The invention discloses a gantry type automatic marking machine. A supporting post is fixedly connected on a worktable by virtue of bolts; a supporting upper plate is connected with the supporting post by virtue of bolts; a first direct driving cylinder is fixedly connected on the supporting upper plate by virtue of bolts; the first direct driving cylinder and a second direct driving cylinder arerespectively connected with two sides of a cylinder connecting rack by virtue of screws; the other side of the second direct driving cylinder is connected with a chuck mounting rack by virtue of bolts; the chuck is fixedly connected on the chuck mounting rack by virtue of threads; a suspension board is connected onto the side face of the supporting post by virtue of bolts; a support plate is fixedwith the suspension board by virtue of bolted connection; a label box is welded on the upper side of the support plate; a spring is clamped on a cylinder on the inner side of the label box; one sideof a label push plate is in contact with the spring. The gantry type automatic marking machine disclosed by the invention is simple in structure, the production efficiency can be improved, continuousrenewal of the product is accelerated, the labeling operation is accurately completed, and the machine is applicable to a small workshop.