The work aims to propose a simple boxing device based on 2-UPR/UPRR parallel mechanism according to the boxing process for the small packages of 84 disinfectant on production line and analyze the motion performance of the mechanism. Based on spiral theory, the freedom degree of 2-UPR/UPRR parallel mechanism was analyzed, and the posture inverse solution was calculated by closed loop vector method. Then, the velocity relation and Jacobian matrix of the mechanism were solved by the first-order influence coefficient method, and the motion performance of the mechanism was simulated with the ADAMS software. Finally, the workspace of this mechanism was solved by numerical search method. The mechanism had a freedom degree of 2R1T and the change curve of velocity of the moving platform was smooth and stable, and always remained within 600 mm/s. The actual boxing workspace was a regular rectangle with dimensions of 400 mm × 400 mm. The parallel mechanism has excellent motion performance and can meet the packing requirements of small packages for 84 disinfectant on the production line, thus improving the production efficiency.