Shield tunneling simulation device considering flexible stratum constraint

Abstract

The application provides a shield tunneling simulation device considering flexible stratum constraint, and belongs to the technical field of shields.The stratum stiffness simulation module comprises a shell, a cam, a rolling pulley, a piston rod, a third spring and a sleeve.The cam is suspended in the shell, the force transmission rod is connected with the cam through the shell away from the stratum shear simulation module, the piston rod extends in a first direction, the rolling pulley is arranged at one end of the piston rod and abuts against the cam, the sleeve is fixed with the inner wall of the shell, the end of the piston rod away from the rolling pulley extends to the outside of the shell through the sleeve, the third spring is sleeved on the periphery of the piston rod and clamped between the rolling pulley and the sleeve, the spring is used for providing a counterforce effect, and the counterforce effect is transmitted to the stratum shear simulation module through the rolling pulley, the cam and the force transmission rod, so that the counterforce effect acts on the shield shell simulation module.The cam is a rotary body structure, and the shape curve X(U) of the cam is obtained based on a stratum counterforce curve.The application can simulate the counterforce characteristics of a real stratum.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of shield tunneling and particularly relates to a shield tunneling simulation device considering flexible stratum constraints. BACKGROUND

[0002] In the process of shield tunneling, the change of stratum environment has great uncertainty, including the dynamic change of soil quality, underground water level, rock hardness and soil pressure and other factors. Therefore, how to effectively simulate and estimate the change of stratum environment in the process of tunneling is crucial for the operation performance and safety control of the shield machine.

[0003] In the related art, there are mainly two ways for stratum environment simulation of shield tunneling:

[0004] (1) Three-dimensional geological modeling based on geological exploration data, which depends on the drilling data in the geological exploration data. In actual engineering, the drilling data is limited, there is uneven interval between the drilling holes, the drilling data is limited by the sampling site and sampling frequency, and the stratum environment obtained by three-dimensional interpolation modeling based on the data has great difference from the actual situation.

[0005] (2) Stratum environment simulation based on indoor test, such as model box test and mechanical loading simulation, which has high cost, complex operation, is difficult to simulate various working conditions, and is more difficult to simulate complex geological environment.

[0006] Therefore, it is necessary to provide a shield tunneling simulation device considering flexible stratum constraints to solve the above problems. SUMMARY

[0007] The application provides a shield tunneling simulation device considering flexible stratum constraints, which can accurately simulate the shield tunneling under different stratum conditions, accurately simulate various stratum environments in the actual tunneling process in the laboratory, study the evolution law of the key state of the shield tunneling process by monitoring and analyzing the test data, provide a scientific basis for the research and development, performance optimization and intelligent driving system of the new shield machine, and effectively solve at least one technical problem in the background art.

[0008] In order to solve the above technical problems, the application is implemented as follows:

[0009] A shield tunneling simulation device considering flexible stratum constraints, comprising:

[0010] A shield shell simulation module for simulating the shell of the shield machine;

[0011] A stratum shear simulation module is attached to the periphery of the shield shell simulation module and is used to simulate the frictional effect of the stratum soil on the shield shell simulation module.

[0012] A stratum stiffness simulation module is connected to the stratum shear simulation module through a force transmission rod and is used to simulate the reaction force characteristics of the stratum soil. The stratum stiffness simulation module comprises a shell, a cam, a rolling pulley, a piston rod, a third spring and a sleeve. The cam is suspended in the shell. The force transmission rod is connected to the cam through the shell at the end away from the stratum shear simulation module. The piston rod extends in a first direction. The rolling pulley is arranged at one end of the piston rod and abuts the cam. The sleeve is fixed to the inner wall of the shell. The piston rod extends to the outside of the shell through the sleeve at the end away from the rolling pulley. The third spring is sleeved around the piston rod and is clamped between the rolling pulley and the sleeve. The spring is used to provide a reaction force effect and is transmitted to the stratum shear simulation module through the rolling pulley, the cam and the force transmission rod, so as to apply a reaction force to the shield shell simulation module. The cam is a rotary body structure, and its shape curve satisfies the following equation:

[0013] ;

[0014] wherein, represents the displacement of the soil, represents the reaction force function of the soil; represents the elastic coefficient of the third spring; is the derivative of ; represents the initial earth pressure;

[0015] wherein, the first direction is the tunneling direction of the shield.

[0016] As a preferred improvement, the rolling pulley, the piston rod, the third spring and the sleeve jointly constitute a reaction force assembly, and the reaction force assembly is provided with two groups and is symmetrically distributed on both sides of the cam.

