CN113681139A

CN113681139A - Plate blank burr removing robot system based on plasma cutting

Info

Publication number: CN113681139A
Application number: CN202110967975.1A
Authority: CN
Inventors: 彭剑辉; 邱泽亮
Original assignee: Suzhou Quanguang Photovoltaic Technology Co ltd
Current assignee: Shandong Guangying Industrial Co ltd
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2021-11-23
Anticipated expiration: 2041-08-23
Also published as: CN113681139B

Abstract

The invention discloses a plate blank burr removing robot system based on plasma cutting, which comprises a supporting assembly and a conveying assembly arranged between the supporting assemblies, wherein the supporting assembly comprises a cross frame and a vertical frame, a driving assembly is arranged on the cross frame, the driving assembly comprises a first driving piece and a second driving piece, the first driving piece and the second driving piece are symmetrically arranged, the first driving piece and the second driving piece are identical in structure, a sliding block is arranged on the driving assembly and is in fit connection with a sliding rail, a connecting block is further in fit connection with the sliding block, a motor fixing frame is arranged on the connecting block, a first driving motor is arranged on the motor fixing frame, the first driving motor is in fit connection with a first coupling, the first coupling is in fit connection with a first rotating shaft, the first rotating shaft is in fit connection with a driving gear, the driving gear has high transmission precision, the position can be accurately controlled, the cutting surface quality is high after cutting, and the cutting efficiency is high.

Description

Plate blank burr removing robot system based on plasma cutting

Field of application

The invention relates to the field of industrial processing, in particular to a plate blank deburring robot system based on plasma cutting.

Background

The steel industry is the key industry of China, the intelligentization degree of the steel industry is the most direct embodiment of the intelligentization level of the industry, slab deburring is used as an important component of the steel processing process, the intelligentization degree has great influence on the whole industrial level, but the traditional scraper type slab deburring method and the hammer type slab deburring method are still used as the modes for removing slab burrs in China at present. The removing methods have the defects of longer processing time, lower processing efficiency and the like, and do not meet the requirements of intelligent manufacturing. The industrial robot is a high-speed, high-flexibility, high-precision, safe and pollution-free automatic machining tool which can greatly shorten the machining beat and improve the machining efficiency, and is a main force for accelerating the intelligent construction of the steel industry.

In addition, in the field of thermal cutting, most factories adopt a flame cutting method for cutting, although the flame cutting method is low in cost, the flame cutting method has the defects of low cutting speed and low cutting precision, and the cut can be further used by secondary processing. Because the steel industry is under increasing pressure to improve cutting efficiency, cutting precision, change cutting modes and the like, the metal cutting quality is continuously improved, which means that the selection of the cutting mode and the control mode is more and more rigorous, and obviously, the flame cutting mode is not suitable for the current requirements. The plasma cutting has the advantages of high cutting efficiency, good quality, high precision and small thermal deformation, and is gradually applied to the field of metal cutting, the working principle of the plasma cutting mainly adopts a high-temperature and high-speed plasma arc as a heat source and compressed air as a working medium to locally melt the cut metal, and simultaneously, the molten metal is blown away from a base metal by high-speed and high-pressure airflow, so that the metal cutting is realized. Therefore, the plasma robot cutting system which is high in speed, stable and capable of meeting high cutting quality requirements is developed by combining the plasma cutting technology, and the plasma robot cutting system has important significance.

Disclosure of Invention

The invention overcomes the defects of the prior art and provides a plate blank deburring robot system based on plasma cutting.

In order to achieve the aim, the invention adopts the technical scheme that: a robot system for removing slab burrs based on plasma cutting comprises support components and a conveying component arranged between the support components;

the supporting assembly comprises a transverse frame and a vertical frame, a driving assembly is arranged on the transverse frame and comprises a first driving piece and a second driving piece, the first driving piece and the second driving piece are symmetrically arranged, and the first driving piece and the second driving piece are identical in structure;

the driving assembly is provided with a sliding block, the sliding block is connected with the sliding rail in a matched mode, the sliding block is further connected with a connecting block in a matched mode, a motor fixing frame is arranged on the connecting block, a first driving motor is installed on the motor fixing frame, the first driving motor is connected with a first coupling in a matched mode, the first coupling is connected with a first rotating shaft in a matched mode, the first rotating shaft is connected with a driving gear in a matched mode, the driving assembly is further provided with a tooth-shaped guide rail, and the tooth-shaped guide rail is meshed with the driving gear;

