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.