Three-way dynamic rock mass shear test device and method

Abstract

The invention relates to the field of rock mass shear tests, in particular to a three-way dynamic rock mass shear test device and method. According to the technical scheme, the device comprises a hydraulic module, a loading module, a measuring module, a shear box and a control module, the shear box is installed on a base of the loading module, the computer control end of the control module is in wireless connection with a servo controller, and the servo controller is connected with all sensors in the device. The servo controller controls a normal actuator and a horizontal actuator of the loading module according to an instruction of the computer control end, the normal actuator acts on an upper pressure head of the shear box, the horizontal actuator acts on a shear top block so as to control the movement of the shear box, and the computer control end receives a feedback signal returned by the measurement module and controls the shear box to move. The servo controller adjusts the load and the vibration frequency acting on the shear box according to the instruction, and the remote pressure regulating controller adjusts the hydraulic module in real time by receiving an electric signal fed back by the computer control end. The device is suitable for the rock mass shear test.

Description

Technical Field

[0001] The invention relates to the field of rock mass shear testing, and in particular to a three-dimensional dynamic rock mass shear testing device and method. Background Art

[0002] At present, in the field of indoor geotechnical testing, due to the development of test equipment, conventional test equipment cannot simulate the near-fault ground motion very well. The existing indoor dynamic direct shear test equipment has the limitations of single dynamic disturbance direction, small loading range and low loading rate. It is difficult to consider the variable amplitude, variable frequency and multi-directional dynamic load loading under the real ground motion.

[0003] Conventional indoor dynamic shear test devices cannot accurately simulate the shear behavior and dynamic characteristics of rock mass under multi-directional seismic loads due to the limitations of dynamic shear rate and dynamic load loading direction; although typical dynamic disturbance shear test devices solve the problem of loading rate limitation, they cannot achieve multi-directional dynamic simultaneous independent loading, and thus cannot truly simulate the shear behavior and dynamic characteristics of rock mass under near-fault seismic motion. It is necessary to develop new three-dimensional dynamic shear equipment to explore the problem of dynamic characteristics of rock mass under near-fault seismic motion. How to provide a three-dimensional dynamic shear test device and test method for direct shear tests is an urgent and valuable problem to be solved. These difficulties restrict the in-depth study of the shear failure characteristics of rock mass under near-fault seismic motion. Therefore, the development of a three-dimensional dynamic shear test device and test method for direct shear tests has a significant demand background and practical research significance. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a three-way dynamic rock shear test device and method, which solves the problem that the current indoor rock shear equipment cannot be dynamically loaded independently in three directions at the same time, resulting in the test data not being consistent with the actual situation, thereby achieving the purpose of accurately simulating the shear behavior and dynamic response of the rock under multi-directional seismic loads.

[0005] The present invention adopts the following technical solutions to achieve the above-mentioned purpose. In the first aspect, the present invention provides a three-dimensional dynamic rock shear test device, including a hydraulic module, a loading module, a measuring module, a shear box and a control module. The shear box is installed on the base of the loading module, and the hydraulic module provides a power source for the entire device;

[0006] The control module includes a computer control end, a servo controller and a remote voltage regulating controller. The computer control end is wirelessly connected to the servo controller, and the servo controller is connected to various sensors in the device. The servo controller controls the normal actuator and the horizontal actuator of the loading module according to the instructions of the computer control end. The normal actuator acts on the upper pressure head of the shear box, and the horizontal actuator acts on the shear top block, thereby controlling the movement of the shear box. The computer control end receives the feedback signal sent back by the measuring module and issues instructions according to the feedback signal. The servo controller adjusts the load size and vibration frequency acting on the shear box according to the instructions to realize the closed-loop control of the shearing process. The remote voltage regulating controller adjusts the hydraulic module in real time by receiving the electrical signal fed back by the computer control end to realize the closed-loop control of the axial displacement, test force or deformation and the switching of the control mode.

