There are many reasons, including the types of packaging, the environment of the factory and the needs of customers, which make palletizing a hard bone in the packaging factory. In order to overcome these difficulties, all aspects of palletizing equipment are developing and improving, including the manipulator and the software to operate it. The market demand for flexibility is getting higher and higher, which affects many aspects of packaging, and the later stage of production line is no exception. Retail customers, especially those influential supermarkets like Wal-Mart, often need to customize some random trays, but each tray needs to be customized, and the form of trays is only occasionally repeated. In addition, the effective production of such random trays is more difficult.