CN113681139B

CN113681139B - Plate blank burr removing robot system based on plasma cutting

Info

Publication number: CN113681139B
Application number: CN202110967975.1A
Authority: CN
Inventors: 彭剑辉; 邱泽亮
Original assignee: Shandong Guangying Industrial Co ltd
Current assignee: Shandong Guangying Industrial Co ltd
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2023-07-25
Anticipated expiration: 2041-08-23
Also published as: CN113681139A

Abstract

The invention discloses a plate blank deburring robot system based on plasma cutting, which comprises a supporting component and a conveying component arranged between the supporting components, wherein the supporting component comprises a transverse frame and a vertical frame, the transverse frame is provided with a driving component, the driving component 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 component and is connected with a sliding rail in a matched mode, a connecting block is also connected with the sliding block in a matched mode, a motor fixing frame is arranged on the connecting block, a first driving motor is arranged on the motor fixing frame and is connected with a first coupler in a matched mode, the first rotary shaft is connected with a driving gear in a matched mode, the driving gear has high transmission precision, the position can be accurately controlled, and the quality of a cut surface is high and the cutting efficiency is high.

Description

Plate blank burr removing robot system based on plasma cutting

Application field

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 taken as the key industry of the country, the intelligent degree is the most direct expression of the industrial intelligent level, the slab deburring is taken as an important component part of the steel processing process, the intelligent degree has great influence on the whole industrial level, but the slab deburring mode in China is still mainly the traditional scraper type slab deburring method and the hammer type slab deburring method at present. The removal methods have the defects of longer processing beat, lower processing efficiency and the like, and do not meet the requirements of intelligent manufacturing. The industrial robot is used as an automatic processing tool which has the advantages of high speed, high flexibility, high precision, safety, no pollution, capability of greatly shortening the processing beat and improving the processing 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, and flame cutting has the defects of low cutting speed and low cutting precision although the cost is low, and the incision can be further used by secondary processing. As the steel industry is faced with increasing pressures in terms of improving cutting efficiency, improving cutting precision, changing cutting modes and the like, the quality of metal cutting is also continuously improved, which means that the selection of cutting modes and control modes is also more and more severe, and obviously, the flame cutting mode is unsuitable for the current requirements. The plasma cutting has the advantages of high cutting efficiency, good quality, high precision and small thermal deformation, is gradually applied to the field of metal cutting, and the working principle of the plasma cutting mainly uses high-temperature and high-speed plasma arcs as heat sources and compressed air as working media to locally melt the cut metal, and simultaneously high-speed and high-pressure air flows blow the melted metal out of a base metal, so that the metal cutting is realized. Therefore, by combining the plasma cutting technology, the plasma robot cutting system which is high-speed and stable and can meet the requirement of high cutting quality is developed and 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.

The technical scheme adopted by the invention for achieving the purpose is as follows: a plate blank deburring robot system based on plasma cutting comprises support components and conveying components arranged between the support components;

the support assembly comprises a transverse frame and a vertical frame, wherein 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 have the same 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 also connected with a connecting block in a matched mode, the connecting block is provided with a motor fixing frame, a first driving motor is installed on the motor fixing frame, the first driving motor is connected with a first coupler in a matched mode, the first coupler 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 toothed guide rail, and the toothed guide rail is meshed with the driving gear;

the connecting block is connected with a third driving piece in a matched mode, the third driving piece is provided with a third driving motor, the third driving motor is connected with a third coupler in a matched mode, the third coupler is connected with a threaded screw rod in a matched mode, the threaded screw rod is connected with a sliding block in a matched mode, and the sliding block is connected with a cutting hand in a matched mode;

the cutting hand is hung upside down and is arranged on the sliding block, a rotating mechanism is arranged on the cutting hand and used for driving the cutting hand to rotate, the cutting hand comprises a first mechanical arm and a second mechanical arm, the free end part of the second mechanical arm is connected with a plasma cutting machine in a matched mode, the plasma cutting machine is connected with the second mechanical arm in a matched mode through a universal mechanism, the plasma cutting machine realizes universal rotation, and a first camera shooting mechanism is arranged on the plasma cutting machine.