[0017] As a preferred improvement, the stratum shear simulation module comprises a first rigid member, a second rigid member movably connected to the first rigid member, a first spring connecting the first rigid member and the second rigid member, and a damper connecting the first rigid member and the second rigid member and arranged in parallel with the first spring. The second rigid member is fixed to the end of the force transmission rod away from the stratum stiffness simulation module. The first rigid member and the second rigid member can move relatively in the first direction.

[0018] As a preferred improvement, the stratum shearing simulation module further comprises a friction block arranged on the side of the first rigid member away from the second rigid member, the friction block comprising a base fixed with the first rigid member and a first friction sheet arranged on the side of the base away from the first rigid member, the first friction sheet being attached to the outer surface of the shield shell simulation module.

[0019] As a preferred improvement, the first rigid member comprises a first fixed part and a first connecting part arranged perpendicularly to the first fixed part; the second rigid member comprises a second fixed part and a second connecting part arranged perpendicularly to the second fixed part; the first fixed part is parallel and spaced apart from the second fixed part, and the first connecting part is parallel and spaced apart from the second connecting part; the first connecting part is connected to the second fixed part through a first movable hinge, and the second connecting part is connected to the first fixed part through a second movable hinge.

[0020] As a preferred improvement, the number of the bases is two, the two bases are spaced apart to form a gap, and the stratum shearing simulation module further comprises an adjusting assembly installed in the gap, the adjusting assembly comprising a displacement adjusting device, a first support plate, a second spring, a second support plate and a second friction sheet connected in sequence, the displacement adjusting device being fixed with the first rigid member, and the second friction sheet being attached to the outer surface of the shield shell simulation module; the degree of attachment of the second friction sheet to the shield shell simulation module is changed through the displacement adjusting device.

[0021] As a preferred improvement, the first friction sheet and the second friction sheet are made of rubbers with different friction coefficients.

[0022] As a preferred improvement, the shield shell simulation module comprises a front plate and a side plate, the side plate enclosing a receiving space with both ends open, and the front plate being located at the front end of the side plate along a first direction and covering the front end opening of the receiving space.

[0023] As a preferred improvement, the stratum shearing simulation module further comprises a tunneling driving simulation module for simulating the driving system of a shield tunneling machine, the tunneling driving simulation module being connected with the shield shell simulation module and driving the shield shell simulation module to move along a preset first direction.

[0024] As a preferred improvement, the tunneling driving simulation module comprises at least one set of electric servo oil cylinders arranged in the receiving space, the output shafts of the electric servo oil cylinders abutting against the front plate and being used to drive the shield shell simulation module as a whole to move along a preset tunneling direction.

[0025] The present application has the following advantages:

[0026] (1) can simulate the different stratum reaction force characteristics under the real stratum conditions: the stratum stiffness simulation module can simulate the stratum with the soil body reaction force characteristics, that is, can simulate the real stratum reaction force characteristics, and accurately describe the relationship between the real stratum displacement deformation and the stratum reaction force;

[0027] (2) the cam shape in the stratum stiffness simulation module can be designed and adjusted through programming, thereby simulating different strata under actual conditions;

[0028] (3) can simulate the shear resistance of the shield machine due to the viscous effect of the stratum, the stratum shear simulation module realizes the viscous effect of the surrounding stratum on the shield machine in the shield tunneling process through a controllable damping spring;

[0029] (4) can simulate the interface friction between the shield and the stratum, the interface friction force can be adjusted through programming, and adaptive interface friction simulation under different geological conditions can be realized;

[0030] (5) can clearly describe the mutual interaction force between the shield machine and the stratum in the real shield tunneling process, and the application can provide a new scheme for the laboratory scale shield tunneling simulation. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0032] Figure 1 The structural diagram of a shield tunneling simulation device considering flexible stratum constraint provided by the present application is shown;

[0033] Figure 2 The structural diagram of the shield shell simulation module is shown;

[0034] Figure 3 The structural diagram of the stratum stiffness simulation module is shown;

[0035] Figure 4 The force analysis diagram of the stratum stiffness simulation module is shown;

[0036] Figure 5 The structural diagram of the stratum shear simulation module is shown;

[0037] Figure 6 The stratum reaction force curve diagram is shown;

[0038] Figure 7 The numerical solution solving pseudo code step diagram of the cam shape curve equation is shown. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of the present application.

