The work aims to clamp the object with the specified pressure change setting in the sorting and packaging of industrial robot. The clip system composed of PLC, mechanical gripper, touch screen and industrial robot was designed. Among them, Mitsubishi FX series PLC was the control center, mechanical gripper with multi-sensors was the end-effector, Mitsubishi GS series touch screen was the interactive interface, and Yaskawa industrial robot was the motion mechanism. According to the clamping process, PLC analyzed the clamp limit, closed limit, pressure detection, deformation detection and other sensing information, and coordinated the operation of each part. The system could realize the automatic clamping operation of the applicable object within the set pressure change range. And the touch screen could be used conveniently to check the detection information and set parameters. The system which is suitable for automatic clamping operation can perform robot clamping operation based on multi-sensor detection, and the parameter is adjustable.