Pneumatic intelligent clamp with mistake proofing and in-place detection functions

Abstract

The invention relates to the technical field of pneumatic intelligent clamps, and discloses a pneumatic intelligent clamp with mistake proofing and in-situ detection functions, which comprises a base, a support is fixedly mounted at the top of the base, a hydraulic rod is fixedly mounted in the support, a transverse plate is mounted at the top of the hydraulic rod, a clamp assembly is arranged at the bottom of the transverse plate, and the clamp assembly is fixedly mounted on the base. Auxiliary mechanisms are arranged inside and outside the clamp assembly, the clamp assembly comprises a mounting plate, the mounting plate is arranged at the bottom of the transverse plate, limiting blocks are fixedly mounted on the left side and the right side of the mounting plate, and a clamping seat is arranged at the bottom of the mounting plate. According to the method, AI visual pre-judgment, flexible film pressure sensor array pressure distribution detection, gas circuit redundancy design and other modes are achieved through the YOLO8 model, various error conditions such as workpiece model errors, direction errors, placement inclination and foreign matter blockage can be effectively recognized, machined waste products caused by mistaken clamping are prevented, and the product quality is improved.

Description

Technical Field

[0001] This invention relates to the field of pneumatic intelligent clamping technology, specifically a pneumatic intelligent clamping device with error prevention and in-situ detection functions. Background Technology

[0002] In modern intelligent manufacturing production lines, pneumatic clamps are key actuators for achieving automatic workpiece gripping, precise positioning, and reliable clamping. Their performance directly determines the efficiency, quality, and reliability of the entire production system. Currently, widely used traditional pneumatic clamps have many limitations in terms of function and performance: most only have basic clamping functions and lack effective status monitoring and error prevention mechanisms, making it difficult to detect and handle various abnormalities that occur during the clamping process in a timely manner.

[0003] While some improvements have been made in existing technologies, error-proofing devices employing mechanical limit and interlocking structures are complex, difficult to adjust, and unsuitable for flexible production demands involving multiple varieties and small batches. Solutions using photoelectric sensors for in-situ detection are susceptible to interference from workpiece surface characteristics, environmental oil contamination, and chips, resulting in insufficient reliability. Solutions using pneumatic switches to monitor clamping status can only detect air pressure and cannot determine the actual clamping state of the workpiece, posing a risk of misjudgment. All these approaches have proven ineffective. Therefore, this paper proposes a pneumatic intelligent clamp with error-proofing and in-situ detection functions to address the aforementioned problems. Summary of the Invention (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a pneumatic intelligent gripper with error prevention and in-situ detection functions. It has the advantages of error prevention and in-situ detection functions, and solves the problem that traditional pneumatic grippers that are widely used have many limitations in terms of function and performance: most of them only have basic gripping functions and lack effective status monitoring and error prevention mechanisms, which makes it difficult to detect and deal with various abnormalities that occur during the gripping process in a timely manner.

[0004] (II) Technical Solution To achieve the above-mentioned good error prevention and in-situ detection functions, the present invention provides the following technical solution: a pneumatic intelligent clamp with error prevention and in-situ detection functions, including a base, a bracket fixedly installed on the top of the base, a hydraulic rod fixedly installed inside the bracket, a horizontal plate installed on the top of the hydraulic rod, a clamp assembly provided at the bottom of the horizontal plate, and auxiliary mechanisms provided inside and outside the clamp assembly. The clamping assembly includes a mounting plate, limiting blocks, a clamping seat, a first pneumatic push rod, a connecting plate, a first clamping plate, an extension rod, a second pneumatic push rod, a second clamping plate, and a flexible protective pad. The mounting plate is located at the bottom of the horizontal plate. Limiting blocks are fixedly mounted on both the left and right sides of the mounting plate. A clamping seat is located at the bottom of the mounting plate. A first pneumatic push rod is hinged to the outside of the clamping seat. Connecting plates are fixedly mounted on both the left and right sides of the clamping seat. A first clamping plate is mounted on the outside of the connecting plate. An extension rod is fixedly mounted at the bottom of the clamping seat. A second pneumatic push rod is hinged to the outside of the extension rod. A second clamping plate is hinged to the outside of the connecting plate. A flexible protective pad is installed on the inner wall of the second clamping plate.