[0040] As shown in the Figures 1-6 The present embodiment provides a shield tunneling simulation device considering flexible stratum constraint, which comprises a shield shell simulation module 10, a tunneling drive simulation module 20, a stratum shearing simulation module 30, a stratum stiffness simulation module 40 and a force transmission rod 50.

[0041] In order to more clearly illustrate the content of the present embodiment, in the present embodiment, the shield tunneling direction is positioned as the first direction, and the direction perpendicular to the shield tunneling direction is defined as the second direction.

[0042] The shield shell simulation module 10 is used for simulating the shell of a shield tunneling machine, which comprises a front plate 11 and a side plate 12, the side plate 12 encloses a receiving space with both ends open, and the front plate 11 is located at the front end of the side plate 12 along the first direction and covers the front end opening of the receiving space.

[0043] The propulsion system of the shield tunneling machine mainly consists of hydraulic cylinders and power supply hydraulic systems, and a ring beam is generally arranged inside the long cylindrical shield shell, and dozens of hydraulic propulsion cylinders are uniformly arranged in the ring beam. One end of the propulsion cylinder is equipped with a support shoe, which pushes on the pipe segment that has been assembled, and the reaction force provided by the pipe segment can provide the forward tunneling force for the shield tunneling machine. The tunneling drive simulation module 20 is used for simulating the propulsion system of the shield tunneling machine, and the tunneling drive simulation module 20 comprises at least one group of electric servo cylinders 21 arranged in the receiving space, the electric servo cylinders 21 are hinged to the shield body, the output shaft abuts against the front plate 11, and are used for driving the whole shield shell simulation module 10 to move along the preset tunneling direction. In order to simplify the representation, one absolutely fixed hinge base 22 is arranged in the present embodiment to represent the shield body, and the electric servo cylinders 21 are hinged to the hinge base 22.

[0044] The number of the electric servo cylinders 21 is selected according to actual needs, when the number is multiple groups, the multiple groups of electric servo cylinders 21 are arranged in parallel and are uniformly distributed on the front plate 11. In the present embodiment, the electric servo cylinders 21 are specifically selected as two groups, which are symmetrically distributed on both sides of the front plate 11 to provide uniform driving force.

[0045] In the process of shield tunneling, there is obvious relative movement between the shield body and the stratum. When the stratum environment is soft soil, the surrounding stratum will have certain viscous effect on the shield tunneling machine. The viscous effect forms the resistance of the surrounding stratum to the shield tunneling machine. The stratum shearing simulation module 30 is used to simulate the interaction between the stratum and the shield tunneling machine.

[0046] The stratum shearing simulation module 30 comprises a first rigid member 31, a second rigid member 32 movably connected with the first rigid member 31, a first spring 33 connecting the first rigid member 31 and the second rigid member 32, a damper 34 connecting the first rigid member 31 and the second rigid member 32 and arranged in parallel with the first spring 33, and a friction block 35 arranged on the side of the first rigid member 31 away from the second rigid member 32.

[0047] The first rigid member 31 and the second rigid member 32 constitute the structural framework of the stratum shearing simulation module 30. The shearing resistance received by the shield shell simulation module 10 is expressed by the first spring 33 and the damper 34. The first spring 33 is used to characterize the displacement-related interaction, and the damper 34 is used to characterize the velocity-related interaction.

[0048] The first rigid member 31 comprises a first fixed part 311 and a first connecting part 312 arranged perpendicularly to the first fixed part 311. The second rigid member 32 comprises a second fixed part 321 and a second connecting part 322 arranged perpendicularly to the second fixed part 321. The first fixed part 311 is parallel and spaced apart from the second fixed part 321. The first connecting part 312 is parallel and spaced apart from the second connecting part 322.

[0049] The first connecting part 312 and the second fixed part 321 are connected by a first moving hinge 36, so that the first connecting part 312 can move linearly and reciprocally on the surface of the second fixed part 321. The second connecting part 322 and the first fixed part 311 are connected by a second moving hinge 37, so that the second connecting part 322 can move linearly and reciprocally on the surface of the first fixed part 311. This connection mode allows the first rigid member 31 and the second rigid member 32 to have relative movement (horizontal displacement) in the first direction. At this time, the distance between the first connecting part 312 and the second connecting part 322 changes, causing the first spring 33 and the damper 34 to deform. By detecting the state data of the first spring 33 and the damper 34, the friction resistance value between the stratum shearing simulation module 30 and the shield shell simulation module 10 can be obtained.

