The wide applications of industrial robots in the field of advanced manufacturing technology have greatly improved the efficiency of palletizing and de-palletizing products in automated production lines. Taking NACHI company’s MZ07-CFD series robot as an example, introduced 3 methods for the 6-axis industrial robot to achieve palletizing and de-palletizing functions. That is, trajectory teaching method, setting stacking function, teaching point shift and transformation. We also compared the implementation process of each method and its applicable scenarios. The results showed that we can select a suitable realization method according to the actual arrangement and requirements of the work pieces, and 3 methods are also suitable for the realization of the palletizing and de-palletizing functions of other brands of 6-axis robots.