[0005] Preferably, the ends of the two first pneumatic push rods away from the connecting plate are respectively hinged to the two first clamping plates, and the two second clamping plates are located between the two first clamping plates.

[0006] Preferably, the sides of the two second pneumatic push rods away from the extension rod are respectively hinged to the opposite sides of the two second clamping plates.

[0007] Preferably, a motor is installed inside the base, a worktable is movably mounted on the top of the base, and the output shaft of the motor is fixedly connected to the bottom of the worktable.

[0008] Preferably, the auxiliary mechanism includes a flexible thin-film pressure sensor, a magnetic sensor, an airtightness detection component, and a miniature camera. The flexible thin-film pressure sensor is fixedly installed inside the flexible protective pad. Magnetic sensors are provided on the outside of both the first and second pneumatic push rods. An airtightness detection component is provided inside the second clamping plate. A miniature camera is fixedly installed at the bottom of the first clamping plate.

[0009] Preferably, the airtightness detection component includes an annular air groove, an air pump, an air guide pipe, a solenoid valve, and a differential pressure sensor. The second clamping plate has an annular air groove inside. An air pump is installed on the outside of the clamping seat. An air guide pipe is connected to the bottom of the air pump. A solenoid valve is installed on the outside of the air guide pipe. A differential pressure sensor is provided on the outside of the second clamping plate.

[0010] Preferably, there are two air pumps and two air guide pipes. The two air pumps are located on the left and right sides of the clamping seat, respectively. The side of the two air guide pipes away from the two air pumps is connected to the two second clamping plates, respectively. A flow meter is provided on the outside of the air guide pipe.

[0011] Preferably, the fixture assembly further includes an intelligent sensing module and a central control module: The intelligent sensing module includes a pressure distribution detection unit, a position detection unit, and an airtightness detection unit. The pressure distribution detection unit is configured to: collect two-dimensional pressure distribution data of the clamping surface in real time; compare the pressure distribution data with a pre-stored qualified pressure distribution template; and output an error prevention signal when asymmetric pressure distribution, local pressure loss, or pressure value exceeding a preset threshold is detected. The central control module is configured to receive the detection signal from the intelligent sensing module and control the action of the pneumatic actuator module.

[0012] Preferably, the fixture assembly further includes a visual prediction and error prevention unit, which includes: an image acquisition device disposed above the fixture; an image processing unit connected to the image acquisition device, configured to run a YOLO8 recognition model to identify the workpiece type, orientation, and position; and outputting a blocking signal before the clamping action is executed when the workpiece type is identified as incorrect, the orientation is incorrect, or the position deviation exceeds the tolerance.

[0013] Beneficial effects Compared with the prior art, the present invention provides a pneumatic intelligent gripper with error prevention and in-situ detection functions, which has the following beneficial effects: 1. This pneumatic intelligent fixture with error prevention and in-situ detection functions uses the YOLO8 model to achieve AI visual prediction, pressure distribution detection by a flexible thin-film pressure sensor array, and pneumatic path redundancy design, etc. It can effectively identify various errors such as incorrect workpiece model, incorrect orientation, tilting, and foreign object blockage, prevent processing waste caused by mis-clamping, and improve product quality.

[0014] 2. This pneumatic intelligent fixture with error prevention and on-site detection functions uses magnetic position sensors to monitor the opening and closing angle of the grippers in real time, airtightness detection to determine the sealing of the workpiece and the positioning surface, and multi-sensor information fusion verification to achieve accurate judgment of the workpiece's on-site status, ensuring the stability and machining accuracy of the workpiece during the processing.

[0015] 3. This pneumatic intelligent clamp with error prevention and in-situ detection functions is intelligently controlled by a central control module and an embedded controller. It can realize functions such as automatic self-inspection, automatic clamping, automatic detection and automatic adjustment, thereby improving production efficiency, reducing manual intervention and reducing labor intensity. Attached Figure Description

[0016] Figure 1 This is a frontal view of the present invention; Figure 2 This is a three-dimensional schematic diagram of the present invention; Figure 3 This is a schematic diagram of the clamping assembly of the present invention; Figure 4 This is a schematic diagram of the auxiliary mechanism of the present invention; Figure 5 This is a cross-sectional schematic diagram of the flexible protective pad of the present invention; Figure 6 This is a schematic diagram of the airtightness detection component of the present invention; Figure 7 This is a cross-sectional schematic diagram of the second clamping plate of the present invention; Figure 8 This is a schematic diagram of the pneumatic intelligent clamp control system of the present invention.

