A car sheet metal part production line's unstacking robot

Abstract

The present application relates to the technical field of unstacking robots, in particular to a kind of unstacking robots of automobile sheet metal part production line, for solving the problem of inconvenient counterweight adjustment of existing unstacking robot;The robot includes gripping mechanism, gripping mechanism includes rotary arm, one end of rotary arm is connected with telescopic arm, mechanical hand is installed on telescopic arm, counterweight mechanism is arranged on rotary arm, counterweight mechanism includes counterweight block and electric sliding block slidingly connected to the other end of rotary arm, first cylinder is fixedly connected on electric sliding block, the output end of first cylinder is fixedly connected to counterweight block, when electric sliding block slides and first cylinder telescopes, counterweight block can be driven to slide, and when electric sliding block slides, the counterweight range of counterweight block can be increased or reduced, and when first cylinder telescopes, the weight of both ends of rotary arm can be balanced;The robot can change the force arm by adjusting the position of counterweight block, so that the counterweight degree is conveniently adjusted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unstacking robots, in particular to an unstacking robot for an automobile sheet metal part production line. BACKGROUND

[0002] In the rapid development process of the automobile manufacturing industry, the production scale of automobile sheet metal parts is continuously expanding, and the unstacking link as an important part of the production line has increasingly high requirements for automation. In order to improve production efficiency and reduce labor intensity, unstacking robots are widely used in the handling and unstacking operations of automobile sheet metal parts.

[0003] At present, the robot for unstacking automobile sheet metal parts is usually equipped with a grabbing mechanism, which realizes the grabbing and moving of the sheet metal parts through the coordinated action of a rotating arm, a telescopic arm and a mechanical hand. However, due to the variety of automobile sheet metal parts, the weight and size of different sheet metal parts differ greatly, and in the grabbing process, the force balance at both ends of the rotating arm is easily broken.

[0004] In the prior art, in order to maintain the balance of the rotating arm, some unstacking robots are provided with a counterweight mechanism, but the design of these counterweight mechanisms often has certain limitations. For example, some counterweight mechanisms use counterweight blocks with fixed weights, and the positions of the counterweight blocks are difficult to adjust flexibly. When grabbing sheet metal parts of different weights, the counterweight mechanism cannot quickly adapt to the weight changes at both ends of the rotating arm, resulting in unbalanced force on the rotating arm, and further causing problems such as shaking of the mechanical hand, decrease in positioning accuracy, etc., affecting the stability and safety of the unstacking operation.

[0005] In addition, although some counterweight mechanisms can adjust the weight or position of the counterweight blocks, the adjustment method is relatively cumbersome. Either the counterweight blocks of different weights need to be frequently replaced to adapt to the load changes, which not only increases the operation time and reduces the production efficiency, but also increases the frequency of manual intervention; or the counterweight block position can only be adjusted by a single driving method, which is difficult to accurately match the force arm and the counterweight weight under different load conditions, especially during the telescopic process of the telescopic arm, the force at both ends of the rotating arm cannot be balanced in real time and dynamically, so that the robot has poor balance performance when handling diversified unstacking tasks of automobile sheet metal parts, which restricts the continuity and efficiency of the production line. SUMMARY

[0006] The present application provides an unstacking robot for an automobile sheet metal part production line to solve the problem of inconvenient counterweight adjustment of existing unstacking robots.

[0007] In order to alleviate the above technical problems, the technical scheme provided by the present application is as follows:

[0008] A kind of automobile sheet metal part production line's unstacking robot, including grabbing mechanism, the grabbing mechanism includes rotary arm, one end of the rotary arm is connected with telescopic arm, mechanical hand is installed on the telescopic arm, counterweight mechanism is provided on the rotary arm, the counterweight mechanism includes counterweight block and electric slider slidingly connected to the other end of the rotary arm, first cylinder is fixedly connected on the electric slider, the output end of the first cylinder is fixedly connected to the counterweight block, the electric slider sliding and the first cylinder telescoping can all drive the counterweight block to slide, and, the electric slider sliding can increase or reduce the counterweight range of the counterweight block, the first cylinder telescoping can balance the weight of the rotary arm two ends.

[0009] Further, the grabbing mechanism further includes base, the base is installed with rotary motor, the output end of the rotary motor is fixedly connected with hydraulic rod, the rotary arm is fixedly connected to the output end of the hydraulic rod.

[0010] Further, the telescopic arm is fixedly connected with second cylinder, and the mechanical hand is fixedly connected to the output end of the second cylinder.