[0050] Further, the friction block 35 comprises a base 351 fixed with the first rigid member 31 and a first friction sheet 352 arranged on the side of the base 351 away from the first rigid member 31, and the first friction sheet 352 is attached to the outer surface of the side plate 12.

[0051] The stratum shearing simulation module 30 further comprises an adjusting assembly 38, which comprises a displacement adjusting device 381, a first supporting plate 382, a second spring 383, a second supporting plate 384 and a second friction sheet 385 connected in sequence, the displacement adjusting device 381 is fixed with the first rigid member 31, and the second friction sheet 385 is attached to the outer surface of the side plate 12.

[0052] The number of the base 351 is two, and the two bases 351 are spaced apart to form a gap 350, the adjusting assembly 38 is installed in the gap 350, the displacement adjusting device 381 drives the second friction sheet 385 to move towards or away from the side plate 12, changes the attachment degree of the second friction sheet 385 to the side plate 12, and adjusts the friction force of the stratum shearing simulation module 30 and the side plate 12 as a whole. The displacement adjusting device 381 can be selected as a pneumatic cylinder, an oil cylinder, a linear motor, an electric push rod or the like which can generate linear stroke.

[0053] The first friction sheet 352 and the second friction sheet 385 are made of rubber with different friction coefficients, which can adjust the friction force of the stratum shearing simulation module 30 and the side plate 12 as a whole, and simulate the situation that the friction force is different under different stratum soil environments.

[0054] The interface friction between the stratum and the shield describes the sliding friction between the stratum and the shield, and the size of the sliding friction is related to the normal force on the contact surface and the friction coefficient. In the stratum shearing simulation module 30 provided by the application, the rubber materials with different friction coefficients are arranged at the interface of the stratum-shield interface friction simulation module, and the size of the interface friction force is adjusted by adjusting the normal pressure on the rubber materials with different friction coefficients. The normal pressure of the rubber material located in the middle is controlled by the programmable displacement adjusting device 381 and the second spring 383, and under the condition that the total normal pressure is unchanged, the normal force of the rubber material located in the middle and the rubber materials on both sides is adjusted, so that the total friction force is adjustable, and the simulation needs of the shield tunneling under different environmental stratum soil are met.

[0055] The number of the stratum shearing simulation module 30 is multiple groups, which are symmetrically distributed on both sides of the shield shell simulation module 10. In the embodiment, there are six groups of the stratum shearing simulation module 30, and three groups are arranged on the upper and lower sides of the shield shell simulation module 10.

[0056] The earth pressure coefficient is a description of the relationship between the earth pressure generated by the earth body under the action of external load and the depth, deformation or displacement of the earth body. When the earth body deforms greatly, the earth pressure coefficient will change with the deformation state of the earth body. When the earth body is under compression, especially under the action of compression or soil shear stress, the earth pressure coefficient usually increases, which means that the reaction of the earth body to external force is enhanced; while the earth body is under tension, the earth pressure coefficient decreases, which means that the resistance of the earth body is weakened. The ground reaction curve can effectively simulate the nonlinear deformation and stress response characteristics of the earth body, as shown in Figure 6 The curve reflects the dynamic changes between the stiffness, deformation displacement and earth pressure coefficient of the earth body by depicting the relationship between the reaction force and deformation of the earth body under the action of different loads. Existing researches mostly simulate the load of the earth body in the upward direction of the shield through the earth body reaction curve, and the expression of the earth body reaction function corresponding to the earth body reaction curve is:

[0057] ;

[0058] In the formula, represents the displacement of the earth body; represents the earth body reaction function; represents the static earth pressure coefficient; represents the active earth pressure coefficient; represents the passive earth pressure coefficient; represents the earth body reaction coefficient.

[0059] In the existing shield tunneling simulation device, there is no effective device that can accurately simulate the ground with the earth body reaction curve characteristics. In the present application, the ground stiffness simulation module 40 is used to accurately simulate the ground with the earth body reaction curve characteristics. The ground stiffness simulation module 40 is connected with the ground shear simulation module 30 through the force transmission rod 50.

[0060] The ground stiffness simulation module 40 comprises an outer shell 41, a cam 42, a rolling pulley 43, a piston rod 44, a third spring 45 and a sleeve 46.

