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.