The invention provides a full automatic double-arm stacking and destacking machine, and belongs to the field of packaging object stacking and destacking equipment. The full automatic double-arm stacking and destacking machine comprises a support arm device, a double-arm type fixed arm device, a center of gravity offset dynamic balance device, a lifting power device, a base rotating power device and an electrical control portion. According to the full automatic double-arm stacking and destacking machine, the production speed is 40000-720000 bottles/hour, compared with the prior art, the work efficiency is greatly improved, the maintenance is simple, the operation is convenient, the maintenance cost is low, and the full automatic double-arm stacking and destacking machine is widely suitable for various package forms such as cartons, plastic bags and containers.