目的 针对汽车白车身用卧卷防锈纸包装效率低下以及包装质量欠佳等缺陷， 根据某钢铁企业的需求， 提出一种自动折纸包装方案， 并设计一台能够为卧卷进行自动防锈纸包装的折纸包装机。方法 该专机的机械结构由若干个呈圆周阵列分布的折纸机械手、 压实机构及承载机构组成， 通过机械手与压实机构的组合运动实现防锈纸的自动折纸包装。结果 折纸机械手完成了防锈纸的折纸与端面压平操作， 压实机构完成了将剩余防锈纸压入卧卷卷眼的操作， 包装的时间较人工包装显著缩短。结论 该包装机能够在保证防锈纸包装质量的同时大幅度提高了包装效率。

Aiming at the low efficiency and poor quality of the anti-tarnish paper packaging of steel coil which are used for body-in white, considering the enterprise′ s need, the automatic paper folding packaging was proposed, and the paper folding machine which can realize the automatic anti-tarnish paper packaging was designed. This machine was composed of paper folding robotic arms, a compaction structure and a carrying mechanism. The packaging was realized by aggregate motion of robotic arms and the compaction structure. The folding and flattening of the anti-tarnish paper were realized by robotic arms, and the impressing was realized by the compaction structure. The whole packaging was much quicker than manual work. This packaging machine could substantially improve the efficiency of anti-tarnish paper packaging and meanwhile ensure the quality.