[0011] Further, it further includes bearing mechanism, the bearing mechanism includes moving seat, the upper surface of the moving seat is hinged with two groups of lifting hydraulic cylinders arranged symmetrically, and the output end of two groups of the lifting hydraulic cylinders is hingedly connected with placement plate.

[0012] Further, the bottom of the moving seat is rotatably connected with rotating shaft, and the both ends of the rotating shaft are fixedly connected with moving wheel.

[0013] Further, it further includes anti-retreating mechanism, the anti-retreating mechanism includes four installation barrels fixedly connected to the four corners of the moving seat and four installation rods fixedly connected to the four corners of the placement plate, four installation rods are slidingly connected in four installation barrels respectively, ratchet claw is slidingly connected on the installation barrel, and ratchet is provided on the side wall of the installation rod and matched with the ratchet claw.

[0014] Further, the anti-retreating mechanism further includes positioning rod fixedly connected to the base, positioning hole matched with the positioning rod is formed in the moving seat, main piston is fixedly connected in the positioning hole, passive piston is fixedly connected on the outer wall of the installation cylinder through L-shaped frame, and the main piston and the passive piston are communicated by pipeline;

[0015] The passive piston is slidingly connected with telescopic rod with built-in first spring in the passive piston, and the ratchet claw is fixedly connected to the end of the telescopic rod.

[0016] Furthermore, it also includes a locking mechanism disposed on the movable seat, the locking mechanism including a locking block slidably connected to the positioning hole, and the sliding direction of the locking block is perpendicular to that of the positioning rod;

[0017] The top of the card block is rounded, and a triangular protrusion is located in the middle of the rounded corner. The lower surface of the positioning rod is provided with a rubber protrusion, and a groove is formed on the rubber protrusion to cooperate with the triangular protrusion.

[0018] Furthermore, a limiting block is fixedly connected to the bottom of the card block. The limiting block has a groove that cooperates with the rotating shaft. Both the groove and the rotating shaft are provided with anti-slip textures. When the positioning rod is inserted into the positioning hole, the rubber protrusion pushes the card block down so that the limiting block abuts against the rotating shaft.

[0019] Furthermore, a rectangular tube is fixedly connected to the lower surface of the movable seat, the locking block slides inside the rectangular tube, guide rods are symmetrically fixedly connected to both sides of the limiting block, the guide rods are inserted into the movable seat, and a tension spring is connected between the limiting block and the movable seat.

[0020] The beneficial effects of this invention are analyzed as follows:

[0021] A destacking robot for an automotive sheet metal parts production line includes a gripping mechanism. The gripping mechanism includes a rotating arm, one end of which is connected to a telescopic arm. A robotic arm is mounted on the telescopic arm. A counterweight mechanism is provided on the rotating arm. The counterweight mechanism includes a counterweight block and an electric slider slidably connected to the other end of the rotating arm. A first cylinder is fixedly connected to the electric slider. The output end of the first cylinder is fixedly connected to the counterweight block. The sliding of the electric slider and the telescopic extension of the first cylinder can both drive the counterweight block to slide. The sliding of the electric slider can increase or decrease the counterweight range of the counterweight block. The telescopic extension of the first cylinder can balance the weight at both ends of the rotating arm.

[0022] The robotic arm is equipped with a tension sensor. When the robotic arm grasps a cargo, the extension stroke of the telescopic arm is set. The maximum extension length of the telescopic arm is taken as the first lever arm L1, and the weight of the grasped cargo is the load weight F1. The second lever arm L2 is taken as half the distance between the robotic arm and the counterweight in the longest state mentioned above, and the weight of the counterweight is the counterweight weight F2. When the extension length of the first cylinder is at its middle length, if F1*L1 is greater than F2*L2, it means that the weight of the counterweight is insufficient to balance the grasp of the robotic arm. At this time, the electric slider is controlled to slide away from the robotic arm to increase L2, so that F1*L1=F2*L2. Conversely, when F1*L1 is less than the maximum extension length of the first cylinder, the weight of the counterweight is less than the maximum extension length of the telescopic arm L1. If the value is less than F2*L2, the electric slider is controlled to slide closer to the robot arm to reduce L2. When the electric slider slides, the first cylinder drives the counterweight to slide synchronously and equidistantly on the rotating arm. The sliding of the electric slider adjusts the length of the lever arm on both sides of the rotating arm, reducing the frequency of changing the weight of the counterweight. This eliminates the need to adjust the weight of the counterweight every time different automotive sheet metal parts are destacking, thus speeding up the production process. After the position of the electric slider is adjusted, when the robot arm grabs the sheet metal parts for destacking, the first cylinder extends and retracts synchronously with the extension and retraction of the telescopic arm, and the extension and retraction length of the first cylinder is determined according to the formula F1*L1=F2*L2. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of the present invention, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the gripping mechanism of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of the moving mechanism of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of the lifting hydraulic cylinder of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure at the mounting rod of the present invention;