[0017] In the diagram: 1. Base, 2. Bracket, 3. Hydraulic rod, 4. Horizontal plate, 5. Clamp assembly, 501. Mounting plate, 502. Limiting block, 503. Clamping seat, 504. First pneumatic push rod, 505. Connecting plate, 506. First clamping plate, 507. Extension rod, 508. Second pneumatic push rod, 509. Second clamping plate, flexible protective pad, 6. Auxiliary mechanism, 601. Flexible thin film pressure sensor, 602. Magnetic sensor, 603. Air tightness detection component, 6031. Annular air groove, 6032. Air pump, 6033. Air guide pipe, 6034. Solenoid valve, 6035. Differential pressure sensor, 604. Miniature camera, 7. Motor, 8. Worktable. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1-8 A pneumatic intelligent gripper with error prevention and in-situ detection functions includes a base 1, a bracket 2 fixedly installed on the top of the base 1, a hydraulic rod 3 fixedly installed inside the bracket 2, a horizontal plate 4 installed on the top of the hydraulic rod 3, a gripper assembly 5 provided at the bottom of the horizontal plate 4, and auxiliary mechanisms 6 provided inside and outside the gripper assembly 5.

[0020] Example 1 The clamp assembly 5 includes a mounting plate 501, a limiting block 502, a clamping seat 503, a first pneumatic push rod 504, a connecting plate 505, a first clamping plate 506, an extension rod 507, a second pneumatic push rod 508, a second clamping plate 509, and a flexible protective pad 510. The mounting plate 501 is located at the bottom of the horizontal plate 4. Limiting blocks 502 are fixedly installed on both the left and right sides of the mounting plate 501. A clamping seat 503 is located at the bottom of the mounting plate 501 for clamping... A first pneumatic push rod 504 is hinged to the outside of the seat 503. A connecting plate 505 is fixedly installed on both the left and right sides of the clamping seat 503. A first clamping plate 506 is installed on the outside of the connecting plate 505. An extension rod 507 is fixedly installed at the bottom of the clamping seat 503. A second pneumatic push rod 508 is hinged to the outside of the extension rod 507. A second clamping plate 509 is hinged to the outside of the connecting plate 505. A flexible protective pad 510 is installed on the inner wall of the second clamping plate 509.

[0021] The ends of the two first pneumatic push rods 504 away from the connecting plate 505 are respectively hinged to the two first clamping plates 506, and the two second clamping plates 509 are located between the two first clamping plates 506.

[0022] The two second pneumatic push rods 508 are hinged to each other on the opposite sides of the two second clamping plates 509 on the side away from the extension rod 507.

[0023] A motor 7 is installed inside the base 1, and a worktable 8 is movably installed on the top of the base 1. The output shaft of the motor 7 is fixedly connected to the bottom of the worktable 8.

[0024] In this embodiment, a basic support frame is formed by setting a base 1 and a bracket 2, a hydraulic rod 3 realizes vertical position adjustment, a horizontal plate 4 serves as an installation platform for the clamp assembly, and the clamp assembly 5 includes: a mounting plate 501 and a limiting block 502 to provide installation positioning, a clamping seat 503 as a core load-bearing structure, a first pneumatic push rod 504 to drive a first clamping plate 506, a second pneumatic push rod 508 to drive a second clamping plate 509, and a flexible protective pad 510 to provide buffer protection.

[0025] In addition, the layered clamping design, with the first clamping plate 506 and the second clamping plate 509 forming a double-layer clamping structure, enables differentiated clamping of different parts of the workpiece; linkage control: the first pneumatic push rod 504 and the second pneumatic push rod 508 achieve coordinated movement through the connecting plate 505 and the extension rod 507, and the second clamping plate 509 is located between the two first clamping plates 506, forming an interlaced clamping layout. The double-layer clamping structure enables simultaneous fixation of multiple parts of the workpiece, the flexible protective pad 510 effectively prevents damage to the workpiece surface, and the pneumatic device provides stable and reliable clamping power.

