The work aims to enable the palletizing equipment to meet the needs of multiple, special and complex stack types. A palletizing robot system for multiple stack types was designed. According to the specific design requirements, proper industrial robots were selected. An overall solution in which robot grabbed once for multiple placements was applied, and a robot griper with separate clamping function was designed. The commonness of all kind of stack types was studied, and a programming method for palletizing by robots based on the stack data structure was presented. The palletizing robot system could adapt to the technological requirements of multiple and complex stack types, and run stably and reliably, which enhanced the production efficiency greatly. As the stack data structure included all the information of robot during its working process, when the stack type was changed or modified, only the stack data structure should be updated online or offline without any change of the mechanical structure. The palletizing system is highly adaptable to stack type and provides some reference for the research and development of relevant palletizing equipment.