a third driving piece is connected to the connecting block in a matched mode, a third driving motor is arranged on the third driving piece, the third driving motor is connected to a third coupling in a matched mode, a threaded screw rod is connected to the third coupling in a matched mode, a sliding block is connected to the threaded screw rod in a matched mode, and a cutting hand is connected to the sliding block in a matched mode;

the cutting hand is hung upside down and is set up on the sliding block, be provided with rotary mechanism on the cutting hand, rotary mechanism is used for driving the cutting hand is rotatory, the cutting hand includes first arm and second arm, second arm free end tip cooperation is connected with plasma cutting machine, plasma cutting machine with the second arm passes through universal mechanism cooperation and connects, plasma cutting machine realizes universal rotation, be provided with first camera mechanism on the plasma cutting machine.

Further, in a preferred embodiment of the present invention, a stopper is disposed on the driving assembly, a first limiting member is disposed on the stopper, and a first sensor is disposed on the slider and is used for detecting position information of the slider.

Further, in a preferred embodiment of the present invention, a second limiting member is disposed on the third driving member, and a second sensor is disposed on the sliding block, and the second sensor is used for detecting position information of the sliding block.

Further, in a preferred embodiment of the present invention, third sensors are disposed on the first robot arm and the second robot arm, and the third sensors are configured to detect position information of the first robot arm and the second robot arm.

Further, in a preferred embodiment of the present invention, a fourth sensor is disposed on the plasma cutting machine, and the fourth sensor is configured to detect parameter information of the plasma cutting machine, where the parameter information includes position information, cutting speed information, and cutting angle information of the plasma cutting machine.

Further, in a preferred embodiment of the present invention, the conveying assembly includes a conveying line, a baffle is disposed on the conveying line, bearing mounting holes are spaced on the baffle, bearings are mounted on the bearing mounting holes, and the bearings are connected with the rotating rollers in a matching manner.

Further, in a preferred embodiment of the present invention, the rotating roller is cooperatively connected to a fourth driving motor, the fourth driving motor is configured to drive the rotating roller to rotate, and the baffle is provided with a front end photoelectric sensor and a rear end photoelectric sensor.

Further, in a preferred embodiment of the present invention, the conveying line is further provided with a lifting mechanism, the lifting mechanism is provided with an air cylinder, the air cylinder is cooperatively connected with a push rod, the push rod is cooperatively connected with a lifting table, the lifting table is provided with a plurality of suckers, the lifting table is further cooperatively connected with a guide rod, and the guide rod plays a role in guiding and supporting.

Further, in a preferred embodiment of the present invention, a vertical frame is cooperatively connected to the bottom of the transverse frame, the vertical frame is connected to the ground through a bolt, and a second camera mechanism is disposed on the transverse frame and is used for detecting position information of the slab, position information of the obstacle, and position information of the cutting hand.

The invention provides a cutting method of a robot system for removing slab burrs based on plasma cutting, which is applied to any one of the robot systems for removing slab burrs based on plasma cutting, and comprises the following steps:

after the front-end photoelectric sensor identifies the plate blank, the rotating roller starts to do uniform deceleration movement;

after the rear-end photoelectric sensor identifies the plate blank, the rotating roller stops moving;

the lifting mechanism receives signals to lift the plate blank at a constant speed, and the plate blank is tightly sucked by the suction disc;

after the plate blank reaches the processing station, the lifting mechanism stops lifting, and the cutting hand moves to the processing starting point;

the plasma cutting machine is started, the cutting hand moves according to a set path, and the plasma cutting machine is closed after the cutting hand reaches a cutting end point;

the cutting hand moves back to the original position from the cutting end point;

the lifting mechanism descends at a constant speed, and the processed plate blank is sent back to the conveying line;

the rotating roller rotates to convey the processed plate blank to the next station.

