Abstract: Taking the automatic labelling of zinc ingots in a domestic non-ferrous metal smelting company as the research object, due to the size differences in zinc ingot production and the irregularity of the external dimensions of zinc stacks after stacking, traditional labelling machines mainly using fixed robotic arms cannot achieve accurate labelling of all zinc stacks. This paper researches on a labelling machine mainly composed of six axis robots to achieve precise labelling of irregular zinc stacks, thereby realizing automation of zinc stack labelling, reducing labor intensity and saving labor, improving the company’s market competitiveness, providing demonstration for the same industry, and having a certain guiding role.