Controllable stacking robot

The invention relates to a controllable stacking robot, which comprises a large arm swinging branched chain, a small arm swinging branched chain, a gesture maintaining branched chain, a tail end actuator and a machine frame. The robot completes the tasks of transporting and stacking on a space as well as flexible and changeable trajectory output according to the combined movement of the large arm swinging branched chain and the small arm swinging branched arm. During a working process, according to two groups of parallelogram structures of the gesture maintaining branched chain, the tail end actuator can be guaranteed to maintain in a horizontal state all the time, all servo motors are arranged on the machine frame, rod pieces can be made into light rods, the robot has small movement inertia and excellent dynamic performance, and can be better satisfied with the requirement of transporting stacks at a high speed. According to the controllable stacking robot, by the adoption of a novel connecting rod mechanism, as a connecting transmission mechanism is simple in structure, the stress of each rod is improved, and the robot is more suitable for manufacturing a large-scale stacking machine.