As can be seen from Tab. 4, the robot performance has been greatly improved. In order to ensure the stability of palletizing before the improvement, the speed rate of robot was adjusted to less than 60% of the full speed. The down times of palletizing robot was 125 times/month, and the palletizing efficiency was lower than 7.2 /min. After the improvement, the rate of the robot can be adjusted to 80%, the downtime is reduced to 14 times/month, and the palletizing efficiency is 9.6 /min.