicing to form a ring segment. In this invention, one end of the support arm is connected to the segment fixing mechanism through a movable component. Then, the first and second flexible drives are provided between the segment fixing mechanism and the support arm to complete the open-to-face setting of the segments. The third drive then brings the support arms closer together to complete the segment splicing. This purely mechanical structure design is low in cost and suitable for segment splicing in tunnel simulation tests.

[0007] A further technical solution of this utility model 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 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 segment fixing mechanism.

[0008] By connecting the first rope to the segment fixing mechanism and the second rope to the segment fixing mechanism, the segment fixing mechanism can be controlled, thereby pulling the segment from the ground to a vertical position and then rotating it to both sides until the openings are facing each other.

[0009] A further technical solution of this utility model is: the first winch is placed above the support arm, and the second winch is placed outside the support arm. This facilitates operation.

[0010] A further technical solution of this utility model is: the limiter is provided with two splicing mechanisms, which can be close to or far apart from each other, and the segment fixing mechanism corresponds one-to-one with the splicing mechanism. This method of one-to-one cooperation between the two sets of splicing mechanisms and the two sets of segment fixing mechanisms makes the splicing of segments easier to operate.

[0011] A further technical solution of this utility model is: the movable component includes a movable rod and a bidirectional commutator, the movable rod is connected to the 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 by a movable rod. Under the action of the first flexible drive and the second flexible drive, the segment fixing mechanism can rotate around the support arm to realize the segment movement.

[0013] A further technical solution of this utility model is: the support arm is provided with an upper limiter, a side limiter, a side opening and a bottom opening at one end near the 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] During the first flexible drive action to lift the tunnel segment from the ground to a vertical position, the upper limiter acts as a limit. During the second flexible drive action to rotate the vertical tunnel segment to a position with the opening opposite, the support arm provides a limit for the tunnel segment. When the second flexible drive returns to its original position, the side limiter provides a limit, thus completing the accurate splicing of the tunnel segments. The side opening and bottom opening prevent interference during the rotation of the tunnel segment fixing mechanism.

[0015] A further technical solution of this utility model is: the segment fixing mechanism includes a segment fixing body, a segment fixing component, and a segment control component. The segment fixing component is located at the end of the segment fixing body, and the segment control component is used to drive the segment fixing component to extend and retract. When it is necessary to fix the segment, the segment fixing component extends to fix the segment; when it is necessary to remove the segment from the segment fixing component, it retracts to ensure the laying of the segment.

[0016] A further technical solution of this utility model is: the segment control component includes a sleeve, a rod, and a limiting handle. One end of the sleeve is connected to the segment fixing component, and the other end of the sleeve is slidably connected to the rod. The limiting handle is placed on the sleeve, and the segment fixing body is provided with a limiting groove for fixing the limiting handle.

[0017] A further technical solution of this utility model is: one end of the support arm is provided with a connecting part, and the connecting part is provided with a slot for sliding along the limiter. The slot is engaged with the limiter and can slide while also serving a limiting function, ensuring the stability of the support arm's movement.

[0018] This utility model also provides a method for assembling subway tunnel segments, the method being based on the robotic arm, and the method comprising the following steps:

[0019] S1: Assemble the segments into a semi-circle, with the opening of the semi-circular segment facing upwards, and fix the segments with segment fasteners;

[0020] S2: The first flexible drive drives the tube segment to switch from the state where the opening faces upward to the state where the opening faces the end of the support arm. The second flexible drive drives the tube segment to switch from the state where the opening faces the end of the support arm to the state where the opening faces the outside of the support arm. At this time, the openings of the tube segments are set opposite each other. The third drive is used to drive the adjacent support arms to move closer. The tube segments with opposite openings move closer to form a ring, completing the splicing of the tube segments.

[0021] This utility model also provides an assembly method based on the robotic arm. In the initial state, the winch on the splicing mechanism is released, and the segment fixing mechanism swings horizontally under gravity. The segment initially assembled into a semicircle is connected to the segment fixing mechanism. First, the upper winch on the splicing mechanism is rotated to gradually pull the segment fixing mechanism to a vertical state. Then, the side winches on both sides of the splicing mechanism are rotated while the upper winch is controlled to appropriately loosen the upper rope to make the segment fixing mechanism rotate to both sides. The jack on the splicing mechanism is controlled to push towards the middle to realize the connection of the two semicircular segments and complete the segment splicing.