[0029] Figure 6 This is a schematic diagram of the anti-retraction mechanism of the present invention;

[0030] Figure 7 For the present invention Figure 6A schematic diagram of the structure of part A.

[0031] icon:

[0032] 100. Gripping mechanism; 110. Base; 120. Rotary motor; 130. Hydraulic rod; 131. Rotating arm; 140. Telescopic arm; 150. Second cylinder; 160. Robotic arm; 200. Counterweight mechanism; 210. First cylinder; 211. Electric slider; 220. Counterweight block; 300. Bearing mechanism; 310. Moving seat; 320. Lifting hydraulic cylinder; 330. Placement plate; 340. Rotating shaft; 350. Moving wheel; 400. Anti-reverse mechanism; 4 10. Mounting cylinder; 420. Mounting rod; 430. L-shaped bracket; 440. Passive piston; 450. Telescopic rod; 460. First spring; 470. Pawl; 480. Active piston; 490. Main pipe; 491. Diverter valve; 492. Branch pipe; 500. Locking mechanism; 510. Positioning rod; 520. Rubber protrusion; 530. Locking block; 540. Triangular protrusion; 550. Limiting block; 560. Guide rod; 570. Tension spring; 580. Rectangular cylinder. Detailed Implementation

[0033] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0036] Examples, such asFigures 1-7 As shown, a destacking robot for an automotive sheet metal parts production line includes a gripping mechanism 100. The gripping mechanism 100 includes a rotating arm 131, one end of which is connected to a telescopic arm 140. A robotic arm 160 is mounted on the telescopic arm 140. A counterweight mechanism 200 is provided on the rotating arm 131. The counterweight mechanism 200 includes a counterweight block 220 slidably connected to the other end of the rotating arm 131 and an electric slider 211. A first cylinder 210 is fixedly connected to the electric slider 211. The output end of the first cylinder 210 is fixedly connected to the counterweight block 220. The sliding of the electric slider 211 and the extension / retraction of the first cylinder 210 can both drive the counterweight block 220 to slide. When the electric slider 211 slides, it can increase or decrease the counterweight range of the counterweight block 220. When the first cylinder 210 extends / retracts, it can balance the weight at both ends of the rotating arm 131.

[0037] The working mechanism of the depalletizing robot in the automotive sheet metal parts production line provided in this embodiment is as follows:

[0038] The robotic arm 160 is equipped with a tension sensor. When the robotic arm 160 grabs the goods, the extension stroke of the telescopic arm 140 is set. The maximum extension length of the telescopic arm 140 is taken as the first lever arm L1, the weight of the grabbed goods is the load weight F1, and half of the distance between the robotic arm 160 and the counterweight 220 in the aforementioned longest state of the telescopic arm 140 is taken as the second lever arm L2. The weight of the counterweight 220 is the counterweight weight F2.

[0039] When the extension length of the first cylinder 210 is at the middle length, if F1*L1 is greater than F2*L2, it means that the weight of the counterweight is insufficient to balance the gripping of the robot arm 160. At this time, the electric slider 211 is controlled to slide away from the robot arm 160 to increase L2, so that F1*L1=F2*L2. Conversely, if F1*L1 is less than F2*L2, the electric slider 211 is controlled to slide closer to the robot arm 160 to decrease L2.

[0040] When the electric slider 211 slides, it drives the counterweight 220 to slide synchronously and equidistantly on the rotating arm 131 through the first cylinder 210. The sliding of the electric slider 211 adjusts the length of the lever arm on both sides of the rotating arm 131, reducing the frequency of changing the weight of the counterweight 220. This eliminates the need to adjust the weight of the counterweight 220 every time when destacking different automotive sheet metal parts, thus speeding up the production process.

[0041] After adjusting the position of the electric slider 211, when the robot arm 160 grabs the sheet metal parts for destacking, the first cylinder 210 extends and retracts synchronously with the extension and retraction of the telescopic arm 140, and the extension and retraction length of the first cylinder 210 is determined according to the formula F1*L1=F2*L2.

[0042] Among the optional methods in this embodiment, the more preferred one is:

[0043] The gripping mechanism 100 also includes a base 110, on which a rotary motor 120 is mounted. A hydraulic rod 130 is fixedly connected to the output end of the rotary motor 120, and a rotating arm 131 is fixedly connected to the output end of the hydraulic rod 130.

[0044] The base 110 is fixed on the ground, and the gripping mechanism 100 is fixed on the ground. The rotary motor 120 is used to drive the hydraulic rod 130 to rotate. When the hydraulic rod 130 rotates, it drives the rotating arm 131 to rotate synchronously. When the hydraulic rod 130 extends or retracts, it drives the rotating arm 131 to rise or fall.

[0045] Among the optional methods in this embodiment, the more preferred one is:

[0046] A second cylinder 150 is fixedly connected to the telescopic arm 140, and a robotic arm 160 is fixedly connected to the output end of the second cylinder 150.

[0047] The second cylinder 150 is used to drive the robotic arm 160 to move up and down to approach the sheet metal part for gripping. The robotic arm 160 adopts an existing structure and can be either a suction cup gripper or a gripper gripper.

[0048] Regarding the structure of the bearing mechanism 300, specifically: the bearing mechanism 300 includes a movable seat 310, and two sets of symmetrically arranged lifting hydraulic cylinders 320 are hinged to the upper surface of the movable seat 310. The output ends of the two sets of lifting hydraulic cylinders 320 are hinged to a placement plate 330.

[0049] The movable seat 310 can move within the workshop to transport the sheet metal parts it carries to the gripping mechanism 100. When the lifting hydraulic cylinder 320 extends or retracts, it can drive the placement plate 330 to move up and down. By adjusting the hydraulic rod 130 to a suitable length, the robot arm 160 can be positioned close to the sheet metal parts on the placement plate 330 when the second cylinder 150 is in a shortened state. The extension or retraction of the second cylinder 150 controls the robot arm 160 to approach the sheet metal parts for gripping, thereby reducing the vertical movement distance of the robot arm 160 and increasing the destacking efficiency.

[0050] In addition, a distance sensor can be installed on the movable seat 310. The distance sensor collects the distance between the upper surface of the movable seat 310 and the uppermost sheet metal part. When the top sheet metal part is gripped, the system controls the lifting hydraulic cylinder 320 to extend, so that the placement plate 330 is raised, so that the sheet metal part on the placement plate 330 can still be within the gripping range of the robot arm 160.

[0051] Alternatively, the extension time interval and extension distance of the lifting hydraulic cylinder 320 can be set. The time interval is set to the time required for the rotating arm 131 to rotate and send out the sheet metal part and then reset. The extension distance is set to the distance that causes the placement plate 330 to move up by one sheet metal part thickness.

[0052] Among the optional methods in this embodiment, the more preferred one is:

[0053] The bottom of the movable base 310 is rotatably connected to a rotating shaft 340, and both ends of the rotating shaft 340 are fixedly connected to movable wheels 350.

[0054] The rotating shaft 340 can be driven by a motor. When the rotating shaft 340 rotates, it drives the moving wheel 350 to rotate, so that the moving seat 310 can move within the workshop. In addition, the movement of the moving seat 310 can also be controlled by a program so that it moves along a set route.

[0055] Regarding the structure of the anti-recoil mechanism 400, specifically:

[0056] The anti-reverse mechanism 400 includes four mounting cylinders 410 fixedly connected to the four corners of the movable base 310 and four mounting rods 420 fixedly connected to the four corners of the placement plate 330. The four mounting rods 420 are slidably connected to the four mounting cylinders 410 respectively. A pawl 470 is slidably connected to the mounting cylinder 410, and a ratchet tooth that cooperates with the pawl 470 is provided on the side wall of the mounting rod 420.

[0057] When the lifting hydraulic cylinder 320 extends and the placement plate 330 moves upward, the mounting rod 420 moves upward relative to the mounting cylinder 410. At this time, the pawl 470 can move along the slope of the ratchet on the mounting rod 420. The setting of the pawl 470 also prevents the mounting rod 420 from moving downward relative to the mounting cylinder 410, so that the position of the placement plate 330 after moving upward is stable, and the placement plate 330 is prevented from falling due to the failure of the lifting hydraulic cylinder 320.

[0058] Among the optional methods in this embodiment, the more preferred one is:

[0059] The anti-reverse mechanism 400 also includes a positioning rod 510 fixedly connected to the base 110. The movable seat 310 has a positioning hole that cooperates with the positioning rod 510. An active piston 480 is fixedly connected in the positioning hole. A passive piston 440 is fixedly connected to the outer wall of the mounting cylinder 410 through an L-shaped bracket 430. The active piston 480 and the passive piston 440 are connected through a pipeline. A telescopic rod 450 with a built-in first spring 460 is slidably connected in the passive piston 440. A pawl 470 is fixedly connected to the end of the telescopic rod 450.

[0060] After the movable seat 310 moves to a position close to the base 110 and then moves closer to the base 110, the positioning rod 510 is inserted into the positioning hole on the movable seat 310. At this time, the positioning rod 510 pushes the piston rod of the active piston 480 to slide into its piston cylinder. As a result, the hydraulic oil in the active piston 480 flows through the main pipe 490 and then is diverted through the diversion valve 491 and enters the passive piston 440 through the diversion pipe 492. At this time, the amount of hydraulic oil in the passive piston 440 increases and pushes the telescopic rod 450 to extend, so that the pawl 470 abuts against the ratchet on the mounting rod 420, so that the pawl 470 controls the mounting rod 420 to move upward in one direction.

[0061] Because the telescopic rod 450 has a built-in first spring 460, when the mounting rod 420 moves upward, the ratchet can push the pawl 470 to move laterally to compress the first spring 460, so that the mounting rod 420 can move upward.

[0062] A spring can also be provided between the piston rod and piston cylinder of the active piston 480, so that the active piston 480 can extend and reset after the positioning rod 510 is pulled out of the positioning hole, so that the pawl 470 can move away from the mounting rod 420, and then the lifting hydraulic cylinder 320 can drive the placement plate 330 to descend when it shortens.

[0063] Regarding the structure of the locking mechanism 500, specifically:

[0064] The locking mechanism 500 is disposed on the movable base 310. The locking mechanism 500 includes a locking block 530 that is slidably connected to the positioning hole, and the sliding direction of the locking block 530 is perpendicular to that of the positioning rod 510. The top of the locking block 530 is provided with a rounded corner, and a triangular protrusion 540 is provided in the middle of the rounded corner. A rubber protrusion 520 is provided on the lower surface of the positioning rod 510, and a groove that cooperates with the triangular protrusion 540 is provided on the rubber protrusion 520.

[0065] When the positioning rod 510 is inserted into the positioning hole, the rubber protrusion 520 on the lower surface of the positioning rod 510 can push the locking block 530 down. When the locking block 530 is pushed down to the lowest state, the rubber protrusion 520 can deform. Then the positioning rod 510 continues to slide into the positioning hole, so that the triangular protrusion 540 is engaged in the slot on the rubber protrusion 520. After the positioning rod 510 is fully inserted into the positioning hole, the triangular protrusion 540 is fully engaged in the slot on the rubber protrusion 520, so that the gripping mechanism 100 and the bearing mechanism 300 are connected.

[0066] Among the optional methods in this embodiment, the more preferred one is:

[0067] The bottom of the locking block 530 is fixedly connected to the limiting block 550. The limiting block 550 has a groove that cooperates with the rotating shaft 340. Both the groove and the rotating shaft 340 are provided with anti-slip texture. When the positioning rod 510 is inserted into the positioning hole, the rubber protrusion 520 pushes the locking block 530 down so that the limiting block 550 abuts against the rotating shaft 340.

[0068] When the rubber protrusion 520 pushes the locking block 530 downward, the limiting block 550 at the bottom of the locking block 530 can abut against the rotating shaft 340. At this time, the rotating shaft 340 is locked and no longer rotates, ensuring the positional stability of the moving seat 310.

[0069] Among the optional methods in this embodiment, the more preferred one is:

[0070] A rectangular tube 580 is fixedly connected to the lower surface of the movable seat 310. The locking block 530 slides inside the rectangular tube 580. Guide rods 560 are symmetrically fixedly connected to both sides of the limiting block 550. The guide rods 560 are inserted into the movable seat 310, and a tension spring 570 is connected between the limiting block 550 and the movable seat 310.

