目的 克服原有的刚性吸盘的局限性，提高烟草物流中心的条烟码垛效率。方法 设计一种基于多轴同步控制技术的条烟柔性码垛系统，以SIMATIC S7–1200 PLC为控制核心，通过PROFINET与Kinoc触摸屏进行通信，将9个步进电机驱动器和传感器同PLC外接的输入、输出模块连接。工控机发送的数据经过PLC处理，通过主令同步的方式控制指令，实现柔性吸盘的同步，完成多样化条烟的同时抓取。结果 该控制系统通过搭建的实验平台验证了其稳定性和高效性，该系统可以同时吸附5条高度和宽度不同的条烟，大大提高了条烟码垛机器人的效率。相较于刚性码垛系统，此柔性码垛系统的码垛效率峰值提高了24.9%左右。结论 文中系统的设计提高了条烟的码垛效率，并且提高了烟草包装的智能化水平。

The work aims to overcome the limitations of the original rigid palletizers and improve the efficiency of cigarette palletizing in the tobacco logistics center. A flexible cigarette palletizing system based on multi-axis synchronous control technology was designed. With SIMATIC S7-1200 PLC as the control core, the system communicated with Kinco touch screen through PROFINET and connected 9 stepper motor drivers and sensors with the external input and output modules of PLC. The data sent by the IPC were processed by the PLC and synchronized by master control to achieve the synchronization of the flexible palletizers and complete the simultaneous grasping of diversified cigarettes. The stability and efficiency of the control system were verified by the experimental platform. The system could simultaneously adsorb 5 strips of cigarettes of different heights and widths, which greatly improved the efficiency of the cigarette palletizing robot. Compared to the rigid palletizing system, the flexible palletizing system increased the efficiency peak by about 24.9%. The designed system improves the efficiency of cigarette palletizing and increases the intelligence of tobacco packaging.