A stacking and destacking robot arm capable of picking up multiple sheets of sheet metal

Abstract

The present invention relates to the technical field of stacking and destacking robotic arms, and in particular to a stacking and destacking robotic arm capable of picking up multiple sheets of material, comprising a base, a robotic arm body, a mounting frame, a mounting box, a slide plate, and a mounting plate, etc. The robotic arm body is mounted on the top of the base, the execution end of the robotic 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 slide plates, and the front and rear sides of the bottom of the slide plate are connected to mounting plates. The present invention can push the contact shaft through the push plate to move the clamping plates in a direction close to each other to clamp the sheet material, and can drive the clamping plates to rotate through the driving block to lift the clamped sheet material, and rotate the next clamping plate to the clamping position so as to clamp the next sheet material, so that multiple sheets of material can be picked up, the movement time of the robotic arm body can be reduced, the working efficiency can be improved, and energy consumption can be reduced, thereby reducing production costs.

Description

Technical Field

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

[0002] The sheet metal destacking robot is an automated equipment that is mainly used to separate stacked sheets one by one and transport them to designated locations, 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 in order to perform the next operation. When processing a large number of sheets of material, the robotic arm needs to repeatedly grip, transport and place them, which increases the movement time of the robotic arm and leads to a decrease in overall work efficiency. Secondly, frequent movement and direction adjustment lead to increased energy consumption of the robotic arm, thereby increasing production costs. Summary of the Invention

[0004] In order to overcome the shortcomings that when processing a large number 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.

[0005] The technical solution is as follows: A stacking and destacking robot arm that can pick up multiple sheets of sheet material, including a machine base, a robot arm body, a mounting frame, a mounting box, a slide, 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 adjustment mechanism. The robot arm body is installed on the top of the machine base, the execution 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, the front and rear sides of the bottom of the slide 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 two mounting plates on the same slide are connected to the second rotating shaft by rotating together. The two second sprockets are connected to the second rotating shaft, and a chain is wound around the second sprocket and the first sprocket. The chain is connected to connecting blocks at even intervals along the circumference, and the connecting blocks are connected to guide frames. The two guide frames facing each other are connected to a clamping plate that is slidably connected together. The control mechanism is used to control the movement of the clamping plate so that the clamping plate clamps the sheet material. The rotating mechanism is used to control the rotation of the clamping plate to lift the clamped sheet material. The adjustment 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 return spring and a baffle. The slides are each connected with two connecting frames, the connecting frames are each connected with a nitrogen spring, the nitrogen springs are each connected with a push plate, the clamps are each rotatably connected to the contact shaft, the push plate is used to push the contact shaft to move the clamp so that the clamp clamps the sheet material, a return spring is connected between the guide frame and the clamp, and a baffle is connected between the two mounting plates on the same slide, the baffle is used to block the clamp so that the clamp cannot be reset.

[0007] The transmission gear of the second gear is engaged with the transmission gear of the second gear and the transmission gear of the second gear is engaged with the transmission gear of the second gear and the transmission gear of the second gear is engaged with the transmission gear of the second gear and the transmission gear of the second gear is engaged with the transmission gear of the second gear and the transmission gear of the second gear is engaged with the transmission gear of the second gear and the transmission gear of the second gear is engaged with the transmission gear of the second gear.

[0008] Furthermore, the intermittent cam transmission assembly includes a star wheel, a driving cam and a driving block. The star wheel is connected to the first rotating shaft, and the driving cam is connected to the third rotating shaft. 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 connected to the bidirectional screw through 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 bottoms of the push plates are all inclined surfaces, and the sides of the push plates on the left and right sides that are close to each other are all vertical surfaces.

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

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

[0013] The beneficial effects of the present invention are: 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, clamping the sheet material, and can drive the clamping plates to rotate through the driving block to lift the clamped sheet material, and rotate the next clamping plate to the clamping position so as to clamp the next sheet material. In this way, multiple sheets can be picked up, the movement time of the robot arm body is reduced, the work efficiency is improved, and the energy consumption can be reduced, thereby reducing production costs.

[0014] 2. The output shaft of the stepper motor can drive the two slides to move closer to or away from each other, adjust the distance between the two slides, and thus adjust the distance between the left and right splints. The distance between the left and right splints 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 Shown is a schematic diagram of the three-dimensional structure of the present invention.