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

Further, in a preferred embodiment of the present invention, a third sensor is disposed on the first mechanical arm and the second mechanical arm, and the third sensor is used for detecting position information of the first mechanical arm and the second mechanical arm.

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

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 disposed on the baffle at intervals, bearings are mounted on the bearing mounting holes, and the bearings are cooperatively connected with a rotating roller.

Further, in a preferred embodiment of the present invention, the rotating roller is cooperatively connected with a fourth driving motor, 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.

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 connected with a push rod in a matched manner, the push rod is connected with a lifting table in a matched manner, the lifting table is provided with a plurality of suckers, the lifting table is also connected with a guide rod in a matched manner, and the guide rod plays a role in guiding and supporting.

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

The invention provides a cutting method of a plate blank deburring robot system based on plasma cutting, which is applied to any plate blank deburring robot system based on plasma cutting and comprises the following steps of:

after the front-end photoelectric sensor recognizes the slab, the rotating roller starts to perform uniform deceleration movement;

after the rear-end photoelectric sensor recognizes the slab, the rotating roller stops moving;

the lifting mechanism receives signals to lift the slab at a constant speed, and the sucking disc sucks the slab tightly;

after the slab reaches the processing position, 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;

moving the cutting hand from the cutting end point to the original point position;

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

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

According to the plate blank deburring robot system based on plasma cutting, under the cooperation of the first driving piece, the second driving piece and the third driving piece, a cutting hand can complete movement in a larger range, and a larger plate blank piece can be processed; the first driving piece and the second driving piece adopt a gear transmission mode for transmission, and the third driving piece adopts a threaded screw rod for transmission, so that the device has the advantages of higher transmission precision, stable transmission and accurate position control; the blank is cut by adopting a plasma cutting mode, the quality of the cutting surface and the cutting efficiency are far higher than those of flame cutting, and the method has the advantages of long service life and simplicity in maintenance; the plate blank is conveyed by adopting a conveying mode of the conveying roller, the plate blank can be stably conveyed to a processing area, and then the plate blank is lifted by 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 the processing efficiency is greatly improved.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other embodiments of the drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

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

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

FIG. 3 is a schematic diagram of another view angle structure of the system;

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

FIG. 5 is an enlarged schematic view of a portion of the drive assembly;

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

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

the reference numerals are explained as follows: 101. a cross frame; 102. a vertical frame; 103. a first driving member; 104. a second driving member; 105. cutting the hand; 106. a rotation mechanism; 107. a first mechanical arm; 108. a second mechanical arm; 109. a plasma cutter; 201. a slide block; 202. a slide rail; 203. a connecting block; 204. a motor fixing frame; 205. a first driving motor; 206. a first coupling; 207. a first rotation shaft; 208. a drive gear; 209. a toothed guide rail; 301. a third driving member; 302. a third driving motor; 303. a third coupling; 304. a threaded screw rod; 305. a sliding block; 401. a conveying line; 402. a baffle; 403. a rotating roller; 404. a fourth driving motor; 405. a front-end photoelectric sensor; 406. a rear-end photoelectric sensor; 407. a lifting mechanism; 408. a cylinder; 409. a push rod; 501. a lifting table; 502. a guide rod.

Detailed Description

In order that the above objects, features and advantages of the invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and detailed description thereof, which are simplified schematic drawings which illustrate only the basic structure of the invention and therefore show only those features which are relevant to the invention, it being noted that embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection 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 a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may include one or more of the feature, either explicitly or implicitly. In the description of the invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application can be understood by those of ordinary skill in the art in a specific context.

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. 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 supporting components and conveying components arranged between the supporting components.

As shown in fig. 1, 4 and 5, the supporting component comprises a transverse frame 101 and an upright frame 102, a driving component is arranged on the transverse frame 101, the driving component comprises a first driving piece 103 and a second driving piece 104, the first driving piece 103 and the second driving piece 104 are symmetrically arranged, and the first driving piece 103 and the second driving piece 104 have the same structure; the driving assembly is provided with a sliding block 201, the sliding block 201 is connected with a sliding rail 202 in a matched mode, the sliding block 201 is further connected with a connecting block 203 in a matched mode, a motor fixing frame 204 is arranged on the connecting block 203, a first driving motor 205 is installed on the motor fixing frame 204, the first driving motor 205 is connected with a first coupler 206 in a matched mode, the first coupler 206 is connected with a first rotating shaft 207 in a matched mode, the first rotating shaft 207 is connected with a driving gear 208 in a matched mode, a toothed guide rail 209 is further arranged on the driving assembly, and the toothed guide rail 209 is meshed with the driving gear 208.