[0007] Furthermore, the loading module includes a normal loading mechanism, a transverse loading mechanism and a longitudinal loading mechanism, wherein the normal loading mechanism is mainly composed of a high-rigidity follow-up loading frame, a normal actuator, a first test force sensor, a first displacement sensor, and a normal upward pressure head, and the corresponding normal loading cylinder is fixed on the upper crossbeam of the high-rigidity follow-up loading frame, the first test force sensor is connected to the normal actuator, and the first displacement sensor is connected to the corresponding normal loading cylinder;

[0008] The lateral loading mechanism is mainly composed of a high-rigidity follow-up loading frame, a horizontal X-axis actuator, a second test force sensor, a second displacement sensor, and a guide rail. The corresponding horizontal X-axis loading cylinder is fixed on the horizontal X-axis dynamic frame of the high-rigidity follow-up loading frame. The second test force sensor is connected to the horizontal X-axis actuator, and the second displacement sensor is connected to the horizontal X-axis loading cylinder.

[0009] The longitudinal loading mechanism is mainly composed of a high-rigidity follow-up loading frame, a horizontal Y-axis actuator, a third test force sensor, a third displacement sensor, and a guide rail. The corresponding horizontal Y-axis loading cylinder is fixed on the horizontal Y-axis dynamic frame of the high-rigidity follow-up loading frame, the third test force sensor is connected to the horizontal Y-axis actuator, and the third displacement sensor is connected to the horizontal Y-axis loading cylinder.

[0010] Furthermore, the body of the shear box is mainly composed of wear-reducing rollers, an upper pressure head, an upper shear box, a lower shear box and a base which are stacked in sequence from top to bottom. The shear box base is placed on the guide rail of the loading frame, and the upper pressure head of the shear box is in direct contact with the normal actuator, and bears the normal loading force during the shear test. The shear box is provided with axial wear-reducing rollers on the top of the upper pressure head to reduce the horizontal X-direction friction force, and horizontal wear-reducing rollers are provided on the sides of the upper shear box to reduce the friction force generated by the floating of the upper half of the specimen due to shear expansion during the shearing process of the specimen and the shear box; balls are placed between the upper shear box and the lower shear box to support the upper shear box and reduce the friction between the upper shear box and the lower shear box; acoustic emission openings are reserved on the upper shear box and the lower shear box and other components of the shear box to be compatible with the acoustic emission test.

[0011] Furthermore, the measurement module is mainly composed of a deformation sensor, an acoustic emission module, and an intelligent image sensing module. The deformation sensor is used to record the deformation of the sample rock mass. The acoustic emission module is used to monitor the entire rock destruction process without affecting the shear failure process of the rock mass, capture the dynamic changes of the shear failure of the rock mass, and locate the position of the shear failure. The intelligent image sensing module uses a high-speed camera to record the expansion and destruction process of the rock cracks in real time during the test, and is also used to indirectly measure the shear displacement during the test.

[0012] Furthermore, the hydraulic module is mainly composed of an oil tank, an oil pump-motor group, a precision oil filter, a relief valve, a pressure gauge, an air filter, and an accumulator. The oil tank provides hydraulic oil of a set pressure. A liquid level gauge is installed on the oil tank, and the liquid level of the hydraulic oil is observed by the liquid level gauge. The precision oil filter is used to clean the hydraulic oil in the entire module pipeline. The relief valve controls the pipeline pressure. The pressure gauge observes the pressure in the oil source pipeline. The air filter filters the air entering the oil tank. The accumulator is used to supplement the pipeline pressure when the pressure is unstable. During the test, the control module issues an instruction, and when the motor drives the oil pump-motor group to rotate, the high-pressure oil passes through the precision oil filter-relief valve-electro-hydraulic servo valve into the loading cylinder to drive the loading module to load the sample.

