To realize the automatic grasping of rolling bearing packaging tubes and solve the problems of low efficiency, high cost and easy damage in manual packaging for small and medium-sized enterprises, a gripping manipulator for rolling bearing packaging tubes and its control strategy are designed. This manipulator operates in coordination by components such as flange connection blocks, adapter seats, gripper cylinders, V-shaped fingers. Among them, the V-shaped fingers adopt an adaptive structure, which can be adapted to packaging tubes with an outer diameter of 35~55 mm. Through the clamping force calculation, the HFKL25 cylinder is selected, which is matched with DMS series sensors and Huashu HSR-SR10-800 4-axis manipulator. Meanwhile, the control process is constructed based on Siemens S7-1200 PLC. The simulation results show that the manipulator operates smoothly during the whole process of grasping, transporting and resetting, with good coordination in three-directional displacement. It has a low and stable frequency response in the range of 0~120 Hz, and possesses excellent dynamic load adaptability and shock resistance. While meeting the requirements for precision and stability of automated packaging, the manipulator can help enterprises optimize processes, reduce costs and improve efficiency.