In order to realize the automation of the stacking production line in the spinning workshop, a translational multi station stacking process was designed, the moving path of the gripper of the stacking equipment was optimized, and the overlapping stroke action was set to improve the stacking efficiency. The design scheme of multi position stacking equipment control system is put forward, and the automatic stacking process of cheese under four-axis linkage is realized by using the principle of three-dimensional positioning and equipped with servo system. The average time of single stacking is less than 54 s, which meets the efficiency requirements of the production line, and provides a practical reference for the automation and intelligence of the spinning workshop.