[0013] In a second aspect, the present invention provides a three-dimensional dynamic rock shear test method, comprising:

[0014] S1. Check the experimental device, including whether the various parts of the loading module are safely and reliably connected, whether the various parts of the control module and the measurement module can start and work normally, and whether the hydraulic module can operate normally;

[0015] S2. Operate the loading module through the control module to lift the normal actuator, put the sample into the shear box through the lifting device according to the test requirements, then install the force sensor, displacement sensor, deformation sensor and acoustic emission sensor on the shear box, and calibrate the value of each sensor; reset the value of the force sensor, displacement sensor, deformation sensor and acoustic emission sensor to zero;

[0016] S3, setting instructions for the control module, first controlling the normal actuator to apply normal stress at a fixed loading rate according to the load control mode through the loading module, and when the load is stable, setting the instructions of the computer control end to seismic waves, and then applying normal dynamic loads and horizontal dynamic shear loads to the sample according to the instructions pre-entered by the control module, realizing different load types and multi-frequency bands, different amplitude loading, simulating the influence of multi-directional coupling of earthquakes on the sample, until the sample is destroyed;

[0017] S4. After the predetermined test conditions are completed, the control module stops the shear stroke, saves the data and removes the normal stress of the normal actuator, takes the sample out of the shear box, cleans the shear box and closes the test device, and then analyzes and processes the test data based on the data collected by the measurement module to evaluate the mechanical test performance of the sample; obtains the strength parameters of the rock structure surface under the action of seismic motion and the degradation law of the strength parameters of the rock structure surface.

[0018] Furthermore, S3 also includes: during the test, the sensors and acoustic emission sensors configured in the measurement module are turned on to collect the shear load, shear displacement, normal load, and normal displacement in real time and send them to the computer control end of the control module for storage; the intelligent image sensor module records the shear surface failure process of the sample; the acoustic emission signal is monitored by the acoustic emission sensor; the arrival time of each elastic wave monitored by all acoustic emission sensors is recorded and saved in sequence.

[0019] The beneficial effects of the present invention are:

[0020] The present invention arranges the transverse and longitudinal loading mechanisms at the two ends of the shear box respectively, so that the horizontal X / Y actuators are not in the same plane. During the shear test, the normal actuator transmits force to the friction-reducing rollers of the upper shear box. The friction-reducing rollers are in linear contact with the shear box pressure head. The uniformly distributed linear load acts on the upper shear box pressure head, and then the upper pressure head force acts on the upper shear box. This process is equivalent to converting the linear load into a uniformly distributed surface load. During simultaneous dynamic loading in three directions, although the shear force causes the shear direction to be displaced, the Z direction is a uniformly distributed load applied. The uniformly distributed load can move with the friction-reducing rollers, and the point of application of the Z force will not change under the action of the uniformly distributed load. The horizontal X-direction actuator applies a force to the upper half of the shear box, and the horizontal Y-direction actuator applies a force to the lower half of the shear box. The shear forces applied simultaneously in the X and Y directions will not affect each other. The controllability of stress loading is achieved through the three-way dynamic loading servo system. Servo valves and controllers are set up in the three loading directions respectively, so that the normal and horizontal shear directions can be loaded simultaneously and independently without interfering with each other. The above scheme realizes independent three-way dynamic loading, and achieves the purpose of accurately simulating the shear behavior and dynamic response of rock mass under multi-directional seismic loads. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a block diagram of the operating principle of a three-dimensional dynamic rock shear test device provided by an embodiment of the present invention;

[0022] Figure 2 It is a structural schematic diagram of a three-dimensional dynamic rock shear test device provided by an embodiment of the present invention;

[0023] Figure 3 Schematic diagram of a loading module of a three-dimensional dynamic rock shear test device provided in an embodiment of the present invention, (a) is a front view, (b) is a side view, (c) is a top view, and (d) is an overall schematic diagram of a shear box;

[0024] Figure 4 is a schematic diagram of the specific structure of the shear box provided by an embodiment of the present invention;

[0025] Figure 5 It is a schematic diagram of the installation position of the deformation sensor provided by an embodiment of the present invention.