[0022] The beneficial effects of this utility model are as follows: After the segment fixing mechanism of this utility model fixes the segment, the first flexible drive action lifts the segment from the ground into a vertical state. The second flexible drive action further moves the segment in the vertical state, so that the segments on adjacent segment fixing mechanisms are in an open-to-face state. Then, through the action of the third drive, the segment fixing mechanisms are brought closer to each other, and the segments are also brought closer to each other, completing the splicing of the segments and forming a ring segment. In this utility model, one end of the support arm is connected to the segment fixing mechanism through a movable part. Then, the first flexible drive and the second flexible drive are set between the segment fixing mechanism and the support arm to complete the opening-to-face setting of the segments. Then, the third drive brings the support arms closer to each other to complete the segment splicing. The design of the pure mechanical structure is low in cost and suitable for segment splicing in tunnel simulation tests. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a metro tunnel segment assembly robotic arm provided by this utility model;

[0024] Figure 2 This is a structural schematic diagram of a segment fixing mechanism provided by this utility model;

[0025] Figure 3 This is a schematic diagram of the end structure of the segment fixing mechanism provided by this utility model;

[0026] Figure 4 This is a structural schematic diagram of the splicing mechanism provided by this utility model;

[0027] Figure 5 This is a schematic diagram of the structure of the limiter provided by this utility model;

[0028] Figure 6 This is a structural schematic diagram of the movable component provided by this utility model.

[0029] Reference numerals: 1. Segment fixing mechanism; 11. Segment fixing body; 12. Side rope connection end; 13. Upper rope connection end; 14. Segment control component; 141. Sleeve; 142. Sleeve rod; 143. Limit handle; 15. Segment fixing component.

[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 limiter; 202. Side limiter; 29. ​​Connecting part; 291. Slot;

[0031] 3. Limiter, 34. Third drive. Detailed Implementation

[0032] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model.

[0033] It should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of this invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this invention, should still fall within the scope of the disclosed technical content. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of this invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this invention.

[0034] Example 1:

[0035] Figure 1-6A robotic arm for assembling subway tunnel segments is shown, comprising a segment fixing mechanism 1, a splicing mechanism 2, and a limiter 3 connected in sequence. The splicing mechanism 2 includes 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 via 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 to rotate the segment fixing mechanism 1 from horizontal to vertical. The second flexible drive 22 is connected to the segment fixing mechanism 1 to rotate the 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, which is used to drive the support arms 24 to move closer or further apart from each other.

[0036] After the segment fixing mechanism fixes the segment, the first flexible drive action lifts the segment from the ground into a vertical position. The second flexible drive action further moves the segment in the vertical position, so that the segments on adjacent segment fixing mechanisms are in an open-to-face state. Then, through the action of the third drive, the segment fixing mechanisms are brought closer to each other, and the segments are also brought closer to each other, completing the segment splicing and forming a ring segment. In this utility model, one end of the support arm is connected to the segment fixing mechanism through a movable part. Then, the first flexible drive and the second flexible drive are set between the segment fixing mechanism and the support arm to complete the opening-to-face setting of the segments. Then, the third drive brings the support arms closer to each other to complete the segment splicing. The purely mechanical structure design is low in cost and 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 positioned above the movable member 25 and connected to the segment fixing mechanism 1. 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 segment fixing mechanism 1.

[0038] By connecting the first rope to the segment fixing mechanism and the second rope to the segment fixing mechanism, the segment fixing mechanism can be controlled, thereby pulling the segment from the ground to a vertical position and then rotating it to both sides until the openings are facing each other.

[0039] In this embodiment, the support arm 24 is provided with a hidden groove on its upper and outer sides for accommodating the first rope 212 and the second rope 222.

[0040] In this embodiment, a side rope connection end 12 is provided on the outer side of the connection between the 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 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 winch 211 is positioned above the support arm 24, and the second winch 221 is positioned outside the support arm 24. This facilitates operation.

[0042] In this embodiment, the limiter 3 is provided with two splicing mechanisms 2, which can be close to or far from each other, and the segment fixing mechanism 1 corresponds one-to-one with the splicing mechanism 2.

