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基于无人机混凝土3D打印技术及工艺参数优化(网络首发)

张宇思1，王益博1，杨昆1，赵环帅2，许义筱1，刘靓夷1，任常在3，陈曦2，刘思念2

1.辽宁工业大学 机械工程与自动化学院，辽宁 锦州121001；2.河北省智能装备数字化设计及过程仿真重点实验室(唐山学院), 河北 唐山 063000；3.齐鲁工业大学  能源与动力工程学部，山东 济南 250353

摘 要：目的 为了解决传统混凝土3D打印因固定龙门或机械臂而造成场地占用庞大、运动自由度受限、设备与支撑费用高昂等问题，开展以无人机为移动打印平台的混凝土三维增材制造技术研究，并围绕其打印适应性系统优化喷嘴高度、飞行速度、挤出速率等关键工艺参数，使空中增材建造在成型精度、力学性能与施工效率上达到最佳匹配。方法 首先根据螺杆挤压理论确定打印装置螺杆挤出的结构参数螺杆螺距，螺槽深度，出料口直径，分析结构参数对混凝土挤出质量的影响；其次将螺杆与无人机结合进行3D打印，采用正交试验的方法研究打印喷嘴高度H、打印速度V和挤出速度Q对无人机混凝土3D打印构件成型质量和力学性能的影响，最后得到最适合的工艺参数。结果 当螺杆螺距设定为24.5 mm、螺槽深度5 mm且出料口直径12 mm时，混凝土在螺槽内可获得充分剪切与均匀压实，出料连续，挤出质量达到最优；在此基础上，再将喷嘴高度精确控制在12 mm、打印速度保持9 mm/s、挤出转速维持30 r/min时打印的混凝土试件成型质量以及力学性能最好。结论 无人机混凝土3D打印借助空中飞行与精准悬停能力，可自由抵达高层、深坑、陡坡等传统机械难以覆盖的位置，对于施工高度、节约占地空间、提升建筑效率节约成本等方面，都具有深远的实际意义。

关键词：无人机；混凝土3D打印；螺杆挤出；成型质量；工艺参数

doi：10.16186/j.cnki.1673-9787，2024120004

基金项目:国家重点研发计划项目（2017YFC0703100）;2024年辽宁省教育厅高等学校基本科研项项目（LJLJ212410154040）

收稿日期：2024-12-03

修回日期：2024-12-13

网络首发日期：2025-10-20

Based on UAV concrete 3D printing technology and optimization of process parameters (Online)

Zhang Yusi1,Wang Yibo1,Yang Kun1,Zhao Huanshuai2,Xu Yixiao1,Liu Jingyi1,Ren Changzai3,Chen Xi2,Liu Sinian2

1.School of Mechanical Engineering and Automation, Liaoning University of Technology, Jinzhou 121001,Liaoning,China;2.Key Lab of Intelligent Equipment Digital Design and Process Simulation, Hebei Province (Tangshan University),Tangshan 063000,Hebei; 3.Department of Energy and Power Engineering, Qilu University of Technology, Jinan 250353,Shandong,China.

Abstract：Objectives To address the issues of large site occupation, limited motion freedom, high equipment and support costs caused by fixed gantries or robotic arms in traditional 3D printing of concrete, a study on concrete three-dimensional additive manufacturing technology using an unmanned aerial vehicle as a mobile printing platform was conducted. The key process parameters such as nozzle height, flight speed, and extrusion rate were optimized for the printing adaptability system, aiming to achieve the best match in terms of forming accuracy, mechanical properties, and construction efficiency for aerial additive construction. Methods Firstly, based on the screw extrusion theory, the structural parameters of the printing device, including screw pitch, slot depth, and discharge port diameter, were determined. The influence of these structural parameters on the extrusion quality of concrete was analyzed. Secondly, the screw was combined with the unmanned aerial vehicle for 3D printing. The orthogonal test method was used to study the effects of nozzle height H, printing speed V, and extrusion speed Q on the forming quality and mechanical properties of the concrete 3D printing components by the unmanned aerial vehicle. Finally, the most suitable process parameters were obtained. Results When the screw pitch was set at 24.5 mm, the slot depth was 5 mm, and the discharge port diameter was 12 mm, the concrete could obtain sufficient shear and uniform compaction in the slot, with continuous discharge, and the extrusion quality was optimal. On this basis, when the nozzle height was precisely controlled at 12 mm, the printing speed was maintained at 9 mm/s, and the extrusion speed was maintained at 30 r/min, the forming quality and mechanical properties of the printed concrete specimens were the best. Conclusions The unmanned aerial vehicle concrete 3D printing technology, with its ability to fly in the air and precise hovering, can freely reach positions such as high-rise buildings, deep pits, and steep slopes that traditional machinery cannot cover. It has far-reaching practical significance in terms of construction height, saving land space, improving construction efficiency, and cost reduction.

Key words: unmanned aerial vehicle; concrete 3D printing; screw extrusion; shaping quality; technological parameter