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 supports and fixes. The first driving piece 103 and the second driving piece 104 are identical in structure, the first driving piece 103 and the second driving piece 104 are provided with two sliding rails 202 and four sliding blocks 201, the sliding rails 202 are symmetrically arranged, the sliding blocks 201 can slide along the sliding rails 202, the connecting blocks 203 are rectangular, the four sliding blocks 201 are respectively arranged on four corners of the connecting blocks 203, and therefore the sliding blocks 201 can slide on the sliding rails 202 smoothly and friction force between the sliding blocks 201 and the sliding rails 202 can be reduced to the greatest extent. In addition, the sliding block 201 slides along the sliding rail 202, so that the guiding function is realized, and the driving assembly is stable in the running process.

It should be noted that, the toothed guide 209 is provided with a plurality of teeth, the teeth on the toothed guide 209 are meshed with the teeth on the driving gear 208, when the first driving motor 205 rotates forward, the first driving motor 205 drives the first rotating shaft 207 to rotate forward after being decelerated by the decelerator, 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 forward direction of the toothed guide 209, and the connecting block 203 is driven to move forward; when the first driving motor 205 is rotated reversely, the first driving motor 205 is decelerated by the decelerator to drive the first rotation shaft 207 to rotate reversely, and the driving gear 208 is rotated reversely along with the first driving motor 205, so that the driving gear 208 can move reversely along the toothed rail 209, and the connection block 203 moves reversely. The forward and reverse 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 advantages of higher transmission precision, stable transmission process and accurate position control are achieved in a gear transmission mode.

As shown in fig. 1, 2 and 6, the connection block 203 is cooperatively connected with a third driving member 301, the third driving member 301 is provided with a third driving motor 302, the third driving motor 302 is cooperatively connected with a third coupling 303, the third coupling 303 is cooperatively connected with a threaded screw rod 304, the threaded screw rod 304 is cooperatively connected with a sliding block 305, and the sliding block 305 is cooperatively connected with a cutting hand 105; cutting hand 105 is hung upside down and is set up on the sliding block 305, be provided with rotary mechanism 106 on the cutting hand 105, rotary mechanism 106 is used for driving the cutting hand 105 is rotatory, the cutting hand 105 includes first arm 107 and second arm 108, second arm 108 free end tip cooperation is connected with plasma cutting machine 109, plasma cutting machine 109 with second arm 108 passes through universal mechanism cooperation and is connected, plasma cutting machine 109 realizes universal rotation, be provided with first camera mechanism on the plasma cutting machine 109. The cooperation of crossbearer 101 bottom is connected with grudging post 102, grudging post 102 passes through bolted connection subaerial, be provided with the second camera shooting mechanism on the crossbearer 101, the second camera shooting mechanism is used for detecting the positional information of slab, barrier positional information and cutting hand 105 positional information.

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 image capturing mechanism detects that the slab position is deviated, the first driving piece 103, the second driving piece 104 and the third driving piece 301 adjust the initial position of the cutting hand 105, meanwhile, the second image capturing mechanism transmits image information to the control system, the control system repositions the cutting starting point of the slab, establishes new workpiece coordinates, and further plans a new cutting track, so that the processing requirement is still met even if the slab is deviated.