[0043] In this embodiment, there are two sets of splicing mechanisms 2 and two sets of segment fixing mechanisms 1, each corresponding to one of the splicing mechanisms 2. This one-to-one cooperation between the two sets of splicing mechanisms and the two sets of segment fixing mechanisms makes the splicing of segments much easier.

[0044] In this embodiment, the segments on the single segment fixing mechanism 1 are semi-circular. The segments are first assembled into a semi-circle, and then installed using the device of this invention, making installation convenient and quick.

[0045] In this embodiment, the movable component 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 has a cross-shaped structure.

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

[0048] In this embodiment, the support arm 24, near the segment fixing mechanism 1, is provided with an upper limiter 201, a side limiter 202, a side opening, and a bottom opening. Both the side opening and the bottom opening communicate with the movable member 25, ensuring that interference is avoided during the rotation of the movable member 25 by the first flexible drive 21 and the second flexible drive 22. The upper limiter 201 limits the upper part of the movable member 25, and the side limiter 202 limits one side of the movable member 25. During the process of the first flexible drive 21 lifting the segment from the ground to a vertical position, the upper limiter 201 provides a limiting function. During the process of the second flexible drive 22 rotating the vertical segment to a position with the opening opposite, the support arm 24 provides a limiting function for the segment. When the second flexible drive 22 returns to its original position, the side limiter 202 provides a limiting function, thus completing the accurate splicing of the segments.

[0049] In this embodiment, the side limiter 202 is placed on the side where the two sets 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 placed 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 it is necessary to fix the segment, the segment fixing member 15 extends out, and when it is necessary to remove the segment from the segment fixing member 15, it retracts to ensure the laying of the segment.

[0052] In this embodiment, the segment control component 14 includes a sleeve 141, a rod 142, and a limiting 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 rod 142. The limiting handle 143 is placed on the sleeve 141, and the segment fixing body 11 is provided with a limiting groove for fixing the limiting handle 143.

[0053] In this embodiment, when the segment fixing mechanism 1 needs to fix the segment, the limiting handle is rotated out of the limiting groove. At this time, the sleeve can slide along the sleeve rod, thereby driving the segment fixing member 15 to extend out from the segment fixing mechanism 1 and be fixed on the positioning part of the segment. Then, the sleeve is rotated so that the limiting handle is engaged in the limiting groove, completing the fixing of the segment. The segment fixing member 15 is controlled by the segment control member 14 to realize the extension and retraction 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. Each end of the H-shaped segment fixing mechanism 1 is equipped with a segment fixing member 15, which provides a more secure and stable fixation of the segments. The middle part of the segment fixing mechanism 1 is connected to the support arm 24 via a movable member 25. A side rope connection end 12 is provided on the middle of the outer side of the segment fixing mechanism 1. With the segment fixing mechanism 1 in a vertical position as a reference, an upper rope connection end 13 is provided in the upper groove of the segment fixing mechanism 1.

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

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

[0057] In this embodiment, the segments on the single segment fixing mechanism 1 are semi-circular. The segments are first assembled into a semi-circle, and then installed using the device of this invention, making installation convenient and quick.

[0058] Example 2:

[0059] A method for assembling subway tunnel segments, the method being based on the robotic arm described in Embodiment 1, the method comprising the following steps:

[0060] S1: Assemble the segments into a semi-circle, with the opening of the semi-circular segment facing upwards, and fix the segment using segment fixing component 1;

[0061] S2: The first flexible drive 21 drives the tube segment to switch from the state of opening upward to the state of opening facing the end of the support arm 24. The second flexible drive 22 drives the tube segment to switch from the state of opening facing the end of the support arm 24 to the state of opening facing the outside of the support arm 24. At this time, the tube segments are set opposite to each other. The third drive 34 drives the adjacent support arm 24 to move closer. The tube segments with opposite openings move closer to form a ring, completing the splicing of the tube segments.

[0062] This utility model also provides an assembly method based on the robotic arm. In the initial state, the winch on the splicing mechanism is released, and the segment fixing mechanism swings horizontally under gravity. The segment initially assembled into a semicircle is connected to the segment fixing mechanism. First, the upper winch on the splicing mechanism is rotated to gradually pull the segment fixing mechanism to a vertical state. Then, the side winches on both sides of the splicing mechanism are rotated while the upper winch is controlled to appropriately loosen the upper rope to make the segment fixing mechanism rotate to both sides. The jack on the splicing mechanism is controlled to push towards the middle to realize the connection of the two semicircular segments and complete the segment splicing.