According to the robot system for removing the slab burrs based on the plasma cutting, disclosed by the invention, under the matching work of the first driving piece, the second driving piece and the third driving piece, a cutting hand can finish movement in a large range, and a large slab blank can be processed; the first driving piece and the second driving piece are driven in a gear transmission mode, the third driving piece is driven in a threaded lead screw mode, and the gear transmission mechanism has the advantages of high transmission precision, stable transmission and accurate position control; the blank is cut by adopting a plasma cutting mode, the cutting surface quality and the cutting efficiency are far higher than those of flame cutting, and the plasma cutting device has the advantages of long service life and simplicity in maintenance; the plate blank is conveyed in a transmission mode through the conveying roller, the plate blank can be conveyed to a machining area stably, and then the plate blank is lifted up through the lifting mechanism, so that a cutting hand can cut burrs of the whole plate blank at one time, the step of cutting after turning is not needed, and machining efficiency is greatly accelerated.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings of the embodiments can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of the overall system;

FIG. 2 is a schematic view of a cutting hand;

FIG. 3 is a schematic view of another system;

FIG. 4 is a schematic structural diagram of a driving assembly;

FIG. 5 is a partially enlarged view of the driving assembly;

FIG. 6 is a schematic view of the internal structure of the third driving member;

FIG. 7 is a schematic view of a transfer assembly;

the reference numerals are explained below: 101. a cross frame; 102. erecting a frame; 103. a first driving member; 104. a second driving member; 105. cutting the hand; 106. a rotation mechanism; 107. a first robot arm; 108. a second mechanical arm; 109. a plasma cutter; 201. a slider; 202. a slide rail; 203. connecting blocks; 204. a motor fixing frame; 205. a first drive motor; 206. a first coupling; 207. a first rotating shaft; 208. a drive gear; 209. a toothed guide rail; 301. a third driving member; 302. a third drive motor; 303. a third coupling; 304. a threaded lead screw; 305. a slider; 401. a conveyor line; 402. a baffle plate; 403. a rotating roller; 404. a fourth drive motor; 405. a front-end photosensor; 406. a back-end photosensor; 407. a lifting mechanism; 408. a cylinder; 409. a push rod; 501. a lifting platform; 502. a guide rod.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and the detailed description, wherein the drawings are simplified schematic drawings and only the basic structure of the present invention is illustrated schematically, so that only the structure related to the present invention is shown, and it is to be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

The invention provides a plate blank deburring robot system based on plasma cutting, which comprises support components and a conveying component arranged between the support components.

As shown in fig. 1, 4 and 5, the supporting assembly includes a cross frame 101 and a vertical frame 102, a driving assembly is disposed on the cross frame 101, the driving assembly includes a first driving member 103 and a second driving member 104, the first driving member 103 and the second driving member 104 are symmetrically disposed, and the first driving member 103 and the second driving member 104 have the same structure; be provided with slider 201 on the drive assembly, slider 201 is connected with slide rail 202 cooperation, it is connected with connecting block 203 still to cooperate on the slider 201, be provided with motor mount 204 on the connecting block 203, install first driving motor 205 on the motor mount 204, first driving motor 205 cooperation is connected with first shaft coupling 206, first shaft coupling 206 cooperation is connected with first rotation axis 207, first rotation axis 207 cooperation is connected with drive gear 208, still be provided with tooth type guide rail 209 on the drive assembly, tooth type guide rail 209 with drive gear 208 meshes mutually.

The first driving member 103 and the second driving member 104 are mounted on the cross frame 101 by bolts, and the cross frame 101 plays a role in supporting and fixing. First driving piece 103 is the same with second driving piece 104 structure, first driving piece 103 all is provided with two slide rails 202 and four sliders 201 with second driving piece 104, slide rail 202 symmetry sets up, slider 201 can slide along slide rail 202, connecting block 203 sets up to rectangular shape, four sliders 201 set up respectively on four corners of connecting block 203, so, slider 201 not only can steadily slide on slide rail 202, frictional force when sliding between slider 201 and slide rail 202 has also been reduced to the at utmost. In addition, the mode that the sliding block 201 slides along the sliding rail 202 plays a guiding role, so that the driving assembly is more stable in the operation process.