[0061] The outer shell 41 forms a closed containing space, the cam 42 is suspended in the containing space, the piston rod 44 extends in a first direction, the rolling pulley 43 is arranged at one end of the piston rod 44 and abuts against the cam 42, the sleeve 46 is fixed with the inner wall of the outer shell 41, one end of the piston rod 44 away from the rolling pulley 43 extends to the outside of the outer shell 41 through the sleeve 46, and the third spring 45 is sleeved on the outer periphery of the piston rod 44 and clamped between the rolling pulley 43 and the sleeve 46.

[0062] The rolling pulley 43, piston rod 44, third spring 45 and sleeve 46 together form a reaction force assembly, which provides a reaction force effect. The reaction force is transmitted to the formation shear simulation module 30 through the cam 42 and force transmission rod 50, and finally acts on the shield simulation module 10.

[0063] The reaction force components are provided in two sets, symmetrically distributed on both sides of the cam 42, to provide a uniform reaction force effect on both sides of the cam 42.

[0064] The cam 42 is a rotating structure with a curved outer surface. The cam 42 moves in the second direction within the receiving space, driving the rolling pulley 43 and piston rod 44. Due to the limiting effect of the sleeve 46, the piston rod 44 can only move in the first direction. Therefore, the rolling pulley 43 can also only move in the first direction. When the rolling pulley 43 moves, it compresses or stretches the third spring 45, causing the third spring 45 to deform. Based on the principle of force interaction, the third spring 45 also applies a reverse force to the cam 42 through the rolling pulley 43. This reverse force is used to simulate the reaction force characteristics of the soil.

[0065] The outer surface of the cam 42 is set as a curved surface, which can convert the movement of the force transmission rod 50 along the second direction into the movement of the third spring 45 along the first direction. This can reduce the space occupied by the formation stiffness simulation module 40 in the vertical direction and make the overall structure of the formation stiffness simulation module 40 more compact.

[0066] The rolling pulley 43 is used to reduce contact friction with the cam 42, and its arrangement adopts conventional technology in the field.

[0067] like Figure 4 As shown, a mechanical analysis is performed on the formation stiffness simulation module 40: the cam 42 applies an oblique force to the third spring 45 through the rolling pulley 43. , force The direction is the normal direction of the contact surface between the rolling pulley 43 and the cam 42, and the force is... The value is Due to the limiting effect of the piston rod 44, the third spring 45 can only move in the first direction, and the component force it experiences in the first direction is expressed as follows: .

[0068] Taking the third spring 45 as the research object, within the elastic range:

[0069] In the formula, This indicates the spring constant of the third spring 45. This indicates the deformation of the third spring 45.

[0070] but: .

[0071] According to the principle of interaction of forces, the cam 42 is subjected to the reaction force of the third spring 45. reaction force The size is also Direction and force Conversely, reaction force Component force in the second direction Force component used to drive the cam 42 to move in the second direction Represented as:

[0072] .

[0073] Introduce a coordinate system, where the horizontal axis represents the deformation of the third spring 45. The vertical axis represents the vertical displacement U of the soil, where the vertical displacement U is the displacement of the cam 42 along the second direction. In the formula, The shape curve function of the cam 42, for The derivative; This indicates the angle of friction.

[0074] Since a third spring 45 is provided on each side of the cam 42, the formation stiffness simulation module 40 can provide the force. Represented as:

[0075] .

[0076] Taking the soil strata as the research object, the forces This represents the forces acting on the soil, therefore It can also be expressed as:

[0077] ;

[0078] In the formula, Indicates the initial earth pressure; Represents the earth pressure coefficient; then:

[0079] ;

[0080] again: , ;

[0081] but: ;

[0082] Soil pressure coefficient Through the soil reaction function Solving, then the soil reaction function and the above formula, can be obtained by a first-order differential equation:

[0083] .

[0084] The first-order differential equation is more complex, and an accurate analytical solution cannot be obtained, so a numerical solution is used to solve it, and after solving, the shape curve of the cam 42 can be obtained The solving process of the numerical solution uses conventional techniques in the art, for example, is executed using the pseudo code as shown in Figure 7 .

[0085] By adjusting the expression of the function , the shape of the cam 42 can be changed, and different reaction effects can be provided. It should be noted that the shape curve of the cam 42 is the cross-sectional profile curve of the cam 42 along the central axis.

[0086] One end of the force transmission rod 50 is fixed with the second rigid member 32, and the other end is fixed with the cam 42, so as to apply the simulated ground reaction to the ground shear simulation module 30, so that the ground shear simulation module 30 and the shield shell simulation module 10 are attached to produce a friction force.

[0087] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above specific embodiments, and the above specific embodiments are only illustrative, not limiting, and those skilled in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application, which all belong to the protection of the present application.

