This project adopts the Estun four axis dedicated palletizing robot and independently designs a dual-purpose suction cup fixture. After the front-end packaging machine completes the packaging of a cardboard box, the robot receives the completion signal and identifies and stacks the cardboard box based on the cardboard box and stacking data sent by the upper computer. Due to the customer's need for one click control from the upper level, the length, width, height, and stacking type are all given by the upper level. The robot's original palletizing package cannot be used, so the control program for this project will be developed and written entirely by oneself in the later stage. And it can automatically recognize the size of the cardboard box, automatically remember the current stacking quantity when powered off, have multiple stacking types to choose from, and achieve one click control from the upper level. Solved the problems of low efficiency in manual handling for customers, high errors in complex stacking, and inability to manually achieve large stacking volumes.