[0026] Example 2 The auxiliary mechanism 6 includes a flexible thin-film pressure sensor 601, a magnetic sensor 602, an airtightness detection component 603, and a miniature camera 604. The flexible thin-film pressure sensor 601 is fixedly installed inside the flexible protective pad 510. The magnetic sensors 602 are provided on the outside of the first pneumatic push rod 504 and the second pneumatic push rod 508. The airtightness detection component 603 is provided inside the second clamping plate 509. The miniature camera 604 is fixedly installed on the bottom of the first clamping plate 506.

[0027] The airtightness testing component 603 includes an annular air groove 6031, an air pump 6032, an air guide pipe 6033, a solenoid valve 6034, and a differential pressure sensor 6035. The annular air groove 6031 is opened inside the second clamping plate 509. The air pump 6032 is installed on the outside of the clamping base 503. The bottom of the air pump 6032 is connected to the air guide pipe 6033. The solenoid valve 6034 is installed on the outside of the air guide pipe 6033. The differential pressure sensor 6035 is set on the outside of the second clamping plate 509.

[0028] There are two air pumps 6032 and two air guide pipes 6033. The two air pumps 6032 are located on the left and right sides of the clamping seat 503 respectively. The two air guide pipes 6033 are connected to the two second clamping plates 509 respectively on the side away from the two air pumps 6032. A flow meter is installed on the outside of the air guide pipe 6033.

[0029] In this embodiment, the flexible thin-film pressure sensor 601 monitors the pressure distribution on the clamping surface in real time, detects whether the clamping force is evenly distributed, and identifies whether the workpiece is tilted, has foreign objects, or other abnormal conditions. The magnetic sensor 602 accurately detects the opening and closing angle of the gripper, monitors the movement position of the pneumatic push rod in real time, and provides gripper position feedback signals. Air tightness testing component 603: The annular air groove 6031 forms a closed detection chamber. The air pump 6032 is installed on the left and right sides of the clamping seat 503 to provide a stable air source. The air guide pipe 6033 transmits the detection gas. The solenoid valve 6034 controls the opening and closing of the air path to realize the detection time sequence management. The differential pressure sensor 6035 monitors the pressure change and judges the workpiece fitting status. The miniature camera 604 captures workpiece image information, monitors the clamping process in real time, provides raw data for visual recognition, and outputs control signals to adjust the pneumatic actuator.

[0030] In addition, it achieves comprehensive error prevention protection, AI vision prediction to prevent model and direction errors, pressure distribution detection to identify abnormalities such as tilt and foreign objects, and airtightness verification to ensure accurate positioning of the workpiece. Precise in-situ detection capability; magnetic sensors monitor the movement of the grippers in real time; airtightness detection determines the fit and seal; multi-sensor information fusion improves the accuracy of judgment; redundant air path design ensures stable system operation; periodic fine-tuning of clamping force compensates for environmental changes; adapts to the needs of flexible production of multiple varieties and small batches.

[0031] Example 3 The fixture assembly 5 also includes an intelligent sensing module and a central control module: The intelligent sensing module includes a pressure distribution detection unit, a position detection unit, an airtightness detection unit, and a safety warning unit. The pressure distribution detection unit is configured to: collect two-dimensional pressure distribution data of the clamping surface in real time; compare the pressure distribution data with a pre-stored qualified pressure distribution template; and output an error prevention signal when asymmetrical pressure distribution, local pressure loss, or pressure value exceeding a preset threshold is detected. The central control module is configured to receive detection signals from the intelligent sensing module and control the actions of the pneumatic actuator module.

[0032] The fixture assembly 5 also includes a visual prediction and error prevention unit, which includes: an image acquisition device installed above the fixture; an image processing unit connected to the image acquisition device, configured to run the YOLO8 recognition model to identify the workpiece type, orientation, and position; and outputting a stop signal before the clamping action is executed when the workpiece type is incorrect, the orientation is incorrect, or the position deviation exceeds the tolerance.

