Multi-position output control method and device of single mechanical arm

The invention discloses a multi-position output control method of a single mechanical arm. The method comprises the steps that a stack part stacking process of a stacking area is firstly set; then theoperation state and the work state of an assembly line are checked, when the operation state or the work state of the assembly line reaches the standard, the next step is executed, and otherwise thestep is executed again; then the state of a tray at the tray position corresponding to the assembly line is checked, when the state of the tray reaches the standard, the next step is executed, and otherwise the step is executed again for a tray at the next position; and finally a part taking portion of the mechanical arm is controlled to grab stack parts from the assembly line, and the stack partsare moved to the preset position on the tray according to the stacking process. According to the stacking process, the stack parts are placed at the preset position on the tray with a preset posture.The invention further provides a multi-position output control device of the single mechanical arm. The wait time of the mechanical arm during work can be effectively reduced, and the work efficiencycan be improved.