The gantry palletizing robot is good. Compared with full-joint palletizing robot, gantry palletizing robot can be driven by servo motor and stepping motor, and its basic working unit is single-axis mechanical arm, with XYZ rectangular coordinate system as the basic mathematical model, which is powerful and superior to full-joint palletizing robot. Gantry stacker is composed of lifting Z axis, translating X axis and Y axis and gripper, which is the main system of full servo stacker. At the same time, it can be used with pallet feeder, palletizing area conveyor line and feeding conveyor line.