The work aims to design a new type of four-axis palletizing robot for palletizing operation of the production line. The parallelogram mechanism was used to design the structure of the palletizing robot. According to structural characteristics of the palletizing robot, the kinematics analysis of the robot was carried out by the MDH method. The robot solid model was established by SolidWorks and imported into Matlab. The corresponding parameters were adjusted in the simulation environment to obtain the dynamic simulation model of the robot. Then Simulink was used to add control module, driving module and detection module to establish a complete simulation model. Through the combination of the two, the robot dynamics simulation analysis was carried out. Co-simulation with SolidWorks and Matlab can shorten the design cycle of the robot and effectively obtain the dynamic characteristic parameters of the robot. The new four-axis palletizing robot can effectively solve the problem of palletizing operations on the production line.