[0033] In this embodiment, intelligent decision-making and execution are linked. The visual prediction unit first identifies the workpiece status, the intelligent sensing module monitors the clamping process in real time, and the central control module coordinates the collaborative work of all components. Multi-layered error protection First layer: Visual prediction to prevent obvious errors; Second layer: Pressure distribution detection to identify subtle anomalies; The third layer: airtightness verification ensures the final positioning accuracy.

[0034] Adaptive control strategy: The clamping parameters are automatically adjusted according to the characteristics of the workpiece, and the influence of environmental factors is compensated in real time to ensure stable performance under different working conditions.

[0035] In summary, the pneumatic intelligent gripper with error prevention and in-situ detection functions includes the following steps during use: Step 1: System self-test and initialization After the host computer issues the clamping command, the central control module first performs a self-check on the clamping system, including checking whether the air source pressure is stable and whether the communication of each sensor is normal, to ensure that the system is in a healthy state.

[0036] Step 2: AI visual prediction and error prevention A miniature camera 604 integrated above the fixture captures the area where the workpiece will be placed, and quickly identifies the workpiece's model, orientation, and approximate location using the YOLO 8 model. If the system identifies an incorrect workpiece model, a 180° orientation, or a significant positional deviation, it will not perform subsequent clamping actions and will immediately alert the operator.

[0037] Step 3: Workpiece placement and initial contact The robot or operator places the workpiece on the worktable 8 of the fixture. At this time, the airtightness detection unit fills the annular air groove 6031 with a small amount of constant pressure gas as a reference for subsequent detection.

[0038] Step 4: Start clamping and monitor in real time. The central control module sends a signal, the solenoid valve 6034 is activated, compressed air enters the first pneumatic push rod 504, and the first clamping plate 506 of the drive clamp begins to close.

[0039] Step 5: Attitude error prevention based on pressure distribution recognition During the closing process, the flexible thin-film pressure sensor 601 embedded in the clamping surface starts to work, generating a pressure distribution map in real time, which is simultaneously monitored by the control system. a. Clamping force value: The proportional valve ensures that the clamping force is within the set range.

[0040] b. Pressure distribution symmetry: Determine whether the workpiece is in stable contact and whether there is any tilting or foreign object protruding. Once abnormal patterns such as asymmetrical pressure, local pressure loss, or sudden pressure increase are detected, immediately stop clamping and sound an alarm.

[0041] Step 6: Multi-sensor information fusion verification Once the first clamping plate 506 and the second clamping plate 508 have moved to the predetermined positions and been confirmed by the magnetic position sensors, the system performs a final on-position confirmation. a. Position signal: The magnetic sensor confirms that the gripper is in position.

[0042] b. Air tightness signal: The differential pressure sensor confirms that the air pressure attenuation rate is within the acceptable range, indicating that the workpiece is in close contact with the positioning surface.

[0043] Only when both of the above conditions are met will the system finally determine that "the workpiece is qualified and in place" and send a "clamping completed" signal to the host computer.

[0044] Step 7: Enter the processing maintenance stage. During the processing, the control system can periodically fine-tune the clamping force to compensate for possible air pressure fluctuations or workpiece thermal deformation.

[0045] Step 8: After processing is completed, the host computer issues a release command. The solenoid valve reverses, and the cylinder drives the gripper to open to the initial position, preparing for the next work cycle.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0047] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pneumatic intelligent gripper with error prevention and in-situ detection functions, comprising a base (1), characterized in that: A bracket (2) is fixedly installed on the top of the base (1), a hydraulic rod (3) is fixedly installed inside the bracket (2), a horizontal plate (4) is installed on the top of the hydraulic rod (3), a clamp assembly (5) is provided at the bottom of the horizontal plate (4), and auxiliary mechanisms (6) are provided inside and outside the clamp assembly (5). The clamp assembly (5) includes a mounting plate (501), a limiting block (502), a clamping seat (503), a first pneumatic push rod (504), a connecting plate (505), a first clamping plate (506), an extension rod (507), a second pneumatic push rod (508), a second clamping plate (509), and a flexible protective pad (510). The bottom of the horizontal plate (4) is provided with a mounting plate (501), and limiting blocks (502) are fixedly installed on both the left and right sides of the mounting plate (501). The bottom of the mounting plate (501) is provided with a clamping seat (503). A first pneumatic push rod (504) is hinged to the outside of the clamping seat (503). A connecting plate (505) is fixedly installed on both the left and right sides of the clamping seat (503). A first clamping plate (506) is installed on the outside of the connecting plate (505). An extension rod (507) is fixedly installed at the bottom of the clamping seat (503). A second pneumatic push rod (508) is hinged to the outside of the extension rod (507). A second clamping plate (509) is hinged to the outside of the connecting plate (505). A flexible protective pad (510) is installed on the inner wall of the second clamping plate (509).