On the other hand, on the one hand, the first driving member 103 and the second driving member 104 are both provided with the connecting blocks 203, the two ends of the third driving member 301 are provided with the fixing members, and the fixing members are respectively fixedly connected with the connecting blocks 203 on the first driving member 103 and the second driving member 104, so that the two ends of the third driving member 301 are respectively fixed on the first driving member 103 and the second driving member 104, and in this way, the third driving member 301 can be driven to move by driving the connecting blocks 203. On the other hand, the sliding block 305 on the third driving piece 301 is connected with the cutting hand 105, under the drive of the third driving motor 302, the threaded screw rod 304 rotates along with the third driving motor 302, and the sliding block 305 is provided with a threaded hole matched with the threaded screw rod 304, so that when the threaded screw rod 304 rotates, the sliding block 201 can slide along the threaded screw rod 304, thereby converting the rotary motion into the linear motion, and the moving direction of the sliding block 305 can be controlled by controlling the square rotation of the third driving motor 302, thereby completing the control of the cutting hand 105. In addition, the cutting hand 105 is multistage parallel structure, specifically includes first arm 107, second arm 108 and universal mechanism, is connected with plasma cutting machine 109 on the universal mechanism, and plasma cutting machine 109 can realize universal rotation, still is provided with slewing mechanism on the cutting hand 105 simultaneously, and slewing mechanism passes through the buckle joint on sliding block 305, and slewing mechanism can drive cutting hand 105 rotation for cutting hand 105 is more nimble in the cutting process, can satisfy multiple cutting requirement.

As shown in fig. 3 and 7, the conveying assembly comprises a conveying line 401, a baffle 402 is arranged on the conveying line 401, bearing mounting holes are formed in the baffle 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 cooperatively connected with a fourth driving motor 404, 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; the lifting mechanism 407 is further arranged on the conveying line 401, the lifting mechanism 407 is provided with an air cylinder 408, the air cylinder 408 is connected with a push rod 409 in a matched mode, the push rod 409 is connected with a lifting table 501 in a matched mode, a plurality of suckers are arranged on the lifting table 501, the lifting table 501 is further connected with a guide rod 502 in a matched mode, and the guide rod 502 plays a guide supporting role.

The rotating rollers 403 are installed on the baffle 402 of the conveying line 401 at intervals, a fourth driving motor 404 is disposed on one side of the baffle 402, 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 rotating rollers 403 can convey the slabs to a specific position by using friction force between the slabs and the rotating rollers 403. After the slab burr is detected by the rear-end photoelectric sensor 406, the rotating roller 403 stops moving, the slab is proved to enter a to-be-processed area, the lifting mechanism 407 lifts the slab, then the cutting hand 105 completes the process of cutting burrs according to a specified path, the lifting mechanism 407 lifts the slab and then cuts burrs, the cutting hand 105 can cut burrs on the top surface, the bottom surface and the side surfaces at one time, the operation of turning and cutting is not needed, the cutting efficiency is improved, meanwhile, the lifting mechanism 407 lifts the slab and then cuts burrs, the situation that the plasma cutting machine 109 cuts the conveying line 401 is avoided, and the cutting machine has a protective effect.

The front-end photoelectric sensor 405 and the rear-end photoelectric sensor 406 are disposed on the shutter 402 of the conveying line 401, and the distance between the front-end photoelectric sensor 405 and the rear-end photoelectric sensor 406 is equal to the length of the slab, and the region between the front-end photoelectric sensor 405 and the rear-end photoelectric sensor 406 is the region to be processed. The lifting platform 501 is arranged at the bottom of the area to be processed, that is, under the rotating roller 403 on the area to be processed, the number of lifting mechanisms 407 can be two, and the lifting mechanisms 407 are respectively arranged at the front end and the tail end of the area to be processed, so that the lifting mechanisms 407 can stably lift the slab stopped on the area to be processed. When 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 in a 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 table 501 is also provided with a sucker, and the sucker can suck the surface of a slab, so that the condition that the slab slides and deviates in the lifting process is avoided, and the stability is improved.

The driving assembly is provided with a stop block, the stop block is provided with a first limiting piece, the sliding block 201 is provided with a first sensor, and the first sensor is used for detecting position information of the sliding block 201; the third driving member 301 is provided with a second limiting member, and the sliding block 305 is provided with a second sensor, where the second sensor is used to detect position information of the sliding block 305. A third sensor is arranged on the first mechanical arm 107 and the second mechanical arm 108, and the third sensor is used for detecting position information of the first mechanical arm 107 and the second mechanical arm 108; the plasma cutter 109 is provided with a fourth sensor, and the fourth sensor is configured to detect parameter information of the plasma cutter 109, where the parameter information includes position information, cutting speed information, and cutting angle information of the plasma cutter 109.

