Large-workspace controllable mechanism type stacking machine

The utility model relates to a large-workspace controllable mechanism type stacking machine. The large-workspace controllable mechanism type stacking machine comprises a large arm swing branched chain, a middle arm swing branched chain, a small arm swing branched chain, a posture maintaining branched chain, a tail end actuator and a machine frame. A robot completes work of carrying stacking with large workspace and flexible track output through combined motion of the large arm swing branched chain, the middle arm swing branched chain and the small arm swing branched chain. In the working process, three groups of parallelogram structures of the posture maintaining branched chain can guarantee that the tail end actuator maintains a horizontal state all the time. All servo motors are installed on the machine frame, and all rod pieces can be manufactured into light rods. The motion inertia of the robot is small, and the performance of dynamics is good. The requirement for high-speed overload stacking carrying can be satisfied well. A novel link mechanism is adopted by the large-workspace controllable mechanism type stacking machine. Not only is the workspace of carrying stacking enabled to be large, is a connecting rod transmission mechanism simple and is force-bearing of each rod improved, but also the link mechanism is more applicable to manufacturing large stacking machines.