The coordinate palletizer uses the XYZ rectangular coordinate system as the basic model through linear motion on the , synchronous belt and gear rack are commonly used transmission methods to construct a robot system. It can reach any point in the XYZ three-dimensional coordinate system and follow a controllable motion trajectory. It can repeatedly grab and carry product objects according to procedures to complete certain specific processes, and can operate at high speed in different environments. It is suitable for palletizing finished products in various packaging such as cartons, plastic boxes, film packaging, filling, and bagging. It is widely used in industry, agriculture, chemicals, building materials and other industries with stacking machines . The pallet conveyor line realizes low-cost Unmanned palletizing workshop.