目的 针对白酒酒盒生产线后端码垛任务中的单点重复任务及多点灵活任务，提出了一种多模式混联码垛机器人机构。方法 对酒盒生产线中常见的码垛模式进行分析，提出了码垛机器人机构的拓扑结构，通过锁定变胞方法实现了机构由2自由度模式向多种不同轨迹的单自由度模式的变换，并对机构的多种模式进行了运动学分析及尺度优化。结果 该机构在多种模式下的运动方程均符合码垛机器人实际任务要求，且通过尺度综合优化了机构的结构尺寸。结论 设计的多模式混联码垛机器人机构能够适应实际码垛任务中多变的作业轨迹需求，验证了锁定变胞方法在码垛机器人机构设计中的可行性和有效性。

This work aims to propose a multi-mode hybrid palletizing robot mechanism for the single-point repetitive task and multi-point flexible task in the palletizing task at the backend of the Baijiu wine box production line. The common palletizing modes in the wine box production line were analyzed. A topological structure for the palletizing robot mechanism was proposed, the transformation of the mechanism from 2-DOF mode to single-DOF mode with multiple different trajectories was realized by locking metamorphosis. Then, the kinematics was analyzed and the dimensions were optimized on the mechanism with different modes. The results showed that the motion equations of the mechanism in various modes satisfied the actual task requirements of the palletizing robot. The structure dimensions of the mechanism were optimized by dimension synthesis. The designed multi-mode hybrid palletizing robot mechanism can adapt to the changing operation trajectory requirements in the actual palletizing task, and verify the feasibility and effectiveness of the locking metamorphic method in the design of the palletizing robot mechanism.