[0026] In the accompanying drawings, 1 represents a control module, 101 represents a computer control terminal, 102 represents a servo controller, 2 represents a loading module, 201 represents a normal actuator, 202 represents a horizontal Y-axis actuator, 203 represents a reaction steel frame, 3 represents a shear box, 4 represents a guide rail, 5 represents a data collector of a measurement module, 501 represents an acoustic emission sensor, 502 represents a force sensor, 503 represents a displacement sensor, 6 represents a hydraulic module, 204 represents a base, 205 represents a horizontal Y-axis dynamic bracket, 206 represents a normal loading cylinder, and 207 represents a water 208 represents a horizontal Y-axis loading cylinder, 209 represents an upper beam, 210 represents a horizontal X-axis dynamic bracket, 211 represents a lifting eye screw, 212 represents a horizontal X-axis loading cylinder, 213 represents a normal upward pressure head, 4 represents a guide rail, 301 represents an axial anti-friction roller, 302 represents an upper pressure head of a shear box, 303 represents a horizontal Y-axis acting top block, 304 represents an upper shear box, 305 represents a horizontal X-axis acting top block, 306 represents a base, 307 represents an acoustic emission hole, 308 represents a lower shear box, and 309 represents an anti-friction ball. DETAILED DESCRIPTION

[0027] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0028] The present invention provides a three-dimensional dynamic rock shear test device, such as Figure 1 As shown, it includes a hydraulic module, a loading module, a measuring module, a shear box and a control module. The shear box is installed on the base of the loading module. The control module includes a computer control end, a servo controller and a remote voltage regulator controller. The computer control end is connected to the servo controller through the EDC controller, and the servo controller is connected to the loading module to load the sample and place the sample in the shear box. The hydraulic modules are connected to the loading modules respectively. The measuring module is used to measure the changes of the sample during the loading process and send the measured signal to the EDC controller.

[0029] like Figure 2As shown, the three-way dynamic rock shear test device includes: a control module 1, a loading module 2 connected to the control module 1, a guide rail 4 connected to the top of the base of the loading module 2 by a fixing bolt, a shear box 3 arranged on the shear tray of the guide rail 4, and a data acquisition device 5 connected to the control module 1; the control module 1 is operated to output instructions and drive the loading module 2 and the hydraulic module 6 to work. The three-way dynamic servo controller in the control module adopts the DOLI full digital servo controller imported from Germany, which has the characteristics of high control accuracy, full protection function, and strong reliability, and can realize closed-loop control of various modes such as test force, deformation, displacement, etc., and can complete smooth switching of various control modes.

[0030] Specifically, the hydraulic module can provide a power source for the entire device, and is composed of an oil tank, an oil pump-motor group, a precision oil filter, a relief valve, a pressure gauge, an air filter, etc. The oil tank can provide hydraulic oil of a certain pressure, and a level gauge is installed on it to observe the level of the hydraulic oil. The precision oil filter can ensure the cleanliness of the hydraulic oil in the entire system pipeline. The relief valve controls the pipeline pressure; the pressure gauge can observe the pressure in the oil source pipeline. The air filter filters the air entering the oil tank. The accumulator can supplement the pipeline pressure when the pressure is unstable. During the test, the control module issues a command, and when the motor drives the oil pump-motor group to rotate, the high-pressure oil passes through the precision oil filter-relief valve-electro-hydraulic servo valve into the loading cylinder to drive the loading module to load the sample.

