Polyurethane grouting trenchless technology has been widely applied to the rehabilitation of concealed defects in engineering structures. The interfacial properties between polyurethane and engineering structures are key factors determining the stability of the composite structure. In practical applications, the interface shapes of different engineering structures vary significantly, and the influence of the interface shape on interfacial properties should not be overlooked. This study focuses on engineering structures with curved interfaces, such as pile foundations, pipelines, and tunnels. Direct shear tests were conducted on polyurethane and concrete composite specimens with curved interfaces. A comparative analysis of the shear behavior between curved and planar composite specimens was performed, and the influence of arc diameter and polyurethane density on the shear behavior of curved and planar composite specimens was investigated. Additionally, SEM (Scanning Electron Microscopy) was used to conduct a microscopic examination of the interfaces with different polyurethane densities after failure, and the microscopic shear mechanisms between polyurethane and concrete materials were explored. The results revealed that the shear behavior of curved specimens was significantly higher than that of planar specimens. The shear strengths of curved specimens with diameters of 400 mm, 500 mm, and 700 mm were approximately 1.50, 1.39, and 1.10 times those of planar specimens, respectively. With increasing polyurethane density, the variation trend of shear strength in curved specimens was similar to that of planar specimens. However, significant differences were observed in the shear modulus, peak displacement, and shear residual strength between curved and planar specimens as the polyurethane density varied. Different diameter curved interface specimens exhibited a similar trend of shear strength variation with polyurethane density, gradually decreasing as the curvature diameter increased, and ultimately approaching that of planar specimens.
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