Claims

1. A shield tunneling simulation apparatus considering constraints of a flexible stratum, characterized by, The shield shell simulation module is used for simulating the shell of a shield tunneling machine. The stratum shear simulation module is attached to the periphery of the shield shell simulation module and is used for simulating the frictional effect of stratum soil on the shield shell simulation module. The first direction is the tunneling direction of the shield tunneling machine. The stratum stiffness simulation module is connected with the stratum shear simulation module through the force transmission rod, and is used for simulating the counterforce characteristics of the stratum soil body. The stratum stiffness simulation module comprises a shell, a cam, a rolling pulley, a piston rod, a third spring and a sleeve. The cam is suspended in the shell. One end of the force transmission rod away from the stratum shear simulation module is connected with the cam through the shell. The piston rod extends in a first direction. The rolling pulley is arranged at one end of the piston rod and abuts against the cam. The sleeve is fixed with the inner wall of the shell. One end of the piston rod away from the rolling pulley extends to outside the shell through the sleeve. The third spring is sleeved on the periphery of the piston rod and is clamped between the rolling pulley and the sleeve. The spring is used for providing a counterforce effect and is transmitted to the stratum shear simulation module through the rolling pulley, the cam and the force transmission rod, so as to apply the counterforce to the shield shell simulation module. The cam is a rotary body structure, and the shape curve thereof satisfies the following equation: satisfies the following equation: ； wherein, represents a soil displacement, represents a soil reaction function; represents a spring constant of the third spring; is a derivative of ; and represents an initial earth pressure; The rolling pulley, the piston rod, the third spring and the sleeve jointly form a counterforce assembly, the counterforce assembly is provided with two groups and is symmetrically distributed on the two sides of the cam. The stratum shear simulation module comprises a first rigid member, a second rigid member movably connected with the first rigid member, a first spring connecting the first rigid member and the second rigid member, and a damper connecting the first rigid member and the second rigid member and arranged in parallel with the first spring, the second rigid member is fixed at one end of the force transmission rod away from the stratum stiffness simulation module, and the first rigid member and the second rigid member can move relative to each other in the first direction. The stratum shear simulation module further comprises a friction block arranged on the side of the first rigid member away from the second rigid member, the friction block comprises a base fixed with the first rigid member and a first friction sheet arranged on the side of the base away from the first rigid member, and the first friction sheet is attached to the outer surface of the shield shell simulation module. The first rigid member comprises a first fixed part and a first connecting part arranged perpendicularly to the first fixed part, the second rigid member comprises a second fixed part and a second connecting part arranged perpendicularly to the second fixed part, the first fixed part is parallel and spaced apart from the second fixed part, the first connecting part is parallel and spaced apart from the second connecting part, the first connecting part is connected with the second fixed part through a first movable hinge, and the second connecting part is connected with the first fixed part through a second movable hinge. The number of the bases is two, the two bases are spaced apart to form a gap, and the stratum shear simulation module further comprises an adjusting assembly installed in the gap, the adjusting assembly comprises a displacement adjusting device, a first supporting plate, a second spring, a second supporting plate and a second friction sheet connected in sequence, the displacement adjusting device is fixed with the first rigid member, and the second friction sheet is attached to the outer surface of the shield shell simulation module; the degree of attachment of the second friction sheet to the shield shell simulation module is changed through the displacement adjusting device. The first friction sheet and the second friction sheet are made of rubber with different friction coefficients.

2. The shield tunneling simulation apparatus considering constraints of a flexible stratum according to claim 1, wherein, The shield shell simulation module comprises a front plate and a side plate, the side plate encloses a receiving space with open ends, and the front plate is located at the front end of the side plate along the first direction and covers the front end opening of the receiving space.

3. The shield tunneling simulation apparatus considering constraints of flexible ground according to claim 1, wherein, The tunneling driving simulation module is used for simulating the driving system of a shield tunneling machine, the tunneling driving simulation module is connected with the shield shell simulation module and drives the shield shell simulation module to move along the preset first direction.

4. The shield tunneling simulation apparatus considering constraints of a flexible stratum according to claim 3, wherein, The tunneling driving simulation module comprises at least one group of electric servo oil cylinders arranged in the receiving space, and the output shaft of the electric servo oil cylinder abuts against the front plate, so as to drive the shield shell simulation module to move as a whole along the preset tunneling direction.

5. The shield tunneling simulation apparatus considering constraints of a flexible stratum according to claim 4, wherein, ​

Images