[0031] Specifically, the computer control end of the control module is connected to the servo controller in communication, and the displacement sensor and the acceleration sensor are connected to the servo controller in communication. The servo controller controls the power mechanism to drive the normal and horizontal actuators according to the instructions of the computer control end. The normal actuator acts on the upper pressure head of the shear box, and the horizontal actuator acts on the shear top block, thereby controlling the movement of the shear box. The computer control end receives the feedback signal sent back by the measurement module and issues instructions according to the feedback signal. The servo controller outputs the instruction signal to adjust the load size and vibration frequency acting on the shear box to achieve closed-loop control of the shear process. The remote pressure regulating controller based on artificial intelligence adjusts the hydraulic module in real time through the received and feedback electrical signals, controls the valve opening size and direction of the electro-hydraulic servo valve, and makes the piston in the loading cylinder rise or fall according to the instructions of the computer, thereby achieving closed-loop control of axial displacement, test force or deformation, and smooth switching of three control modes (force, deformation, displacement). Artificial intelligence remote field pressure regulating technology replaces the traditional manual pressure regulating control method, which is easy to operate and has higher precision. The control module has the function of simulating seismic wave input and supports ≥500 input data points per second. It can realize independent seismic wave input in the three directions of x, y and z, and also has different dynamic input modes of seismic waves such as load, stress and displacement.

[0032] Specifically, the loading module includes a normal loading mechanism, a transverse loading mechanism and a longitudinal loading mechanism; wherein the normal loading mechanism is mainly composed of a high-rigidity follow-up loading frame, a normal actuator 201, a first test force sensor, a first displacement sensor, a normal upward pressure head 213, etc., the normal loading oil cylinder 206 is fixed on the upper crossbeam 209 of the loading frame, the first test force sensor is connected to the normal actuator 201, and the first displacement sensor is connected to the loading oil cylinder 206;

[0033] The transverse and longitudinal loading mechanisms are mainly composed of a high-rigidity follow-up loading frame, a horizontal X-axis actuator 208, a horizontal Y-axis actuator 202, a second test force sensor, a third test force sensor, a second displacement sensor, a third displacement sensor, a guide rail 4, etc. The horizontal Y-axis loading cylinder 207 is fixed on the horizontal Y-axis dynamic bracket 205 of the loading frame, the horizontal X-axis loading cylinder 212 is fixed on the horizontal X-axis dynamic frame 210 of the loading frame, the second test force sensor is connected to the horizontal X-axis actuator 208, the second displacement sensor is connected to the horizontal X-axis loading cylinder 212, the third test force sensor is connected to the horizontal Y-axis actuator 202, and the third displacement sensor is connected to the horizontal Y-axis loading cylinder 207.

[0034] The normal actuator and the horizontal actuator are connected to the loading cylinder and communicated with the servo controller. The loading cylinder can provide power sources with different frequencies and amplitudes for the horizontal actuator, the normal actuator and the hydraulic control module. The servo controller realizes the basic control function of the horizontal actuator and the vertical actuator by outputting the control command signal.

[0035] Specifically, the body of the shear box 3 includes an axial friction-reducing roller 301, an upper pressure head 302, an upper shear box 304, a lower shear box 308, and a base 306, which are stacked in sequence from top to bottom. The shear box base 306 is placed on the loading frame guide rail 4, and the upper pressure head 302 of the shear box 3 is in direct contact with the normal actuator 201, and bears the normal loading force during the shear test. The shear box is provided with an axial friction-reducing roller 301 on the top of the upper pressure head to reduce the horizontal X-direction friction force, and a horizontal friction-reducing roller is provided on the side of the upper shear box 304 to reduce the friction force generated by the floating of the upper half of the sample due to shear expansion during the shearing process of the sample and the shear box; 4 balls 309 are placed in the middle of the upper and lower shear boxes to support the upper and lower shear boxes to reduce the friction between them, and acoustic emission openings 307 are reserved on the upper and lower shear boxes and various components to be compatible with acoustic emission tests.