[0063] In this embodiment, in the initial state, the semi-circular tube segment opening is placed upwards. The tube segment fixing mechanism 1 rotates downwards under the action of gravity until the tube segment fixing body 11 is horizontal. The tube segment fixing member 15 extends and is fixed to the tube segment. The tube segment fixing body 11 is pulled by the first flexible drive 21, and the tube segment fixing body 11 rotates upwards to a vertical position. At this time, the tube segment opening faces the end of the support arm 24. The tube segment fixing body 11 is pulled by the second flexible drive 22 to continue to move, and the tube segment fixing body 11 moves to the outside of the support arm 24. At this time, the tube segment opening faces the outside of the support arm 24. The third drive makes the support arms 24 move closer to each other, completing the splicing of the tube segment.

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

[0065] S1: First, assemble the segments into a semi-circular shape with the opening of the semi-circular segments facing upwards. In the initial state of the subway tunnel segment transportation and splicing test device, push the segment control component 14 to insert the segment fixing component 15 on the segment fixing mechanism 1 into the corresponding groove of the segment to complete the segment fixing.

[0066] S2: After the segments are fixed, the robotic arm moves to the splicing position. First, the first winch 211 on the splicing mechanism 2 is rotated to gradually pull the segment fixing mechanism 1 to a vertical position. At this time, the segments switch from having their openings facing upwards to having their openings facing the end of the support arm. Then, the second winches 221 on both sides of the splicing mechanism 2 are rotated while the first winch 211 is controlled to appropriately loosen the first rope 212 to make the segment fixing mechanism 1 rotate to both sides. At this time, the segments switch from having their openings facing the support arm to having their openings facing each other. The third drive 23 on the splicing mechanism 2 is controlled to push towards the middle to achieve the connection of the two semi-circular segments.

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

Claims

1. A robotic arm for assembling subway tunnel segments, characterized in that: The device includes a segment fixing mechanism (1), a splicing mechanism (2), and a limiter (3) connected in sequence. The splicing mechanism (2) includes 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) to rotate the segment fixing mechanism (1) from horizontal to vertical. The second flexible drive (22) is connected to the segment fixing mechanism (1) to rotate the 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 or further apart from each other.

2. The robotic arm for assembling subway tunnel segments according to claim 1, characterized in that: 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 segment fixing mechanism (1). 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 segment fixing mechanism (1).

3. The robotic arm for assembling subway tunnel segments according to claim 2, characterized in that: The first winch (211) is positioned above the support arm (24), and the second winch (221) is positioned outside the support arm (24).

4. A robotic arm for assembling subway tunnel segments according to any one of claims 1-3, characterized in that: The limiter (3) is provided with two splicing mechanisms (2), which can be close to or far from each other, and the segment fixing mechanism (1) corresponds to the splicing mechanism (2) one by one.

5. The robotic arm for assembling subway tunnel segments according to claim 4, characterized in that: The segments on the single-unit segment fixing mechanism (1) are semi-circular.

6. A robotic arm for assembling subway tunnel segments according to any one of claims 1-3, characterized in that: The movable component (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).

7. A robotic arm for assembling subway tunnel segments according to any one of claims 1-3, characterized in that: The support arm (24) is provided with an upper limiter (201), a side limiter (202), a side opening and a bottom opening at one end near the 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).

8. A robotic arm for assembling subway tunnel segments according to any one of claims 1-3, characterized in that: The segment fixing mechanism (1) includes a segment fixing body (11), a segment fixing component (15), and a segment control component (14). The segment fixing component (15) is placed at the end of the segment fixing body (11), and the segment control component (14) is used to drive the segment fixing component (15) to extend and retract.

9. A robotic arm for assembling subway tunnel segments according to claim 8, characterized in that: The segment control component (14) includes a sleeve (141), a rod (142), and a limiting 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 rod (142). The limiting handle (143) is placed on the sleeve (141), and the segment fixing body (11) is provided with a limiting groove for fixing the limiting handle (143).

10. A robotic arm for assembling subway tunnel segments according to any one of claims 1-3, characterized in that: The support arm (24) has a connecting part (29) at one end, and the connecting part (29) has a slot (291) for sliding along the limiter (3).

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