[0016] Figure 2 The figure shows a three-dimensional structural diagram of the mounting frame and the mounting box of the present invention.

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

[0018] Figure 4 A schematic diagram of the three-dimensional structure 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 A schematic diagram of the three-dimensional structure of the guide frame, clamping plate, contact shaft and return spring of the present invention is shown.

[0020] Figure 6 A schematic diagram of the three-dimensional structure 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, inclined surface and vertical surface of the present invention is shown.

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

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

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

[0025] Figure 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] Figure 12 A schematic diagram of the three-dimensional structure of the intermittent cam transmission assembly of the present invention is shown.

[0027] Figure 13 A schematic diagram of the three-dimensional structure 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: splint, 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 hereinafter with reference to the accompanying drawings, in which presently preferred embodiments of the invention are shown. However, the invention can be embodied 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 will fully convey the scope of the invention to those skilled in the art.

[0030] Reference Figures 1-13, a stacking and destacking robot arm that can pick up multiple sheets of sheet material, including a base 1, a robot arm body 2, a mounting frame 3, a mounting box 4, a slide 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 adjustment mechanism. The robot arm body 2 is mounted on the top of the base 1 by bolts. There are mounting holes at the four corners of the base 1. 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 to the mounting frame 3 by bolts. The bottom of the mounting frame 3 is connected to the mounting box 4 by bolts. The left and right sides of the mounting box 4 are slidably connected with slides 5. The front and rear sides of the bottom of the slide 5 are connected to the mounting The mounting plate 6 and the upper part of the mounting plate 6 are rotatably connected to the first rotating shaft 7, and the first rotating shaft 7 is connected to the first sprocket 8 through a key. The lower parts of the two mounting plates 6 on the same skateboard 5 are rotatably connected to the second rotating shaft 9. 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. The chain 11 is connected to connecting blocks 12 at uniform intervals in the circumferential direction. The connecting blocks 12 are connected to guide frames 13. The two front and rear opposite guide frames 13 are slidably connected to a clamping plate 14. The 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 adjustment mechanism is used to adjust the distance between the two skateboards 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 skateboard 5 are connected to the connecting frame 15 by bolts. 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 splint 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 both vertical surfaces 172. The push plates 17 on the front and rear sides jointly push the splint 14, which can make the force on the splint 14 more uniform. The front and rear parts of the guide frame 13 are both sleeved with a return spring 20. The two ends of the return spring 20 are respectively connected to the guide frame 13 and the splint 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 skateboard 5, and the baffle 21 is located in the chain 11.

[0032] Reference Figures 9-12The rotating mechanism includes a screw 22, a guide rod 23, a servo motor 24, a movable 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 to the screw 22. The two screws 22 on the same slide 5 are driven by a sprocket chain group. The connecting frame 15 is connected to the guide rod 23. The top of the two connecting frames 15 on the front side are both equipped with a servo motor 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 to the movable plate 25. The movable plate 25 and the screw 22 are connected by threads. The movable plate 25 is connected to the push block 251. The push block 25 1 is in contact with the upper part of the push plate 17, the upper part of the movable plate 25 is connected to the first rack 26 by bolts, the lower part of the movable plate 25 is connected to the second rack 27 by bolts, the upper part of the mounting plate 6 is rotatably connected to the third rotating shaft 28, and the third rotating shaft 28 is connected to the first gear 29 and the second gear 30 through a one-way clutch. The first rack 26 will mesh with the first gear 29 during the downward movement, and 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 meshing of the first rack 26 and the second gear 30, and also to avoid meshing of the second rack 27 and the first gear 29. The third rotating shaft 28 drives the first rotating shaft 7 to rotate intermittently through the intermittent cam transmission assembly.