[0036] The X / Y actuators used for horizontal shear in the traditional dynamic disturbance shear test device are all located in the same plane. During the shear test, a force is applied to the lower part of the shear box. This setting prevents the X and Y directions from being loaded independently at the same time. If shear forces are applied to the X and Y directions at the same time, the shear box will displace along the directions of their respective forces. At this time, the displacement of the shear box in the X direction will cause the point of application of the shear force applied by the Y actuator to shift; similarly, the displacement of the shear box in the Y direction will cause the point of application of the shear force applied by the X actuator to shift, ultimately resulting in uneven stress distribution and affecting the effect and accuracy of the test. In order to ensure that the present invention truly realizes independent three-dimensional dynamic loading, in this solution, the transverse and longitudinal loading mechanisms are respectively arranged at both ends of the shear box, so that the horizontal X / Y actuators are not in the same plane. During the shear test, the normal actuator transmits force to the friction-reducing rollers of the upper shear box. The friction-reducing rollers are in linear contact with the shear box pressure head. The uniformly distributed linear load acts on the upper shear box pressure head, and then the upper pressure head force acts on the upper shear box. This process is equivalent to converting the linear load into a uniformly distributed surface load. During three-way dynamic loading, although the shear force causes displacement in the shear direction, the Z direction is a uniformly distributed load. The uniformly distributed load can move with the friction-reducing rollers, and the point of action of the Z-direction force will not change under the uniformly distributed load. The horizontal X-direction actuator applies force to the upper half of the shear box, and the horizontal Y-direction actuator applies force to the lower half of the shear box. The shear forces applied simultaneously in the X and Y directions will not affect each other. The controllability of stress loading is achieved through the three-way dynamic loading servo system. Servo valves and controllers are set in the three loading directions respectively, so that the normal and horizontal shear directions can be loaded simultaneously and independently without interfering with each other. The above-mentioned design scheme technically realizes independent three-way dynamic loading.

[0037] Specifically, the measurement module is mainly composed of a force sensor, a displacement sensor, a deformation sensor, an acoustic emission module, and an intelligent image sensing module. The displacement sensor is used to collect displacement signals, the deformation sensor is used to record the deformation of the sample, and the force sensor is used to collect the force signal generated by the loading module during the test. Through the measurement module, the force, displacement, deformation changes of the rock mass under static and dynamic action and the sample destruction process are recorded. The control module adjusts the load size and vibration frequency in the normal direction and the two shear directions in time according to the test requirements based on the data collected and fed back by each sensor. The acoustic emission module can monitor the entire rock mass destruction process without affecting the rock mass shear destruction process, capture the dynamic changes of rock mass shear destruction, and locate the location of shear destruction. The intelligent image sensing module uses a high-speed camera to record the rock mass crack expansion and destruction process in real time during the test, and can also indirectly measure the shear displacement during the test. The image can generate a dynamic record of the entire shear process after being processed by software.

[0038] The present invention also provides a three-dimensional dynamic rock shear test method, which specifically includes:

[0039] First, check the test device; including whether the various parts of the loading module are safely and reliably connected, whether the various parts of the control module and the measurement module can start and work normally, and whether the hydraulic system and oil cooling device can operate normally.

[0040] Then, the control module is used to operate the loading module to lift the vertical actuator, and the specimen is placed in the shear box through the lifting device according to the test requirements. Then, the force sensor, displacement sensor, acoustic emission sensor and deformation sensor are installed on the shear box. The deformation sensor includes X-axis deformation sensor, Y-axis deformation sensor and Z-axis deformation sensor. Its installation position is as follows: Figure 5 As shown. And calibrate the values ​​of each sensor; reset the values ​​of force, displacement sensor, and acoustic emission sensor to ensure the accuracy of the data generated by the vertical actuator, horizontal actuator, and sample destruction process in subsequent tests.

[0041] The next step is to set the instructions for the control module; first, the vertical actuator is controlled by the loading module to apply normal stress at a fixed loading rate according to the load control method, and the load is stabilized. The instructions of the computer control end are set to seismic waves, and then the normal dynamic load and horizontal dynamic shear load are applied to the sample according to the instructions pre-entered by the control module to achieve different load types and multi-frequency bands, different amplitude loading, and simulate the impact of the multi-directional coupling of earthquakes on the sample until the sample is destroyed. During the test, the sensors and acoustic emission sensors configured in the measurement module are turned on to collect shear load, shear displacement, normal load, and normal displacement in real time and send them to the computer control end for storage. The intelligent image sensor module records the shear surface failure process of the sample. The acoustic emission sensor and the acoustic emission monitoring device record the acoustic emission signal, and the arrival time of each elastic wave monitored by all acoustic emission sensors is input into the computer record and saved in sequence.

