The work aims to develop a folding labeling machine suitable for thermoplastic pipes, so as to improve the labeling efficiency and quality of thermoplastic pipes. Combined with the basic theory of mechanical dynamics design, with application of the SolidWorks 3D design software and other modern mechanical design methods, and according to the design requirements and functional parameters provided by the customers as well as the technological process of production site manual labeling, the labeling machine structure was designed. Finally, the machining physical prototype was actually tested and researched. The labeling machine could label different thermoplastic pipes with diameters ranging from 5 mm to 20 mm. According to statistics, the labeling speed of the machine could reach 1,200 pcs/h. In the meantime, each label was basically the same, and there was no scratch or contamination on the surface. The labeling precision and efficiency were significantly higher than manual labeling. The labeling machine meets the actual production demand of thermoplastic pipe.