目的 为了提高电梯厅门的包装效率，降低工人劳动强度，应某电梯企业的要求提出一种电梯厅门自动包装装箱方案，并开发基于工业机器人的电梯厅门立式装箱系统。方法 该系统主要由门板翻转机、箱体上线输送机、箱体定位输送机及装箱机器人组成，通过门板翻转机将电梯厅门呈立式姿势，空箱通过箱体上线输送机输送至箱体定位输送机进行定位，再由装箱机器人抓取厅门并将其装入空箱内，该系统自动完成空箱的上线、定位以及厅门装箱，实现电梯厅门装箱的自动化。结果 根据箱子宽度的不同，装箱成功率也有所不同，成功率最小为95.5%，最大为100%，均满足要求。结论 该系统在保证电梯厅门装箱效率的前提下，大大降低了工人的劳动强度，提高了系统的自动化程度。

The work aims to put forward a plan for automatic packaging of elevator landing door, and develop the vertical packaging system for elevator landing door based on industrial robot at the request of some elevator enterprise, in order to improve the efficiency of packaging elevator landing door and reduce labor intensity. The system was composed of plank turnover mechanism, preparing conveyor and positioning conveyor of case, and packaging robot. The elevator landing door was stood by the plank turnover mechanism. The empty case was transported to the positioning conveyor by the preparing conveyor for positioning. Then the landing door was grasped by the packaging robot and placed into the empty case. The system automatically completed the preparing and positioning of empty case and the packaging of landing door, to achieve the automation of packaging elevator landing door. According to the various case widths, the success rate of packaging would differ. The minimum success rate was 95.5% and the maximum was 100%, both of which met the requirements. This system has greatly reduced the labor intensity and improved the system automation while ensuring the efficiency of packaging the elevator landing door.