Multi-freedom-degree parallel mechanism type controllable moving palletizing robot

A multi-freedom-degree parallel mechanism type controllable moving palletizing robot comprises a plurality of parallel mechanism closed-loop executing mechanism sub-chains, a series-wound executing mechanism main chain and a movable platform. The mechanism closed-loop sub-chains can control a main chain connecting rod to move in a plane where a four-bar mechanism closed-loop sub-chain is located. The spatial movement of the movable platform can be achieved through the movement of a plurality of parallel connecting rod sub-chains, a machine body and the movable platform. Control is achieved through the resultant movement of the four closed-loop sub-chains and the machine body; the spatial movement of an end effector is achieved through connection of a plurality of connecting rods and the machine body; the mechanism has the advantages of being compact in structure and easy to control; rod pieces can be made into light rods, and by means of the structure, the robot has nearly infinite working space and high movement redundancy and has the movement and operation functions, the working space is large, and the multi-freedom-degree parallel mechanism type controllable moving palletizing robot can be applied to more occasions.