目的 为对物流传送带上通过安检机的快递包裹进行安全标记，以提高快递物流安检标记的工作效率。方法 分析目前企业存在快递物流安检标记困难的问题，设计标记机器人的机械结构和控制方案，该标记机器人工作于物流传送带上方，横向和纵向运动实现对快递包裹位置的追踪，竖直方向上的气缸带动末端标记结构实现对快递包裹的标记。根据对快递包裹竖直方向标记的方式，设计具有随动性的末端标记结构。利用ADAMS软件对结构进行运动学与动力学仿真分析。最后制作标记机器人物理样机，并搭建控制系统。结果 装置结构设计合理，保证了末端标记结构的可靠性和标记质量，机器人能够替代1～2人完成盖印工作，提高了盖印工作效率，准确率达到95%以上。结论 该标记机器人自动化程度高、造价低、实用性强，能够满足标记要求，给企业快递物流安检标记提供了一种可行的解决方案。

For the security marking of express parcels passing through the security inspection machine on the logistics conveyor belt, this paper aims to improve the work efficiency of express logistics security inspection marks. This paper analyses the current difficulties of express logistics security marking in enterprises, and designs the mechanical structure and control scheme of the marking robot. The marking robot works on the top of the logistics conveyor belt, and the horizontal and vertical movements can track the position of express parcels. The cylinder in the vertical direction can drive the end marking structure to realize the marking of express parcels. According to the way of marking the express package in the vertical direction, a follow-up end marking structure is designed. The kinematics and dynamics simulation analysis of the structure is carried out by using ADAMS software. Finally, a physical prototype of the marking robot is made and a control system is built. The design of the device structure is reasonable, which ensures the reliability and quality of the end marking structure. The robot can replace 1 to 2 people to complete the stamping work, which improves the stamping work efficiency, and the accuracy rate reaches more than 95%. The marking robot has a high degree of automation, low cost and strong practicability, which can meet the marking requirements, and provide a feasible solution for enterprise express logistics security marking.