[0042] After the predetermined test conditions are completed, the control module stops the shear stroke, saves the data, removes the vertical stress of the vertical actuator, takes the sample out of the shear box, cleans the shear box with an air gun, towel, etc., and closes the test device. Then, the test data is analyzed and processed based on the data collected by the measurement system, and the mechanical test performance of the sample is evaluated; the strength parameters of the rock structure surface under the action of seismic motion and the degradation law of the strength parameters of the rock structure surface are obtained.

[0043] The above is only a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art shall not deviate from the spirit and scope of the present invention, and shall be within the scope of protection of the claims attached to the present invention.

Claims

1. A three-dimensional dynamic rock shear test device, characterized in that: It includes a hydraulic module, a loading module, a measuring module, a shear box and a control module. The shear box is installed on the base of the loading module. The hydraulic module provides a power source for the entire device. The control module includes a computer control end, a servo controller and a remote voltage regulating controller. The computer control end is wirelessly connected to the servo controller, and the servo controller is connected to various sensors in the device. The servo controller controls the normal actuator and the horizontal actuator of the loading module according to the instructions of the computer control end. The normal actuator acts on the upper pressure head of the shear box, and the horizontal actuator acts on the shear top block, thereby controlling the movement of the shear box. The computer control end receives the feedback signal sent back by the measuring module and issues instructions according to the feedback signal. The servo controller adjusts the load size and vibration frequency acting on the shear box according to the instructions to realize the closed-loop control of the shearing process. The remote voltage regulating controller adjusts the hydraulic module in real time by receiving the electrical signal fed back by the computer control end to realize the closed-loop control of the axial displacement, test force or deformation and the switching of the control mode.

2. The three-dimensional dynamic rock shear test device according to claim 1, characterized in that: The loading module includes a normal loading mechanism, a transverse loading mechanism and a longitudinal loading mechanism. The normal loading mechanism is mainly composed of a high-rigidity follow-up loading frame, a normal actuator, a first test force sensor, a first displacement sensor, and a normal upward pressure head. The corresponding normal loading cylinder is fixed on the upper crossbeam of the high-rigidity follow-up loading frame, the first test force sensor is connected to the normal actuator, and the first displacement sensor is connected to the corresponding normal loading cylinder; The lateral loading mechanism is mainly composed of a high-rigidity follow-up loading frame, a horizontal X-axis actuator, a second test force sensor, a second displacement sensor, and a guide rail. The corresponding horizontal X-axis loading cylinder is fixed on the horizontal X-axis dynamic frame of the high-rigidity follow-up loading frame. The second test force sensor is connected to the horizontal X-axis actuator, and the second displacement sensor is connected to the horizontal X-axis loading cylinder. The longitudinal loading mechanism is mainly composed of a high-rigidity follow-up loading frame, a horizontal Y-axis actuator, a third test force sensor, a third displacement sensor, and a guide rail. The corresponding horizontal Y-axis loading cylinder is fixed on the horizontal Y-axis dynamic frame of the high-rigidity follow-up loading frame, the third test force sensor is connected to the horizontal Y-axis actuator, and the third displacement sensor is connected to the horizontal Y-axis loading cylinder.

3. The three-dimensional dynamic rock shear test device according to claim 2, characterized in that: The body of the shear box is mainly composed of anti-friction rollers, an upper pressure head, an upper shear box, a lower shear box and a base which are stacked in sequence from top to bottom. The shear box base is placed on the guide rail of the loading frame, and the upper pressure head of the shear box is in direct contact with the normal actuator, and bears the normal loading force during the shear test. The shear box is provided with axial anti-friction rollers on the top of the upper pressure head to reduce the horizontal X-direction friction force, and horizontal anti-friction rollers are provided on the sides of the upper shear box to reduce the friction force generated by the floating of the upper half of the specimen due to shear expansion during the shearing process of the specimen and the shear box; a ball is placed between the upper shear box and the lower shear box to support the upper shear box and the lower shear box, thereby reducing the friction between the upper shear box and the lower shear box, and acoustic emission openings are reserved on the upper shear box and the lower shear box and other components of the shear box to be compatible with the acoustic emission test.