It should be noted that a plurality of teeth are arranged on the tooth-shaped guide rail 209, the teeth on the tooth-shaped guide rail 209 are engaged with the teeth on the driving gear 208, when the first driving motor 205 rotates forward, the first driving motor 205 is decelerated by the decelerator to drive the first rotating shaft 207 to rotate forward, the first rotating shaft 207 is in interference fit with the driving gear 208, and the driving gear 208 also rotates forward along with the first driving motor 205, so that the driving gear 208 can move along the positive direction of the tooth-shaped guide rail 209, and the connecting block 203 is driven to move forward; when the first driving motor 205 rotates reversely, the first driving motor 205 drives the first rotating shaft 207 to rotate reversely after being decelerated by the decelerator, and the driving gear 208 also rotates reversely with the first driving motor 205, so that the driving gear 208 can move along the tooth-shaped guide rail 209 in a reverse direction, and the connecting block 203 moves in a reverse direction. The positive and negative rotation of the motor is controlled, so that the moving direction of the cutting hand 105 is controlled, the control process is simple, and the gear transmission mode is adopted, so that the gear cutting machine has the advantages of high transmission precision, stable transmission process and capability of accurately controlling the position.

As shown in fig. 1, 2 and 6, a third driving element 301 is connected to the connecting block 203 in a matching manner, the third driving element 301 is provided with a third driving motor 302, the third driving motor 302 is connected to a third coupling 303 in a matching manner, the third coupling 303 is connected to a threaded lead screw 304 in a matching manner, the threaded lead screw 304 is connected to a sliding block 305 in a matching manner, and the sliding block 305 is connected to a cutting hand 105 in a matching manner; cutting hand 105 hangs the setting upside down on the sliding block 305, be provided with rotary mechanism 106 on the cutting hand 105, rotary mechanism 106 is used for driving cutting hand 105 is rotatory, cutting hand 105 includes first arm 107 and second arm 108, the cooperation of second arm 108 free end tip is connected with plasma cutting machine 109, plasma cutting machine 109 with second arm 108 passes through universal mechanism cooperation and connects, plasma cutting machine 109 realizes universal rotation, be provided with first camera mechanism on the plasma cutting machine 109. The bottom of the transverse frame 101 is connected with a vertical frame 102 in a matched mode, the vertical frame 102 is connected to the ground through bolts, a second camera shooting mechanism is arranged on the transverse frame 101 and used for detecting position information of a plate blank, position information of an obstacle and position information of a cutting hand 105.

It should be noted that, the inverted cutting hand 105 is used for cutting, and meanwhile, the first driving member 103, the second driving member 104, and the third driving member 301 can drive the cutting hand 105 to move, so that the requirement of the working range of the cutting hand 105 can be greatly reduced. In addition, when the second camera mechanism detects that the position of the slab deviates, the first driving part 103, the second driving part 104 and the third driving part 301 adjust the initial position of the cutting hand 105, and simultaneously the second camera mechanism transmits image information to the control system, the control system relocates the cutting start point of the slab, establishes new workpiece coordinates, and further plans a new cutting track, so that the processing requirements can be met even after the slab deviates.

It should be noted that, on one hand, the first driving element 103 and the second driving element 104 are both provided with the connecting block 203, and two ends of the third driving element 301 are provided with fixing elements, and the fixing elements are respectively and fixedly connected with the connecting blocks 203 on the first driving element 103 and the second driving element 104, so that two ends of the third driving element 301 are respectively fixed on the first driving element 103 and the second driving element 104, and thus, the third driving element 301 can be driven to move by driving the connecting block 203. On the other hand, the sliding block 305 on the third driving element 301 is connected with the cutting hand 105, under the driving of the third driving motor 302, the threaded screw rod 304 rotates along with the third driving motor 302, the sliding block 305 is provided with a threaded hole matched with the threaded screw rod 304, so that the threaded screw rod 304 can slide on the threaded screw rod 304 when rotating, thereby converting the rotating motion into linear motion, the moving direction of the sliding block 305 can be controlled by controlling the positive rotation of the third driving motor 302, thereby completing the control of the cutting hand 105, and the device has the advantages of high control precision and stable movement. In addition, cutting hand 105 is the parallelly connected structure of multistage formula, specifically include first arm 107, second arm 108 and universal mechanism, be connected with plasma cutting machine 109 in the universal mechanism, plasma cutting machine 109 can realize universal rotation, still be provided with slewing mechanism on the cutting hand 105 simultaneously, slewing mechanism passes through the buckle joint on sliding block 305, slewing mechanism can drive cutting hand 105 rotatory, make cutting hand 105 more nimble in cutting process, can satisfy multiple cutting requirement.

