基于AGV底盘与SCARA机械臂的数控车削自动装卸系统设计  

Design of an automatic loading and unloading system for CNC turning based on AGV chassis and SCARA robotic arm

作　　者：熊丹 屠毅 邱菀宇 吴诗婷 彭帅 胡奕 XIONG Dan;TU Yi;QIU Wanyu;WU Shiting;PENG Shuai;HU Yi(School of Mechanical Engineering,Hunan University of Arts and Science,Changde 415000,China)

机构地区：[1]湖南文理学院机械工程学院,湖南常德415000

出　　处：《湖南文理学院学报(自然科学版)》2025年第2期34-39,共6页Journal of Hunan University of Arts and Science(Science and Technology)

基　　金：湖南省大学生创新创业训练项目(20231054900);湖南省普通高等学校教学改革研究项目(HNJG–2002–0950)。

摘　　要：随着制造业的快速发展和自动化技术的不断进步,数控车削零件自动装卸系统的需求日益增加。本研究设计并实现了一款集成了AGV(Automated Guided Vehicle)底盘和SCARA(Selective Compliance Assembly Robot Arm)机械臂的数控车削零件自动装卸系统,旨在攻克传统生产线中自动装卸系统灵活性低、成本高的技术痛点。融合全方位移动平台与SCARA机械臂搬运系统,该方案在实现高效装卸作业的同时,显著提升了系统的运动精度与经济性,其模块化架构还赋予了生产线更强的设备兼容性与工况适应能力。通过搭建实物模型表明,该系统具有较强的装卸能力,为现代制造业的发展提供了新的思路和解决方案。With the rapid development of manufacturing industry and continuous advancement of automation technologies,the demand for automatic loading/unloading systems in CNC turning operations has significantly increased.This study designs and implements an integrated system combining AGV(Automated Guided Vehicle)chassis with SCARA(Selective Compliance Assembly Robot Arm)manipulator to address the technical challenges of low flexibility and high costs in traditional production line automation.By synergizing an omnidirectional mobile platform with SCARA-based material handling mechanisms,the proposed solution achieves efficient loading/unloading operations while substantially enhancing motion accuracy and cost-effectiveness.Its modular architecture further improves equipment compatibility and operational adaptability for diverse production scenarios.Physical prototype demonstration indicates robust material handling capabilities,providing novel insights and practical solutions for advancing modern manufacturing systems.

关 键 词：自动装卸系统 AGV底盘 SCARA机械臂 全方位移动平台 

分 类 号：TP302.1[自动化与计算机技术—计算机系统结构]