目的 研发高效、可装配于工业机器人的罐头装箱机械手，应用于罐头自动包装生产线。方法 提出一种组合式机械手，该机械手可同步对罐头和纸板吸取和放置，可实现罐头多层装箱、层与层之间放置纸隔板的工艺要求。结果 该机械手适用于圆形罐头和椭圆形罐头的装箱，已应用于果酱、果汁、凉茶、鱼罐头等生产线中，可同时对4个相同规格的纸箱进行装罐及放置隔板，其最大抓取质量达30 kg。结论 该机械手设计结构精简，具有多种功能，有效地提高了生产效率。

The work aims to design an efficient canned packing manipulator which can be assembled in the industrial robot. A combined manipulator was proposed. It could synchronize the adsorption and placement of cans and cardboards and realize multi-layers case packing and cardboard interlayer placement. The manipulator was suitable for the case packing of round and oval cans. It had been applied to the production line of jam, fruit juice, herbal tea, canned fish, etc. In canned production line, cans and cardboards could be put into 4 same-sized cartons by this manipulator simultaneously. The maximum loads of this manipulator was 30 kg. In conclusion, the structure has simple design and many functions. It can effectively improve the production efficiency.