2. The pneumatic intelligent gripper with error prevention and in-situ detection functions according to claim 1, characterized in that: The ends of the two first pneumatic push rods (504) away from the connecting plate (505) are respectively hinged to the two first clamping plates (506), and the two second clamping plates (509) are located between the two first clamping plates (506).

3. A pneumatic intelligent gripper with error prevention and in-situ detection functions according to claim 1, characterized in that: The two second pneumatic push rods (508) are hinged to each other on opposite sides of the two second clamping plates (509) on the side away from the extension rod (507).

4. A pneumatic intelligent gripper with error prevention and in-situ detection functions according to claim 1, characterized in that: A motor (7) is installed inside the base (1), and a worktable (8) is movably installed on the top of the base (1). The output shaft of the motor (7) is fixedly connected to the bottom of the worktable (8).

5. A pneumatic intelligent gripper with error prevention and in-situ detection functions according to claim 1, characterized in that: The auxiliary mechanism (6) includes a flexible thin-film pressure sensor (601), a magnetic sensor (602), an airtightness detection component (603), and a miniature camera (604). The flexible protective pad (510) is fixedly installed with the flexible thin-film pressure sensor (601). The first pneumatic push rod (504) and the second pneumatic push rod (508) are both provided with magnetic sensors (602). The second clamping plate (509) is provided with the airtightness detection component (603). The bottom of the first clamping plate (506) is fixedly installed with the miniature camera (604).

6. A pneumatic intelligent gripper with error prevention and in-situ detection functions according to claim 5, characterized in that: The airtightness detection component (603) includes an annular air groove (6031), an air pump (6032), an air guide pipe (6033), a solenoid valve (6034), and a differential pressure sensor (6035). The second clamping plate (509) has an annular air groove (6031) inside. The air pump (6032) is installed on the outside of the clamping base (503). The bottom of the air pump (6032) is connected to the air guide pipe (6033). The solenoid valve (6034) is installed on the outside of the air guide pipe (6033). The differential pressure sensor (6035) is provided on the outside of the second clamping plate (509).

7. A pneumatic intelligent gripper with error prevention and in-situ detection functions according to claim 6, characterized in that: There are two air pumps (6032) and two air guide pipes (6033). The two air pumps (6032) are located on the left and right sides of the clamping seat (503), respectively. The side of the two air guide pipes (6033) away from the two air pumps (6032) is connected to the two second clamping plates (509). A flow meter is provided on the outside of the air guide pipe (6033).

8. A pneumatic intelligent gripper with error prevention and in-situ detection functions according to claim 1, characterized in that: The clamp assembly (5) also includes an intelligent sensing module and a central control module: The intelligent sensing module includes a pressure distribution detection unit, a position detection unit, and an airtightness detection unit. The pressure distribution detection unit is configured to: collect two-dimensional pressure distribution data of the clamping surface in real time; compare the pressure distribution data with a pre-stored qualified pressure distribution template; and output an error prevention signal when asymmetric pressure distribution, local pressure loss, or pressure value exceeding a preset threshold is detected. The central control module is configured to receive the detection signal from the intelligent sensing module and control the action of the pneumatic actuator module.

9. A pneumatic intelligent gripper with error prevention and in-situ detection functions according to claim 1, characterized in that: The fixture assembly (5) also includes a visual prediction and error prevention unit, which includes: an image acquisition device set above the fixture; an image processing unit connected to the image acquisition device, configured to run the YOLO8 recognition model to identify the workpiece model, orientation and position; and outputting a blocking signal before the clamping action is executed when the workpiece model is identified as incorrect, the orientation is incorrect or the position is offset beyond the tolerance.

Images