4. The three-dimensional dynamic rock shear test device according to claim 3 is characterized in that: The measurement module is mainly composed of a deformation sensor, an acoustic emission module, and an intelligent image sensing module. The deformation sensor is used to record the deformation of the sample rock mass. The acoustic emission module is used to monitor the entire rock mass destruction process without affecting the rock mass shear failure process, capture the dynamic changes of rock mass shear failure, and locate the position of shear failure. The intelligent image sensing module uses a high-speed camera to record the rock mass crack expansion and destruction process in real time during the test, and is also used to indirectly measure the shear displacement during the test.

5. The three-dimensional dynamic rock shear test device according to claim 4, characterized in that: The hydraulic module is mainly composed of an oil tank, an oil pump-motor group, a precision oil filter, a relief valve, a pressure gauge, an air filter, and an accumulator. The oil tank provides hydraulic oil of set pressure. A liquid level gauge is installed on the oil tank, and the liquid level of the hydraulic oil is observed by the liquid level gauge. The precision oil filter is used to clean the hydraulic oil in the entire module pipeline. The relief valve controls the pipeline pressure. The pressure gauge observes the pressure in the oil source pipeline. The air filter filters the air entering the oil tank. The accumulator is used to supplement the pipeline pressure when the pressure is unstable. During the test, the control module issues a command. When the motor drives the oil pump-motor group to rotate, the high-pressure oil passes through the precision oil filter-relief valve-electro-hydraulic servo valve into the loading cylinder to drive the loading module to load the sample.

6. A three-dimensional dynamic rock shear test method, applied to the three-dimensional dynamic rock shear test device as claimed in claim 5, characterized in that: include: S1. Check the experimental device, including whether the various parts of the loading module are safely and reliably connected, whether the various parts of the control module and the measurement module can start and work normally, and whether the hydraulic module can operate normally; S2. Operate the loading module through the control module to lift the normal actuator, put the sample into the shear box through the lifting device according to the test requirements, then install the force sensor, displacement sensor, deformation sensor and acoustic emission sensor on the shear box, and calibrate the value of each sensor; reset the value of the force sensor, displacement sensor, deformation sensor and acoustic emission sensor to zero; S3, setting instructions for the control module, first controlling the normal actuator to apply normal stress at a fixed loading rate according to the load control mode through the loading module, and when the load is stable, setting the instructions of the computer control end to seismic waves, and then applying normal dynamic loads and horizontal dynamic shear loads to the sample according to the instructions pre-entered by the control module, realizing different load types and multi-frequency bands, different amplitude loading, simulating the influence of multi-directional coupling of earthquakes on the sample, until the sample is destroyed; S4. After the predetermined test conditions are completed, the control module stops the shear stroke, saves the data and removes the normal stress of the normal actuator, takes the sample out of the shear box, cleans the shear box and closes the test device, and then analyzes and processes the test data based on the data collected by the measurement module to evaluate the mechanical test performance of the sample; obtains the strength parameters of the rock structure surface under the action of seismic motion and the degradation law of the strength parameters of the rock structure surface.

7. The three-dimensional dynamic rock shear test method according to claim 6, characterized in that: S3 also includes: during the test, the sensors and acoustic emission sensors configured in the measurement module are turned on to collect the shear load, shear displacement, normal load, and normal displacement in real time and send them to the computer control end of the control module for storage; the intelligent image sensor module records the shear surface failure process of the sample; the acoustic emission sensor monitors the acoustic emission signal; the arrival time of each elastic wave monitored by all acoustic emission sensors is recorded and saved in sequence.

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