It should be noted that, the first driving piece 103 and the second driving piece 104 are provided with a first limiting piece, the third driving piece 301 is provided with a second limiting piece, the first limiting piece and the second limiting piece can be infrared sensors, when the sliding block 201 or the sliding block 305 moves to the limit position, the infrared sensors can timely feed back signals to the control end, the control end controls the sliding block 201 or the sliding block 305 to stop moving, collision is avoided, and safety is ensured. 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.

The cutting method of the slab burr removing robot system based on plasma cutting comprises the following steps:

The slab processing flow is as follows: firstly, a plate blank starts to be transmitted along a transmission line from a last station, when a front-end photoelectric sensor detects the plate blank, a signal is fed back to a controller, the controller controls a rotating roller to do uniform deceleration motion so as to ensure that no deviation occurs in position when the plate blank is transmitted to a position to be processed, when the plate blank reaches the position to be processed, a rear-end photoelectric sensor detects the plate blank, feeds back the signal to the controller, the controller controls a lifting mechanism to lift, a sucker sucks the plate blank, the lifting mechanism continues to lift the plate blank to the processing position, then a robot moves a plasma cutter from an original point position to a cutting starting point, when the plasma cutter reaches the cutting starting point, the plasma cutter is started, the controller controls the robot to move along a specific path, and when the plasma cutter reaches a cutting end point, the plasma cutter is closed, and the robot returns the plasma cutter to an original position; and then the lifting mechanism descends to return the slab to the conveying line, the rotating roller recovers the initial speed, and the processed slab is conveyed to the next station.

The foregoing description of the preferred embodiments according to the present invention is provided as illustration and description, and is not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. The utility model provides a burring robot system based on plasma cutting, includes supporting component and installs the conveying subassembly between supporting component, its characterized in that:

the cutting hand is reversely hung on the sliding block, a rotating mechanism is arranged on the cutting hand and used for driving the cutting hand to rotate, the cutting hand comprises a first mechanical arm and a second mechanical arm, the free end part of the second mechanical arm is connected with a plasma cutting machine in a matched mode, the plasma cutting machine is connected with the second mechanical arm in a matched mode through a universal mechanism, the plasma cutting machine realizes universal rotation, and a first camera shooting mechanism is arranged on the plasma cutting machine;

the driving assembly is provided with a stop block, the stop block is provided with a first limiting piece, the sliding block is provided with a first sensor, and the first sensor is used for detecting the position information of the sliding block;

the third driving piece is provided with a second limiting piece, the sliding block is provided with a second sensor, and the second sensor is used for detecting the position information of the sliding block;

a third sensor is arranged on the first mechanical arm and the second mechanical arm, and the third sensor is used for detecting the position information of the first mechanical arm and the second mechanical arm;

the plasma cutting machine is provided with a fourth sensor, and the fourth sensor is used for detecting parameter information of the plasma cutting machine, wherein the parameter information comprises position information, cutting speed information and cutting angle information of the plasma cutting machine;

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;

the conveying line is also provided with a lifting mechanism, the lifting mechanism is provided with an air cylinder, the air cylinder is connected with a push rod in a matched mode, the push rod is connected with a lifting table in a matched mode, the lifting table is provided with a plurality of suckers, the lifting table is also connected with a guide rod in a matched mode, and the guide rod plays a role in guiding and supporting;

the horizontal frame bottom cooperation is connected with the grudging post, the grudging post passes through bolted connection subaerial, be provided with second camera shooting mechanism on the horizontal frame, second camera shooting mechanism is used for detecting the positional information of slab, barrier positional information and cutting hand positional information.

2. A plasma cutting-based deburring robot system as claimed in claim 1, 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 a front-end photoelectric sensor and a rear-end photoelectric sensor are arranged on the baffle.

3. A cutting method of a slab burr removing robot system based on plasma cutting, which is applied to the slab burr removing robot system based on plasma cutting as claimed in any one of claims 1-2, and is characterized by comprising the following steps: