Stacking and unstacking mechanical arm capable of picking up multiple plates

Abstract

The invention relates to the technical field of stacking and unstacking mechanical arms, in particular to a stacking and unstacking mechanical arm capable of picking up multiple plates, which comprises a base, a mechanical arm body, a mounting frame, a mounting box, a sliding plate, a mounting plate and the like, the mechanical arm body is mounted at the top of the base, the mounting frame is connected to the execution end of the mechanical arm body, and the mounting box is connected to the bottom of the mounting frame; sliding plates are slidably connected to the left and right sides in the mounting box, and mounting plates are connected to the front and rear sides of the bottoms of the sliding plates. The contact shaft can be pushed through the push plate, so that the clamping plates move in the direction close to each other to clamp a plate, the clamping plates can be driven to rotate through the driving block, the clamped plate is lifted, the next clamping plate is rotated to the clamping position so as to clamp the next plate, in this way, multiple plates can be picked up, and the clamping efficiency is improved. The movement time of the mechanical arm body is shortened, the working efficiency is improved, energy consumption can be reduced, and therefore the production cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of stacking and destacking mechanical arms, and in particular to a stacking and destacking mechanical arm capable of picking up a plurality of sheet materials. Background Art

[0002] The sheet metal destacking robot is an automated equipment that is mainly used to separate the stacked sheets one by one and transport them to the designated location, automatically stacking or destacking them, which can significantly improve work efficiency and safety.

[0003] Most robotic arms can only grip one sheet of material at a time for transfer during operation. After each gripping and placing of a sheet of material, the robotic arm needs to readjust its direction for the next operation. When processing a large number of sheets of material, the robotic arm needs to repeatedly grip, transport and place the sheet of material, which increases the movement time of the robotic arm and reduces the overall work efficiency. Secondly, frequent movement and direction adjustment increase the energy consumption of the robotic arm, thereby increasing production costs. Summary of the invention

[0004] In order to overcome the problems that when processing a large amount of sheet materials, the robot arm needs to repeatedly clamp, carry and place, which increases the movement time of the robot arm and leads to a decrease in overall work efficiency; secondly, frequent movement and direction adjustment lead to increased energy consumption of the robot arm, thereby increasing production costs, the present invention provides a stacking and destacking robot arm that can pick up multiple sheets of sheet materials.

[0005] The technical scheme is as follows: A stacking and destacking robot arm capable of picking up multiple sheets of sheet materials comprises a machine base, a robot arm body, a mounting frame, a mounting box, a slide plate, a mounting plate, a first rotating shaft, a first sprocket, a second rotating shaft, a second sprocket, a chain, a connecting block, a guide frame, a clamping plate, a control mechanism, a rotating mechanism and an adjusting mechanism. The robot arm body is mounted on the top of the machine base, the executing end of the robot arm body is connected to the mounting frame, the bottom of the mounting frame is connected to the mounting box, the left and right sides of the mounting box are slidably connected to the slide plate, the front and rear sides of the bottom of the slide plate are connected to the mounting plate, and the mounting plate is rotatably connected to the first The first sprocket is connected to the rotating shaft, and the second rotating shaft is connected to two mounting plates on the same slide for rotating together. The second rotating shaft is connected to two second sprockets. Chains are wound around the second sprockets and the first sprocket. The chains are connected to connecting blocks at evenly spaced intervals in the circumferential direction. The connecting blocks are connected to guide frames. A clamp is slidably connected to two front and rear opposite guide frames. The control mechanism is used to control the movement of the clamp so that the clamp clamps the sheet material. The rotating mechanism is used to control the rotation of the clamp so as to lift the clamped sheet material. The adjusting mechanism is used to adjust the distance between the two slides.

[0006] Furthermore, the control mechanism includes a connecting frame, a nitrogen spring, a push plate, a contact shaft, a reset spring and a baffle. The slide plate is connected to two connecting frames, the connecting frames are connected to nitrogen springs, the nitrogen springs are connected to push plates, the clamps are rotatably connected to the contact shafts, the push plates are used to push the contact shafts to move the clamps so that the clamps clamp the sheet material, a reset spring is connected between the guide frame and the clamps, and a baffle is connected between the two mounting plates on the same slide plate, the baffle is used to block the clamps so that the clamps cannot be reset.

[0007] Furthermore, the rotating mechanism includes a screw, a guide rod, a servo motor, a movable plate, a push block, a first rack, a second rack, a third rotating shaft, a first gear, a second gear and an intermittent cam transmission assembly. The connecting frame is rotatably connected with the screw, and the two screws on the same slide plate are driven by a sprocket chain assembly. The connecting frame is connected with a guide rod, and a servo motor is installed on the connecting frame. The output shaft of the servo motor is connected to the screw, and the guide rod is slidably connected with the movable plate, and the movable plate and the screw are connected by threads. The push block is connected to the movable plate, and the top of the push block is in contact with the upper part of the push plate, and the first rack and the second rack are connected to the movable plate. The third rotating shaft is rotatably connected to the mounting plate, and the first gear and the second gear are connected to the third rotating shaft through a one-way clutch. The first rack will mesh with the first gear during the downward movement, and the second rack will mesh with the second gear during the upward movement. The third rotating shaft drives the first rotating shaft to rotate intermittently through the intermittent cam transmission assembly.

[0008] Furthermore, the intermittent cam transmission assembly includes a star wheel, a driving cam and a driving block. The first rotating shaft is connected to the star wheel, the third rotating shaft is connected to the driving cam, the driving cam is in contact with the star wheel, and the driving cam is connected to the driving block. The driving block can rotate into the star wheel and drive the star wheel to rotate. The star wheel drives the first rotating shaft to rotate, and the first rotating shaft drives the clamping plate to rotate to lift the clamped sheet material.

[0009] Furthermore, the adjustment mechanism includes a bidirectional screw and a stepper motor. The bidirectional screw is rotatably connected in the installation box. The two slides are both connected to the bidirectional screw by threads. The stepper motor is installed on the installation box, and the output shaft of the stepper motor is connected to the bidirectional screw.

[0010] Furthermore, the bottom of the push plate is an inclined surface, and the sides of the push plates on the left and right sides that are close to each other are vertical surfaces.

[0011] Furthermore, it also includes a sleeve and a sleeve rod. The connecting frame is connected to the sleeve, the sleeve rod is slidably connected in the sleeve, and the sleeve rod is connected to the push plate.

[0012] Furthermore, it also includes positioning blocks, and each of the clamping plates is connected to two positioning blocks for positioning the sheet material.

[0013] The beneficial effects of the present invention are as follows: 1. The present invention can push the contact shaft through the push plate, so that the clamping plates move in the direction of approaching each other to clamp the sheet material. The clamping plates can be driven to rotate through the driving block to lift the clamped sheet material, and the next clamping plate can be rotated to the clamping position to clamp the next sheet material. In this way, multiple sheets of sheet material can be picked up, the movement time of the robot arm body can be reduced, the work efficiency can be improved, and the energy consumption can be reduced, thereby reducing the production cost.

[0014] 2. The output shaft of the stepper motor can drive the two slides to move towards or away from each other, and adjust the distance between the two slides, thereby adjusting the distance between the left and right clamps. The distance between the left and right clamps can be adjusted according to the width of the sheet material to adapt to sheets of different widths. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A three-dimensional structural schematic diagram of the present invention is shown.

[0016] Figure 2 A three-dimensional structural schematic diagram of the mounting frame and the mounting box of the present invention is shown.

[0017] Figure 3 A three-dimensional structural schematic diagram of the slide plate, the mounting plate and the first rotating shaft of the present invention is shown.

[0018] Figure 4 A three-dimensional structural schematic diagram of the first sprocket, the second rotating shaft, the second sprocket, the chain and the connecting block of the present invention is shown.

[0019] Figure 5 The three-dimensional structural schematic diagram of the guide frame, clamping plate, contact shaft and return spring of the present invention is shown.

[0020] Figure 6 A three-dimensional structural schematic diagram of the connecting frame, nitrogen spring, push plate and contact shaft of the present invention is shown.

[0021] Figure 7 A schematic diagram of the three-dimensional structure of the push plate, the inclined surface and the vertical surface of the present invention is shown.

[0022] Figure 8 A three-dimensional structural schematic diagram of the baffle of the present invention is shown.

[0023] Fig. 9 A three-dimensional structural schematic diagram of the rotating mechanism of the present invention is shown.

[0024] Fig.10 A three-dimensional structural schematic diagram of the movable plate and the push block of the present invention is shown.

[0025] Fig.11 A schematic diagram of the three-dimensional structure of the first rack, the second rack, the first gear and the second gear of the present invention is shown.

[0026] Fig.12 A three-dimensional structural schematic diagram of the intermittent cam transmission assembly of the present invention is shown.

[0027] Fig.13 A three-dimensional structural schematic diagram of the adjustment mechanism of the present invention is shown.

[0028] In the above figures: 1: base, 2: robot body, 3: mounting frame, 4: mounting box, 5: slide plate, 6: mounting plate, 7: first rotating shaft, 8: first sprocket, 9: second rotating shaft, 10: second sprocket, 11: chain, 12: connecting block, 13: guide frame, 14: clamping plate, 15: connecting frame, 16: nitrogen spring, 17: push plate, 171: inclined surface, 172: vertical surface, 19: contact shaft, 20 : Return spring, 21: baffle, 22: screw, 23: guide rod, 24: servo motor, 25: moving plate, 251: push block, 26: first rack, 27: second rack, 28: third rotating shaft, 29: first gear, 30: second gear, 31: star wheel, 32: driving cam, 34: driving block, 35: bidirectional screw, 36: stepping motor, 37: sleeve, 38: sleeve rod, 39: positioning block. DETAILED DESCRIPTION

[0029] The present invention will now be described more fully below with reference to the accompanying drawings, in which currently preferred embodiments of the present invention are shown. However, the present invention may be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided for thoroughness and completeness, and these embodiments fully convey the scope of the present invention to the skilled person.

[0030] Reference Figure 1-Figure 13A stacking and destacking robot arm capable of picking up multiple sheets of sheet materials comprises a base 1, a robot arm body 2, a mounting frame 3, a mounting box 4, a slide plate 5, a mounting plate 6, a first rotating shaft 7, a first sprocket 8, a second rotating shaft 9, a second sprocket 10, a chain 11, a connecting block 12, a guide frame 13, a clamping plate 14, a control mechanism, a rotating mechanism and an adjusting mechanism. The top of the base 1 is provided with a robot arm body 2 by bolts, and the four corners of the base 1 are provided with mounting holes, and the robot arm body 2 can be mounted on a fixed object through the mounting holes. The execution end of the robot arm body 2 is connected with a mounting frame 3 by bolts, and the bottom of the mounting frame 3 is connected with a mounting box 4 by bolts, and the left and right sides of the mounting box 4 are slidably connected with slide plates 5, and the front and rear sides of the bottom of the slide plate 5 are connected with mounting plates by bolts. The mounting plate 6 has a first rotating shaft 7 rotatably connected to the upper part of the mounting plate 6, and a first sprocket 8 is connected to the first rotating shaft 7 through a key. The lower parts of the two mounting plates 6 on the same slide plate 5 are rotatably connected to the second rotating shaft 9 together, and the front and rear parts of the second rotating shaft 9 are connected to the second sprocket 10 through a key. A chain 11 is wound around the second sprocket 10 and the first sprocket 8, and the chain 11 is connected to connecting blocks 12 at uniform intervals in the circumferential direction, and the connecting blocks 12 are connected to guide frames 13. A clamping plate 14 is slidably connected to the two front and rear opposite guide frames 13 together, and a control mechanism is used to control the movement of the clamping plate 14 so that the clamping plate 14 clamps the sheet material. The rotating mechanism is used to control the rotation of the clamping plate 14 to lift the clamped sheet material. The adjusting mechanism is used to adjust the distance between the two slide plates 5.

[0031] Reference Figure 5-Figure 8 The control mechanism includes a connecting frame 15, a nitrogen spring 16, a push plate 17, a contact shaft 19, a return spring 20 and a baffle 21. The front and rear sides of the top of the slide plate 5 are connected to the connecting frame 15 by bolts, and the connecting frame 15 is connected to the nitrogen spring 16. The lower end of the nitrogen spring 16 is connected to the push plate 17. The front and rear sides of the clamping plate 14 are rotatably connected to the contact shaft 19. The bottom of the push plate 17 is an inclined surface 171. The sides of the push plates 17 on the left and right sides that are close to each other are vertical surfaces 172. The push plates 17 on the front and rear sides jointly push the clamping plate 14, which can make the clamping plate 14 more evenly stressed. The front and rear parts of the guide frame 13 are both sleeved with return springs 20. The two ends of the return spring 20 are respectively connected to the guide frame 13 and the clamping plate 14, and the return spring 20 is sleeved on the guide frame 13 to prevent the return spring 20 from bending. A baffle 21 is connected between the two mounting plates 6 on the same slide plate 5, and the baffle 21 is located in the chain 11.

[0032] Reference Figure 9-12The rotating mechanism includes a screw 22, a guide rod 23, a servo motor 24, a moving plate 25, a push block 251, a first rack 26, a second rack 27, a third rotating shaft 28, a first gear 29, a second gear 30 and an intermittent cam transmission assembly. The connecting frame 15 is rotatably connected with the screw 22. The two screws 22 on the same slide plate 5 are driven by a sprocket chain set. The connecting frame 15 is connected with a guide rod 23. The tops of the two connecting frames 15 on the front side are both equipped with servo motors 24 by bolts. The output shaft of the servo motor 24 and the upper end of the screw 22 are connected by a coupling. The guide rod 23 is slidably connected with the moving plate 25. The moving plate 25 and the screw 22 are connected by threads. The moving plate 25 is connected with a push block 251. The push block 25 The top of the moving plate 25 contacts with the upper part of the push plate 17, the upper part of the moving plate 25 is connected with the first rack 26 by bolts, the lower part of the moving plate 25 is connected with the second rack 27 by bolts, the upper part of the mounting plate 6 is rotatably connected with the third rotating shaft 28, the third rotating shaft 28 is connected with the first gear 29 and the second gear 30 by a one-way clutch, the first rack 26 will mesh with the first gear 29 during the downward movement, the second rack 27 will mesh with the second gear 30 during the upward movement, the first rack 26 and the second rack 27 are staggered with each other to avoid the first rack 26 and the second gear 30 from meshing, and also to avoid the second rack 27 and the first gear 29 from meshing, the third rotating shaft 28 drives the first rotating shaft 7 to rotate intermittently through the intermittent cam transmission assembly.

[0033] Reference Fig.11 and Fig.12 The intermittent cam transmission assembly includes a star wheel 31, a driving cam 32 and a driving block 34. The star wheel 31 is connected to the first rotating shaft 7, and the driving cam 32 is connected to the third rotating shaft 28. The driving cam 32 is in contact with the star wheel 31, and the driving cam 32 is connected to the driving block 34. The driving block 34 can rotate into the star wheel 31.

[0034] Reference Fig.13 The adjustment mechanism includes a bidirectional screw rod 35 and a stepper motor 36. The bidirectional screw rod 35 is rotatably connected to the middle part of the installation box 4. The two slide plates 5 are connected to the bidirectional screw rod 35 by threads. The threads on the two slide plates 5 are in opposite directions, so the bidirectional screw rod 35 can drive the two slide plates 5 to move in opposite directions. A stepper motor 36 is installed in the middle part of the right side of the installation box 4 by bolts, and the output shaft of the stepper motor 36 and the right end of the bidirectional screw rod 35 are connected by a coupling.

[0035] Reference Figure 7 , also includes a sleeve 37 and a sleeve rod 38. The bottom of the connecting frame 15 is connected to the sleeve 37, and the sleeve rod 38 is slidably connected inside the sleeve 37. The lower end of the sleeve rod 38 is connected to the top of the push plate 17. The sleeve 37 and the sleeve rod 38 can guide the push plate 17 to make the push plate 17 more stable when moving.

[0036] Reference Figure 5 , also includes a positioning block 39, the front and rear parts of the clamping plate 14 are connected with the positioning block 39, when the clamping plate 14 clamps the sheet material, the positioning block 39 can position the sheet material, center the sheet material, and make the sheet material more neat.

[0037] Initially, the push block 251 pushes the push plate 17, and the nitrogen spring 16 is in a compressed state; the staff controls the robot arm body 2 to drive the mounting frame 3 to move, thereby driving the clamping plate 14 to move, and moves the clamping plate 14 to the periphery of the sheet material, and aligns the clamping plate 14 with the topmost sheet material, and then controls the output shaft of the servo motor 24 to rotate, driving the front screw 22 to rotate, and the front screw 22 drives the rear screw 22 to rotate through the sprocket chain group, and the screw 22 drives the moving plate 25 to move downward, and the moving plate 25 drives the push block 251 to move downward, and the push block 251 no longer pushes the push plate 17, and under the action of the nitrogen spring 16, the push plate 17 will move downward, and the push plate 17 pushes the contact shaft 19 through the inclined surface 171, causing the contact shaft 19 to move , the contact shaft 19 drives the clamping plates 14 on the left and right sides to move towards each other, the reset spring 20 is compressed, the clamping plates 14 on the left and right sides clamp the top sheet, and the push plate 17 continues to move downward, and the contact shaft 19 will contact the vertical surface 172 of the push plate 17. The moving plate 25 moves downward and can also drive the first rack 26 and the second rack 27 to move downward. The first rack 26 will mesh with the first gear 29 during the downward movement and drive the first gear 29 to rotate one circle. The first gear 29 drives the third rotating shaft 28 to rotate one circle. The third rotating shaft 28 drives the driving cam 32 to rotate one circle. The driving cam 32 drives the driving block 34 to rotate one circle. The driving cam 32 and the star wheel 31 are disengaged, and then the driving block 34 rotates to the inside of the star wheel 31 , and drives the star wheel 31 to rotate 90 degrees, the star wheel 31 drives the first rotating shaft 7 to rotate 90 degrees, the first rotating shaft 7 drives the first sprocket 8 to rotate 90 degrees, the first sprocket 8 drives the chain 11 to rotate, the chain 11 drives the connecting block 12 to rotate, the connecting block 12 drives the guide frame 13 to rotate, the guide frame 13 drives the clamping plate 14 to rotate, and the clamped sheet material is raised, the baffle 21 can block the clamping plate 14, so that the clamping plate 14 cannot be reset. At this time, the next clamping plate 14 will also rotate to the clamping position to clamp the next sheet material, and then the driving block 34 is rotated out of the star wheel 31, and the driving cam 32 contacts the star wheel 31 again. The driving cam 32 can limit the star wheel 31 so that the star wheel 31 cannot rotate, thereby enabling the clamping plate 1 4 cannot rotate, and then the output shaft of the servo motor 24 is controlled to rotate in the opposite direction, driving the screw rod 22 on the front side to rotate in the opposite direction, and the screw rod 22 on the front side drives the screw rod 22 on the rear side to rotate in the opposite direction through the sprocket chain set, and the screw rod 22 drives the moving plate 25 to move upward, and the moving plate 25 drives the push block 251 to move upward, and the push block 251 pushes the push plate 17 to move upward, and the nitrogen spring 16 is compressed, and the contact shaft 19 rolls on the vertical surface 172 of the push plate 17, and the contact shaft 19 will not move, and the clamping plate 14 will not move. The moving plate 25 moves upward and can also drive the first rack 26 and the second rack 27 to move upward, and the first rack 26 drives the first gear 29 to rotate in the opposite direction. Under the action of the one-way clutch, the first gear 29 will not drive the third rotating shaft 28 to rotate.After the first rack 26 and the first gear 29 are disengaged, the first gear 29 stops rotating, and the staff controls the robot arm body 2 to drive the mounting frame 3 to descend, thereby driving the clamping plate 14 to descend, so that the clamping plate 14 is aligned with the next sheet, and repeats this operation to continue clamping the sheet, pick up multiple sheets, reduce the movement time of the robot arm body 2, improve work efficiency, and reduce energy consumption, thereby reducing production costs. After clamping enough sheets, the robot arm body 2 is controlled to drive the mounting frame 3 to move, thereby driving the clamping plate 14 to move, and the clamped sheets are transported to the specified position for stacking or destacking. When the clamped sheets need to be unloaded, the output shaft of the servo motor 24 is controlled to rotate in the opposite direction to drive the moving plate 25 moves upward, the moving plate 25 drives the push block 251 to move upward, the push block 251 pushes the push plate 17 to move upward, the nitrogen spring 16 continues to compress, the push plate 17 and the contact shaft 19 are out of contact, the moving plate 25 moves upward and can also drive the second rack 27 to move upward, the second rack 27 will mesh with the second gear 30 during the upward movement, and drive the second gear 30 to rotate, the second gear 30 drives the third rotating shaft 28 to rotate one circle in the opposite direction, the third rotating shaft 28 drives the driving cam 32 to rotate one circle in the opposite direction, the driving cam 32 drives the driving block 34 to rotate one circle in the opposite direction, the driving cam 32 and the star wheel 31 are out of contact, and then the driving block 34 rotates in the opposite direction into the star wheel 31, and drives the star wheel 31 to rotate 90 degrees in the opposite direction, thereby driving the guide The guide frame 13 rotates in the opposite direction, and the guide frame 13 drives the clamping plate 14 to rotate in the opposite direction, and the clamping plate 14 and the baffle plate 21 are out of contact. Under the action of the reset spring 20, the clamping plate 14 is reset, and the clamping plate 14 loosens the sheet material, and the sheet material falls down. Then the driving block 34 rotates out from the star wheel 31, and the driving cam 32 contacts the star wheel 31 again, and then the output shaft of the servo motor 24 is controlled to rotate, driving the front screw 22 to rotate, and the front screw 22 drives the rear screw 22 to rotate through the sprocket chain group, and the screw 22 drives the movable plate 25 to move downward, and the movable plate 25 drives the second rack 27 to move downward, and the second rack 27 drives the second gear 30 to rotate in the opposite direction. Under the action of the one-way clutch, the second gear 30 will not drive the third shaft 28 to rotate. After the second rack 27 moves downward and the second gear 30 is disengaged, the output shaft of the servo motor 24 is controlled to rotate in the opposite direction again, and this operation is repeated to continue to unload the clamped sheet material. The sheet material can be placed on the conveyor and conveyed to the next process for processing by the conveyor, or the sheet material can be stacked at other locations for storage. If it is necessary to clamp sheets of different widths, the stepper motor 36 can be started, and the output shaft of the stepper motor 36 drives the bidirectional screw rod 35 to rotate, and the bidirectional screw rod 35 drives the two slide plates 5 to move towards or away from each other, and adjust the distance between the two slide plates 5, thereby adjusting the distance between the left and right clamp plates 14. The distance between the left and right clamp plates 14 can be adjusted according to the width of the sheet material.In order to adapt to different widths of sheets.

[0038] The above description is only an example of the present invention and is not intended to limit the present invention. Any equivalent substitutions made within the principles of the present invention should be included in the protection scope of the present invention. The contents not elaborated in detail in the present invention belong to the existing technologies known to those skilled in the art.

Claims

1. A stacking and destacking robot arm capable of picking up multiple sheets of sheet materials, comprising a base (1), a robot arm body (2) and a mounting frame (3), wherein the robot arm body (2) is mounted on the top of the base (1), and the mounting frame (3) is connected to the execution end of the robot arm body (2), characterized in that: The invention also comprises an installation box (4), a slide plate (5), an installation plate (6), a first rotating shaft (7), a first sprocket wheel (8), a second rotating shaft (9), a second sprocket wheel (10), a chain (11), a connecting block (12), a guide frame (13), a clamping plate (14), a control mechanism, a rotating mechanism and an adjusting mechanism. The bottom of the installation frame (3) is connected to the installation box (4), the left and right sides of the installation box (4) are slidably connected to the slide plate (5), the front and rear sides of the bottom of the slide plate (5) are connected to the installation plate (6), the first rotating shaft (7) is rotatably connected to the installation plate (6), the first rotating shaft (7) is connected to the first sprocket wheel (8), and two installation plates on the same slide plate (5) are connected to the first rotating shaft (7). (6) is connected to a second rotating shaft (9) for rotation, and two second sprockets (10) are connected to the second rotating shaft (9), and a chain (11) is wound around the second sprocket (10) and the first sprocket (8), and the chain (11) is connected to connecting blocks (12) at even intervals in the circumferential direction, and the connecting blocks (12) are connected to guide frames (13), and two front and rear opposite guide frames (13) are connected to a clamping plate (14) for sliding connection, and a control mechanism is used to control the clamping plate (14) to move so that the clamping plate (14) clamps the sheet material, and a rotating mechanism is used to control the clamping plate (14) to rotate so as to lift the clamped sheet material, and an adjusting mechanism is used to adjust the distance between the two slide plates (5).

2. A stacking and destacking robot arm capable of picking up multiple sheets of sheet materials according to claim 1, characterized in that: The control mechanism comprises a connecting frame (15), a nitrogen spring (16), a push plate (17), a contact shaft (19), a reset spring (20) and a baffle (21). The slide plate (5) is connected with two connecting frames (15), the connecting frame (15) is connected with a nitrogen spring (16), the nitrogen spring (16) is connected with a push plate (17), the clamping plate (14) is rotatably connected with the contact shaft (19), the push plate (17) is used to push the contact shaft (19) to move the clamping plate (14) so ​​that the clamping plate (14) clamps the sheet material, a reset spring (20) is connected between the guide frame (13) and the clamping plate (14), and a baffle (21) is connected between two mounting plates (6) on the same slide plate (5), and the baffle (21) is used to block the clamping plate (14) so ​​that the clamping plate (14) cannot be reset.

3. A stacking and destacking robot arm capable of picking up multiple sheets of sheet materials according to claim 2, characterized in that: The rotating mechanism comprises a screw rod (22), a guide rod (23), a servo motor (24), a moving plate (25), a push block (251), a first rack (26), a second rack (27), a third rotating shaft (28), a first gear (29), a second gear (30) and an intermittent cam transmission assembly. The connecting frame (15) is rotatably connected with the screw rod (22). Two screw rods (22) on the same slide plate (5) are driven by a sprocket chain group. The connecting frame (15) is connected with the guide rod (23). The connecting frame (15) is equipped with a servo motor (24). The output shaft of the servo motor (24) is connected to the screw rod (22). The guide rod (23) is slidably connected with the moving plate (25). The moving plate (25 ) and the screw rod (22) are connected by threads, the movable plate (25) is connected with a push block (251), the top of the push block (251) is in contact with the upper part of the push plate (17), the movable plate (25) is connected with a first rack (26) and a second rack (27), the mounting plate (6) is rotatably connected with a third rotating shaft (28), the third rotating shaft (28) is connected with a first gear (29) and a second gear (30) through a one-way clutch, the first rack (26) will mesh with the first gear (29) during the downward movement, the second rack (27) will mesh with the second gear (30) during the upward movement, and the third rotating shaft (28) drives the first rotating shaft (7) to rotate intermittently through an intermittent cam transmission component.

4. A stacking and destacking robot arm capable of picking up multiple sheets of sheet materials according to claim 3, characterized in that: The intermittent cam transmission assembly comprises a star wheel (31), a driving cam (32) and a driving block (34); the first rotating shaft (7) is connected to the star wheel (31); the third rotating shaft (28) is connected to the driving cam (32); the driving cam (32) and the star wheel (31) are in contact; the driving cam (32) is connected to the driving block (34); the driving block (34) can rotate into the star wheel (31) and drive the star wheel (31) to rotate; the star wheel (31) drives the first rotating shaft (7) to rotate; the first rotating shaft (7) drives the clamping plate (14) to rotate to lift the clamped sheet material.

5. A stacking and destacking robot arm capable of picking up multiple sheets of sheet materials according to claim 4, characterized in that: The adjustment mechanism comprises a bidirectional screw rod (35) and a stepping motor (36); the bidirectional screw rod (35) is rotatably connected in the installation box (4); the two slide plates (5) are both connected to the bidirectional screw rod (35) through threads; the stepping motor (36) is installed on the installation box (4); and the output shaft of the stepping motor (36) is connected to the bidirectional screw rod (35).

6. The stacking and destacking robot arm capable of picking up multiple sheets of sheet materials according to claim 2, characterized in that: The bottom of the push plate (17) is an inclined surface (171), and the sides of the push plates (17) on the left and right sides that are close to each other are vertical surfaces (172).

7. The stacking and destacking robot arm capable of picking up multiple sheets of sheet materials according to claim 2, characterized in that: It also comprises a sleeve (37) and a sleeve rod (38). The connecting frame (15) is connected with the sleeve (37). The sleeve rod (38) is slidably connected in the sleeve (37). The sleeve rod (38) is connected to the push plate (17).

8. The stacking and destacking robot arm capable of picking up multiple sheets of sheet materials according to claim 1, characterized in that: It also includes positioning blocks (39), and the clamping plate (14) is connected to two positioning blocks (39) for positioning the sheet material.

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