[0071] The rectangular tube 580 and the guide rod 560 provide guidance and limit for the locking block 530. The tension spring 570 is set so that after the positioning rod 510 is pulled out of the positioning hole, the tension spring 570 elastically contracts, causing the limiting block 550 to move upward, thereby releasing the lock on the rotating shaft 340 and allowing the bearing mechanism 300 to move.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A destacking robot for an automotive sheet metal parts production line, characterized in that: The system includes a gripping mechanism (100), a supporting mechanism (300), and an anti-retraction mechanism (400). The gripping mechanism (100) includes a rotating arm (131) and a base (110). One end of the rotating arm (131) is connected to a telescopic arm (140), and a robotic arm (160) is mounted on the telescopic arm (140). A counterweight mechanism (200) is provided on the rotating arm (131). The counterweight mechanism (200) includes a counterweight block (220) slidably connected to the other end of the rotating arm (131) and an electric slider (220). 11) A first cylinder (210) is fixedly connected to the electric slider (211). The output end of the first cylinder (210) is fixedly connected to the counterweight (220). When the electric slider (211) slides and the first cylinder (210) extends and retracts, it can drive the counterweight (220) to slide. When the electric slider (211) slides, it can increase or decrease the counterweight range of the counterweight (220). When the first cylinder (210) extends and retracts, it can balance the weight at both ends of the rotating arm (131). A rotary motor (120) is mounted on the base (110), and a hydraulic rod (130) is fixedly connected to the output end of the rotary motor (120). The rotating arm (131) is fixedly connected to the output end of the hydraulic rod (130). The bearing mechanism (300) includes a movable seat (310), and two sets of symmetrically arranged lifting hydraulic cylinders (320) are hinged to the upper surface of the movable seat (310). The output ends of the two sets of lifting hydraulic cylinders (320) are hinged to a placement plate (330). The bottom of the movable seat (310) is rotatably connected to a rotating shaft (340), and both ends of the rotating shaft (340) are fixedly connected to movable wheels (350). The anti-reverse mechanism (400) includes four mounting cylinders (410) fixedly connected to the four corners of the movable seat (310) and four mounting rods (420) fixedly connected to the four corners of the placement plate (330). The four mounting rods (420) are slidably connected to the four mounting cylinders (410). A pawl (470) is slidably connected to the mounting cylinder (410). A ratchet tooth that cooperates with the pawl (470) is provided on the side wall of the mounting rod (420). The anti-reverse mechanism (400) further includes a positioning rod (510) fixedly connected to the base (110). The movable seat (310) is provided with a positioning hole that cooperates with the positioning rod (510). An active piston (480) is fixedly connected in the positioning hole. A passive piston (440) is fixedly connected to the outer wall of the mounting cylinder (410) through an L-shaped frame (430). The active piston (480) and the passive piston (440) are connected by a pipeline. The passive piston (440) has a telescopic rod (450) with a built-in first spring (460) slidably connected inside, and the pawl (470) is fixedly connected to the end of the telescopic rod (450); The destacking robot also includes a locking mechanism (500) disposed on the movable base (310). The locking mechanism (500) includes a locking block (530) slidably connected to the positioning hole, and the sliding direction of the locking block (530) is perpendicular to that of the positioning rod (510). The top of the card block (530) is provided with a rounded corner, and a triangular protrusion (540) is provided in the middle of the rounded corner. The lower surface of the positioning rod (510) is provided with a rubber protrusion (520), and a card groove that cooperates with the triangular protrusion (540) is provided on the rubber protrusion (520).

2. The destacking robot for an automotive sheet metal parts production line according to claim 1, characterized in that: A second cylinder (150) is fixedly connected to the telescopic arm (140), and the robotic arm (160) is fixedly connected to the output end of the second cylinder (150).

3. The destacking robot for an automotive sheet metal parts production line according to claim 2, characterized in that: The bottom of the locking block (530) is fixedly connected to a limiting block (550). The limiting block (550) has a groove that cooperates with the rotating shaft (340). Both the groove and the rotating shaft (340) are provided with anti-slip textures. When the positioning rod (510) is inserted into the positioning hole, the rubber protrusion (520) pushes the locking block (530) down so that the limiting block (550) abuts against the rotating shaft (340).

4. The destacking robot for an automotive sheet metal parts production line according to claim 3, characterized in that: A rectangular tube (580) is fixedly connected to the lower surface of the movable seat (310). The locking block (530) slides inside the rectangular tube (580). Guide rods (560) are symmetrically fixedly connected to both sides of the limiting block (550). The guide rods (560) are inserted into the movable seat (310). A tension spring (570) is connected between the limiting block (550) and the movable seat (310).

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