As shown in fig. 3 and 7, the conveying assembly comprises a conveying line 401, a baffle plate 402 is arranged on the conveying line 401, bearing mounting holes are arranged on the baffle plate 402 at intervals, bearings are mounted on the bearing mounting holes, and rotating rollers 403 are connected to the bearings in a matching manner; the rotating roller 403 is connected with a fourth driving motor 404 in a matching manner, the fourth driving motor 404 is used for driving the rotating roller 403 to rotate, and the baffle 402 is provided with a front-end photoelectric sensor 405 and a rear-end photoelectric sensor 406; still be provided with elevating system 407 on the transmission line 401, elevating system 407 is provided with cylinder 408, cylinder 408 cooperation is connected with push rod 409, push rod 409 cooperation is connected with elevating platform 501, be provided with a plurality of sucking discs on the elevating platform 501, elevating platform 501 still cooperation is connected with guide bar 502, guide bar 502 plays the direction supporting role.

It should be noted that the rotating rollers 403 are installed on the baffle 402 of the conveying line 401 at intervals, one side of the baffle 402 is provided with a fourth driving motor 404, the fourth driving motor 404 is connected with the conveying roller, when the fourth driving motor 404 is driven, the rotating rollers 403 can be driven to rotate, and the slab can be conveyed to a specific position of the soil by the rotating rollers 403 by using the friction force between the slab and the rotating rollers 403. After the rear-end photoelectric sensor 406 detects the slab, the rotating roller 403 stops moving, the slab is proved to enter a region to be processed, the lifting mechanism 407 lifts the slab, then the cutting hand 105 completes the process of cutting burrs according to an appointed path, the slab is lifted through the lifting mechanism 407 and then the burrs are cut, so that the cutting hand 105 can cut the burrs on the top surface, the bottom surface and the side surface at one time, the operation of turning and cutting is not needed, the cutting efficiency is improved, meanwhile, the slab is lifted through the lifting mechanism 407 and then the burrs are cut, the condition that the plasma cutting machine 109 cuts the conveying line 401 is avoided, and the protection effect is achieved.

The front-end photosensor 405 and the rear-end photosensor 406 are disposed on the baffle 402 of the conveyor line 401, the distance between the front-end photosensor 405 and the rear-end photosensor 406 is equal to the length of the slab, and the region between the front-end photosensor 405 and the rear-end photosensor 406 is the region to be processed. The lifting platform 501 is arranged at the bottom of the area to be processed, namely, right below the rotating roller 403 in the area to be processed, and two lifting mechanisms 407 are arranged at the front end and the tail end of the area to be processed respectively, so that the lifting mechanisms 407 can stably lift the plate blank stopped on the area to be processed. After the slab enters the area to be processed, the rotating rollers 403 stop rotating, and the push rod 409 drives the lifting platform 501 to move upwards under the driving of the air cylinder 408, so that the lifting platform 501 can be pushed out from the gap between the two rotating rollers 403, and the slab stopped on the area to be processed is lifted to a certain height, so that the next step of cutting is completed. The lifting platform 501 is further provided with a sucker which can tightly suck the surface of the plate blank, so that the condition that the plate blank slides and deviates in the lifting process is avoided, and the stability is improved.

A stop block is arranged on the driving assembly, a first limiting part is arranged on the stop block, a first sensor is arranged on the sliding block 201, and the first sensor is used for detecting the position information of the sliding block 201; the third driving element 301 is provided with a second limiting element, the sliding block 305 is provided with a second sensor, and the second sensor is used for detecting the position information of the sliding block 305. Third sensors are arranged on the first mechanical arm 107 and the second mechanical arm 108, and the third sensors are used for detecting position information of the first mechanical arm 107 and the second mechanical arm 108; the plasma cutting machine 109 is provided with a fourth sensor, the fourth sensor is used for detecting parameter information of the plasma cutting machine 109, and the parameter information comprises position information, cutting speed information and cutting angle information of the plasma cutting machine 109.