[0033] Reference Figure 11 and Figure 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 Figure 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 slides 5 are connected to the bidirectional screw rod 35 through threads. The threads on the two slides 5 are in opposite directions, so the bidirectional screw rod 35 can drive the two slides 5 to move in opposite directions. A stepper motor 36 is installed in the middle 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 of the splint 14 are connected with a positioning block 39, when the splint 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 splint 14 to move, and moves the splint 14 to the periphery of the sheet material, and aligns the splint 14 with the top 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 movable plate 25 to move downward, and the movable plate 25 drives the push block 251 to move downward, and the push block 251 no longer pushes the push plate 17. 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 left and right clamps 14 to move toward each other, the return spring 20 is compressed, the left and right clamps 14 clamp the top sheet, the push plate 17 continues to move downward, the contact shaft 19 will contact the vertical surface 172 of the push plate 17, and the movable 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 lifted. 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 front screw 22 to rotate in the opposite direction, and the front screw 22 drives the rear screw 22 to rotate in the opposite direction through the sprocket chain group, and the screw 22 drives the movable plate 25 to move upward, and the movable 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 does not move, and the splint 14 does not move either. The movable 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 material, and repeats this operation to continue clamping the sheet material, picking up multiple sheets, reducing the movement time of the robot arm body 2, improving work efficiency, and reducing 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 transporting the clamped sheet material to the designated position for stacking or destacking. When the clamped sheet material needs 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 movable 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 disengaged, the movable 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 disengaged, 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. The clamping plate 14 and the baffle 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. Then, the output shaft of the servo motor 24 is controlled to rotate, driving the front screw 22 to rotate. The front screw 22 drives the rear screw 22 to rotate through the sprocket chain group. The screw 22 drives the movable plate 25 to move downward, and the movable plate 25 drives the second rack 27 to move downward. 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 unloading the clamped sheet material. The sheet material can be placed on the conveyor and transported 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. The bidirectional screw rod 35 drives the two slides 5 to move toward or away from each other, adjusting the distance between the two slides 5, thereby adjusting the distance between the left and right clamps 14. The distance between the left and right clamps 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 merely 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 are intended to be included within the scope of protection of the present invention. Any content not elaborated in detail herein is already known to those skilled in the art.

Claims

1. A stacking and destacking robot arm capable of picking up multiple sheets of sheet material, 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 includes 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 adjustment mechanism. The bottom of the mounting frame (3) is connected to the mounting box (4). The left and right sides of the mounting 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 mounting plate (6). The mounting plate (6) is rotatably connected to the first rotating shaft (7). The first rotating shaft (7) is connected to the first sprocket (8). The two mounting 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 common rotation, two second sprockets (10) are connected to the second rotating shaft (9), a chain (11) is wound around the second sprocket (10) and the first sprocket (8), the chain (11) is connected to connecting blocks (12) at even intervals in the circumferential direction, the connecting blocks (12) are connected to guide frames (13), and two guide frames (13) facing each other are connected to a clamping plate (14) for common sliding connection, a control mechanism is used to control the clamping plate (14) to move so that the clamping plate (14) clamps the sheet material, 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 slides (5); The control mechanism includes 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 to two connecting frames (15), the connecting frame (15) is connected to a nitrogen spring (16), the nitrogen spring (16) is connected to a push plate (17), the clamping plate (14) is rotatably connected to a contact shaft (19), the push plate (17) is used to push the contact shaft (19), so that the clamping plate (14) moves, 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 the 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; The rotating mechanism includes a screw (22), a guide rod (23), a servo motor (24), a movable 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 to the screw (22). The two screws (22) on the same slide (5) are driven by a sprocket chain group. The connecting frame (15) is connected to 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 (22). The guide rod (23) is slidably connected to the movable plate (25). The movable 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) is engaged with the first gear (29) during the downward movement, and the second rack (27) is engaged 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.

2. A stacking and destacking robot arm capable of picking up multiple sheets of sheet metal according to claim 1, characterized in that: The intermittent cam transmission assembly includes 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), and 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.

3. A stacking and destacking robot arm capable of picking up multiple sheets of sheet metal according to claim 2, characterized in that: The adjustment mechanism includes a bidirectional screw rod (35) and a stepper motor (36). The bidirectional screw rod (35) is rotatably connected in the mounting box (4). The two slide plates (5) are both connected to the bidirectional screw rod (35) through threads. The stepper motor (36) is installed on the mounting box (4). The output shaft of the stepper motor (36) is connected to the bidirectional screw rod (35).

4. The stacking and destacking robot arm capable of picking up multiple sheets of sheet metal according to claim 1, 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).

5. 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 a sleeve (37) and a sleeve rod (38), the connecting frame (15) is connected to the sleeve (37), the sleeve (37) is slidably connected to the sleeve rod (38), and the sleeve rod (38) is connected to the push plate (17).

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

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