It should be noted that the first limiting parts are arranged on the first driving part 103 and the second driving part 104, the second limiting part is arranged on the third driving part 301, the first limiting part and the second limiting part may be infrared sensors, when the slider 201 or the sliding block 305 moves to the limit position, the infrared sensors can feed back signals to the control end in time, and the control end controls the slider 201 or the sliding block 305 to stop moving, so as to avoid collision and ensure safety. The first sensor and the second sensor can be photoelectric sensors, the photoelectric sensors can detect the position information of the sliding block 201 or the sliding block 305 in real time, the position information of the sliding block 201 or the sliding block 305 can be fed back to the control end in real time, and the control end can intelligently control the cutting path according to the position information fed back by the photoelectric sensors in real time.

A cutting method of a robot system for removing slab burrs based on plasma cutting comprises the following steps:

The slab processing flow comprises the following steps: firstly, the slab is conveyed from the previous station along the conveying line, when the front-end photoelectric sensor detects the slab, the signal is fed back to the controller, the controller controls the rotating roller to do uniform deceleration movement so as to ensure that no position deviation occurs when the plate blank is conveyed to the position to be processed, when the plate blank reaches the position to be processed, the rear-end photoelectric sensor detects the plate blank and feeds back a signal to the controller, the controller controls the lifting mechanism to ascend, the suction disc tightly sucks the plate blank, the lifting mechanism continuously ascends to lift the plate blank to the processing position, then the robot moves the plasma cutting machine from the original position to the cutting starting point, when the ion cutting machine reaches the cutting starting point, the plasma cutting machine is opened, the controller controls the robot to move according to a specific path, when the plasma cutting machine reaches a cutting end point, the plasma cutting machine is closed, and the robot sends the plasma cutting machine back to an original position; and then the lifting mechanism descends to send the plate blank back to the conveying line, the rotating roller recovers the initial speed, and the processed plate blank is conveyed to the next station.

While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides a remove slab burr robot system based on plasma cutting, includes supporting component and installs the transfer assembly between supporting component, its characterized in that:

2. The plasma cutting-based slab deburring robot system of claim 1, wherein: the driving assembly is provided with a stop block, the stop block is provided with a first limiting part, the sliding block is provided with a first sensor, and the first sensor is used for detecting the position information of the sliding block.

3. The plasma cutting-based slab deburring robot system of claim 1, wherein: and a second limiting part is arranged on the third driving part, a second sensor is arranged on the sliding block, and the second sensor is used for detecting the position information of the sliding block.

4. The plasma cutting-based slab deburring robot system of claim 1, wherein: and third sensors are arranged on the first mechanical arm and the second mechanical arm and used for detecting the position information of the first mechanical arm and the second mechanical arm.

5. The plasma cutting-based slab deburring robot system of claim 1, wherein: the plasma cutting machine is provided with a fourth sensor, the fourth sensor is used for detecting parameter information of the plasma cutting machine, and the parameter information comprises position information, cutting speed information and cutting angle information of the plasma cutting machine.

6. The plasma cutting-based slab deburring robot system of claim 1, wherein: the conveying assembly comprises a conveying line, a baffle is arranged on the conveying line, bearing mounting holes are formed in the baffle at intervals, bearings are mounted on the bearing mounting holes, and the bearings are connected with rotating rollers in a matched mode.

7. The plasma cutting-based slab deburring robot system of claim 6, wherein: the rotating roller is connected with a fourth driving motor in a matched mode, the fourth driving motor is used for driving the rotating roller to rotate, and the baffle is provided with a front-end photoelectric sensor and a rear-end photoelectric sensor.

8. The plasma cutting-based slab deburring robot system of claim 6, wherein: still be provided with elevating system on the transfer line, elevating system is provided with the cylinder, the cylinder cooperation is connected with the push rod, the push rod cooperation is connected with the elevating platform, be provided with a plurality of sucking discs on the elevating platform, the elevating platform still cooperation is connected with the guide bar, the guide bar plays the direction supporting role.

9. The plasma cutting-based slab deburring robot system of claim 1, wherein: the transverse frame bottom is connected with a vertical frame in a matching mode, the vertical frame is connected to the ground through bolts, a second camera shooting mechanism is arranged on the transverse frame, and the second camera shooting mechanism is used for detecting position information of a plate blank, obstacle position information and cutting hand position information.

10. A cutting method of a robot system for removing slab burrs based on plasma cutting, which is applied to the robot system for removing slab burrs based on plasma cutting as claimed in any one of claims 1 to 9, and is characterized by comprising the following steps: