Magnetic control intelligent adhesion structure soft gripper self-adaptive to object surface morphology

Abstract

The invention discloses a magnetic control intelligent adhesion structure soft gripper self-adaptive to the surface morphology of an object, and belongs to the field of grabbing and transportation. The sensor comprises two layers, the upper layer is an adhesion structure functional surface, and the lower layer is an external field sensitive polymer backing layer; the functional surface of the adhesion structure is a mushroom-shaped microstructure array, and the external field sensitive polymer backing layer is a polymer filled with magnetic particles. The functional surface material of the adhesion structure is polydimethylsiloxane; and the polymer material of the external field sensitive polymer backing layer is Ecoflex 00-30. The height of the mushroom-shaped structure is 60-70 microns, the diameter of the stem of the mushroom-shaped structure is 40-45 microns, the diameter of the head of the mushroom-shaped structure is 60-70 microns, and the distance between two adjacent mushroom-shaped microstructures is 60-70 microns. According to the invention, pollution-free and scratch-free adhesion grabbing on the surface of an object can be realized; through deformation of the external field sensitive polymer backing layer in a magnetic field, rapid and accurate grabbing and releasing of an object are achieved.

Description

Technical Field

[0001] The invention relates to a magnetically controlled intelligent adhesion structure soft gripper which is adaptive to the surface morphology of an object and belongs to the field of grasping and transportation. Background Art

[0002] Fields such as aerospace, medical facilities, and micro-nano manufacturing often involve the assembly of various types of parts. However, this is a very challenging task because these parts not only vary in size and shape, but also need to ensure that the surface is free of contamination and scratches or damage. Traditional object grasping methods, such as mechanical grippers that rely on clamping force or suction, are prone to stress concentration in the contact area during operation, increasing the risk of object damage.

[0003] Flexible soft materials have brought new breakthroughs in the development of the gripper field. Due to the large deformability of the material itself, soft grippers made of flexible materials have good adaptability to the surfaces of complex objects. Compared with traditional mechanical grippers, they have potential application scenarios under special application conditions, such as grasping thin, fragile objects, etc. However, the current technical development of soft grippers still faces some difficulties, especially for the rapid picking and placement of objects with different curvatures. Therefore, developing a soft gripper design that can adapt to the surface morphology of various objects is a key issue that needs to be solved urgently. Summary of the invention

[0004] One of the purposes of the present invention is to provide a magnetically controlled intelligent adhesion structure soft gripper that is adaptive to the surface morphology of an object, which can achieve non-polluting and scratch-free adhesion grasping of the object surface; and through the deformation of the external field sensitive polymer backing layer in the magnetic field, the rapid grasping and release of the object can be achieved.

[0005] The second object of the present invention is to provide a method for preparing the magnetically controlled intelligent adhesion structure soft gripper, which can take into account the application effect and preparation efficiency of the magnetically controlled intelligent adhesion structure soft gripper, and the preparation has the advantages of low cost and light weight.

[0006] The objective of the present invention is achieved through the following technical solutions:

[0007] The present invention discloses a magnetically controlled intelligent adhesion structure soft gripper that is adaptive to the surface morphology of an object, comprising the following two layers: an upper layer is an adhesion structure functional surface, and a lower layer is an external field sensitive polymer backing layer; the adhesion structure functional surface is a mushroom-shaped microstructure array, and the external field sensitive polymer backing layer is a polymer filled with magnetic particles.

[0008] Preferably, the functional surface material of the adhesive structure is polydimethylsiloxane; the polymer material of the external field sensitive polymer backing layer is Ecoflex 00-30.

[0009] Preferably, the preparation method of the external field sensitive polymer backing layer is: preparing a backing layer mold structure with an initial curvature, pouring a mixture of magnetic particles and Ecoflex 00-30 with a mass ratio of 1:1 into the mold structure; placing the mold structure in a vacuum drying oven at 60 to 80°C for curing for 40 to 120 minutes, and obtaining an external field sensitive polymer backing layer containing magnetic particles after curing.

[0010] As a further preference, the method for preparing the external field sensitive polymer backing layer is: preparing a backing layer mold structure with an initial curvature, pouring a mixture of magnetic particles and Ecoflex 00-30 in a mass ratio of 1:1 into the mold structure; placing the mold structure in a vacuum drying oven at 80°C for curing for 40 minutes, and after curing, obtaining an external field sensitive polymer backing layer containing magnetic particles.

[0011] The method for preparing the magnetically controlled intelligent adhesion structure soft gripper is as follows: first, a mold structure of a mushroom-shaped microstructure array is prepared, and polydimethylsiloxane is filled in the mold structure; then, the polydimethylsiloxane is filled in the cavity through degassing treatment; then, the external field sensitive polymer backing layer filled with magnetic particles is placed on top of the mushroom-shaped microstructure array mold, and it is flattened with a heavy object; finally, the mold structure is placed in a vacuum drying oven at 80°C for curing for 40 minutes, and after curing, a mushroom-shaped microstructure array with excellent adhesion properties is obtained.

[0012] Preferably, the magnetic particle-filled external field sensitive polymer backing layer has a length and width of 20 to 30 mm and a thickness of 1 to 3 mm.

[0013] Preferably, the dimensions of a single mushroom-shaped microstructure in the mushroom-shaped microstructure array are as follows: a height of 60 to 70 μm, a stem diameter of 40 to 45 μm, a head diameter of 60 to 70 μm, and a spacing between two adjacent mushroom-shaped microstructures of 60 to 70 μm.

[0014] Preferably, the magnetic particles are one or more of carbonyl iron powder, ferroferric oxide, neodymium iron boron and hydroxy iron powder, and the particle size of the magnetic particles is 1 to 5 μm.

[0015] The present invention discloses a method for operating a magnetically controlled intelligent adhesion structure soft gripper that is adaptive to the surface morphology of an object, comprising the following steps:

[0016] In the first step, in the absence of a magnetic field, the external field sensitive polymer backing layer maintains its initial state, and the functional surface of the adhesive structure exhibits a weak gripping force;

[0017] In the second step, after applying the magnetic field, the external field sensitive polymer backing layer deforms, causing the functional surface of the adhesive structure to form an adhesive contact with the object, and the object is successfully grasped;

[0018] The gripping force can be adjusted by varying the magnetic field strength according to the following formula:

[0019] F = -3.258 × 10 -8 B 3 +4.338×10 -5 B 2 -1.072×10 -2 B+0.8959

[0020] Where: F is the grasping force, in Newton (N); B is the magnetic field intensity, in milliteslare (mT);

[0021] In the third step, after the magnetic field is removed, the deformation of the external field sensitive polymer backing layer disappears, the functional surface of the adhesion structure restores its original morphology under the action of elastic strain energy, and the object is successfully released.

[0022] Beneficial effects:

[0023] 1. The present invention discloses a magnetically controlled intelligent adhesion structure soft gripper that is adaptive to the surface morphology of an object. The adhesion structure functional surface is based on a mushroom-shaped microstructure array, which can achieve non-polluting and scratch-free adhesion grasping of the object surface; the rapid grasping and release of the object is achieved through the deformation of the external field sensitive polymer backing layer in the magnetic field.

[0024] 2. The present invention discloses a magnetically controlled intelligent adhesion structure soft gripper that can adapt to the surface morphology of an object, constructs a formula model for adjusting the gripping force by changing the magnetic field intensity, and realizes quantitative and precise adjustment of the gripping force.

[0025] 3. The present invention discloses a magnetically controlled intelligent adhesion structure soft gripper that can adapt to the surface morphology of an object and a preparation method thereof, wherein the functional surface material of the adhesion structure is polydimethylsiloxane; the polymer material of the external field sensitive polymer backing layer is Ecoflex 00-30, and a backing layer mold structure with an initial curvature is prepared, and a mixture of magnetic particles and Ecoflex 00-30 in a mass ratio of 1:1 is poured into the mold structure; the mold structure is placed in a vacuum drying oven at 60 to 80°C for curing for 40 to 120 minutes, and after the curing is completed, an external field sensitive polymer backing layer containing magnetic particles is obtained, which can not only improve the efficiency of preparing the magnetically controlled intelligent adhesion structure soft gripper that can adapt to the surface morphology of an object, but also realize the adaptability of the magnetically controlled intelligent adhesion structure soft gripper to the surface of the object under the action of the magnetic field.

[0026] 4. The present invention discloses a magnetically controlled intelligent adhesion structure soft gripper that can adapt to the surface morphology of an object and a preparation method thereof. The height of the mushroom-shaped structure is 60 to 70 μm, the diameter of the stem of the mushroom-shaped structure is 40 to 45 μm, the diameter of the head of the mushroom-shaped structure is 60 to 70 μm, and the spacing between two adjacent mushroom-shaped microstructures is 60 to 70 μm. The dimensions can not only improve the gripping force of the magnetically controlled intelligent adhesion structure soft gripper, but also realize the gripping function on the surface of rough objects.

[0027] 5. The present invention discloses a magnetically controlled intelligent adhesion structure soft gripper that is adaptive to the surface morphology of an object and a preparation method. The magnetic particles are one or more of carbonyl iron powder, ferroferric oxide, neodymium iron boron and hydroxy iron powder. The particle size of the magnetic particles is 1 to 5 μm. The carbonyl iron powder, ferroferric oxide, neodymium iron boron and hydroxy iron powder are a mixture of Ecoflex 00-30 with excellent deformation ability. Quantitative and precise adjustment of the gripping force can be achieved through the selection of magnetic particle materials and the mass ratio with Ecoflex 00-30.

[0028] 6. The magnetically controlled intelligent adhesion structure soft gripper disclosed in the present invention is adaptive to the surface morphology of an object and is more suitable for the pollution-free and scratch-free grasping and releasing requirements in the fields of transfer transportation, micro-nano manufacturing, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the magnetically controlled intelligent adhesion structure soft gripper structure of the present invention.

[0030] Figure 2 This is a process flow chart for preparing the external field sensitive polymer backing layer in the magnetically controlled intelligent adhesion structure soft gripper structure of the present invention.

[0031] Figure 3 This is a process flow chart for preparing the functional surface of the adhesion structure in the magnetically controlled intelligent adhesion structure soft gripper structure of the present invention.

[0032] Figure 4 This is a SEM image of the magnetically controlled intelligent adhesion structure soft gripper of the present invention.

[0033] Figure 5 Figure a is a schematic diagram of the force of the magnetically controlled intelligent adhesive structure soft gripper in a magnetic field; Figure b is a mechanical model of the magnetically controlled intelligent adhesive structure soft gripper in contact with a rigid substrate under the action of a magnetic field.

[0034] Figure 6 This is the theoretical deformation of the magnetically controlled intelligent adhesion structure soft gripper of the present invention in a magnetic field.

[0035] Figure 7The actual deformation of the magnetically controlled intelligent adhesive structure soft gripper in the magnetic field of the present invention. Figure a shows the initial morphology of the magnetically controlled intelligent adhesive structure soft gripper in the absence of a magnetic field; Figure b shows the deformation morphology of the magnetically controlled intelligent adhesive structure soft gripper under the action of a magnetic field, where b(i) indicates a magnetic field strength of 400mT, and b(ii) indicates a magnetic field strength of 600mT.

[0036] Figure 8 This is the relationship between the grasping force and magnetic field strength of the magnetically controlled intelligent adhesion structure soft gripper of the present invention.

[0037] Fig. 9 This is a schematic diagram of the grasping and releasing process of a curved object by the magnetically controlled intelligent adhesion structure soft gripper of the present invention.

[0038] Among them: 1—external field sensitive polymer backing layer, 2—adhesion structure functional surface, 3—SEM of mushroom-shaped microstructure array on the adhesion structure functional surface, 4—SEM of Ecoflex 00-30 filled with magnetic particles of the external field sensitive polymer backing layer. DETAILED DESCRIPTION

[0039] In order to better illustrate the purpose and advantages of the present invention, the invention is further described below with reference to the accompanying drawings and examples.

[0040] Embodiment 1:

[0041] like Figure 1 As shown, this embodiment discloses a magnetically controlled intelligent adhesion structure soft gripper that adapts to the surface morphology of an object, including the following two layers: an upper layer is an adhesion structure functional surface, and a lower layer is an external field sensitive polymer backing layer; the adhesion structure functional surface is a mushroom-shaped microstructure array, and the external field sensitive polymer backing layer is a polymer filled with magnetic particles.

[0042] The functional surface material of the adhesive structure is polydimethylsiloxane; the polymer material of the external field sensitive polymer backing layer is Ecoflex 00-30.

[0043] like Figure 2 The figure shows a process flow chart for preparing the external field sensitive polymer backing layer. The preparation method is as follows: prepare a backing layer mold structure with an initial curvature, and pour a mixture of magnetic particles and Ecoflex00-30 with a mass ratio of 1:1 into the mold structure; the magnetic particles use carbonyl iron powder, and the particle size of the magnetic particles is 5μm; put the mold structure into a vacuum drying oven at 80°C for curing for 40 minutes, and after curing, obtain the external field sensitive polymer backing layer containing magnetic particles.

[0044] like Figure 3The figure shows the preparation method of the magnetically controlled intelligent adhesion structure soft gripper: first, a mold structure of a mushroom-shaped microstructure array is prepared, and polydimethylsiloxane is filled in the mold structure; then, the polydimethylsiloxane is filled in the cavity through degassing treatment; then, the external field sensitive polymer backing layer filled with magnetic particles is placed on top of the mushroom-shaped microstructure array mold and flattened with a heavy object; finally, the mold structure is placed in a vacuum drying oven at 80°C for curing for 40 minutes, and after the curing is completed, a mushroom-shaped microstructure array with excellent adhesion properties is obtained.

[0045] The external field sensitive polymer backing layer filled with magnetic particles has a length and a width of 20 mm and a thickness of 2 mm.

[0046] The size of a single mushroom in the mushroom-shaped microstructure array is as follows: the height of the mushroom-shaped structure is 60-70 μm, the diameter of the mushroom-shaped structure stem is 40-45 μm, the diameter of the mushroom-shaped structure head is 60-70 μm, and the distance between two adjacent mushroom-shaped microstructures is 60-70 μm.

[0047] like Figure 4 Shown is a SEM image of the magnetically controlled intelligent adhesion structure soft gripper. The overall structure consists of two layers. The upper layer is a mushroom-shaped microstructure array on the functional surface of the adhesion structure, and the lower layer is an external field sensitive polymer backing layer filled with magnetic particles.

[0048] like Figure 5 The figure shows the force diagram of the magnetically controlled smart adhesion structure soft gripper in a magnetic field. Considering that the height of the mushroom-shaped microstructure in the magnetically controlled smart adhesion structure soft gripper is negligible compared to the thickness of the external field sensitive polymer backing layer, and the mushroom-shaped microstructure does not contain magnetic particles, the force diagram only considers the force of the external field sensitive polymer backing layer structure under the action of the magnetic field, as shown in FIG. Figure 5 As shown in a. When an external magnetic field is introduced, the external field sensitive polymer backing layer bends and deforms and then forms contact with the horizontal substrate. The greater the magnetic field strength, the greater the contact area between the external field sensitive polymer backing layer and the horizontal substrate, and the greater the gripping force. In order to analyze the deformation of the magnetically controlled intelligent adhesion structure soft gripper under different magnetic field strengths, the present invention is based on the beam theory and establishes a theoretical model of adhesion contact of an equal curvature bending beam on a rigid horizontal substrate under the action of a magnetic field force, as shown in FIG. Figure 5As shown in b. The rectangular coordinate system (x, y) and the curvilinear coordinate system (s, θ) are introduced to describe the deformation of the external field sensitive polymer backing layer. Considering the symmetrical configuration of the external field sensitive polymer backing layer, half of it is selected as the research object, and the origins of the two coordinate systems are set at the midpoint of the external field sensitive polymer backing layer. The relationship between the two coordinate systems is: dx / ds=cosθ, dy / ds=sinθ, where s is the arc length of the neutral layer, and θ is the angle between the tangent at any point on the neutral layer after the deformation of the external field sensitive polymer backing layer and the x-axis. θ1 is the angle between the tangent at any point on the neutral layer and the x-axis in the initial state of the external field sensitive polymer backing layer. The adhesion contact length between the external field sensitive polymer backing layer and the substrate under the action of the magnetic field force is defined as l. L is half of the arc length of the external field sensitive polymer backing layer. ρ is the initial radius of curvature of the external field sensitive polymer backing layer. Ignoring the gravitational potential energy of the external field sensitive polymer backing layer, the total potential energy of the entire external field sensitive polymer backing layer at any position away from the permanent magnet is:

[0049]

[0050] In formula (1), the first and second terms on the right side of the equation represent the bending strain energy of the external field sensitive polymer backing layer in the ol and lL segments, respectively. Wherein, D is the bending stiffness of the external field sensitive polymer backing layer. In the range of ol, the external field sensitive polymer backing layer is in a planar state under the action of the magnetic field force, so θ(s) = 0 (0≤s≤l), y(s) = 0 (0≤s≤l). The third and fourth terms represent the ol and lL magnetic field force potentials, respectively, where q(y) is the magnetic field force on the external field sensitive polymer backing layer when the distance between the external field sensitive polymer backing layer and the permanent magnet is d:

[0051]

[0052] Among them, B is the magnetic field strength of the permanent magnet. By testing and fitting the magnetic field strength on the surface of the permanent magnet, we can get:

[0053] B=0.000027 / (0.0331+d) 3 (3)

[0054] Wherein, φ is the volume fraction of magnetic particles (~12%), and μ is the relative magnetic permeability of magnetic particles (786.4).

[0055] The fifth term represents the interface interaction potential. The sixth and seventh terms represent the additional terms introduced by the geometric relationship between the rectangular coordinate system (x, y) and the curvilinear coordinate system (s, θ), and λ1 and λ2 are Lagrange multipliers. By making the first-order variation of the total potential energy of the system with respect to θ and l equal to zero, the total potential energy of the system is minimized, and we can obtain:

[0056]

[0057] Combined with the corresponding boundary conditions, we get:

[0058]

[0059]

[0060] Formula (5) is the control equation for the external field sensitive polymer backing layer to reach a balanced state under the action of the magnetic field force, and formula (6) is the boundary condition corresponding to the control equation.

[0061] like Figure 6 The figure shows the theoretical deformation of the magnetically controlled intelligent adhesion structure soft gripper in the magnetic field of the present invention. In order to better conduct theoretical analysis, the parameters of the external field sensitive polymer backing layer are set as follows: elastic modulus E = 0.8Mpa, thickness h = 2mm, radius ρ = 20mm, length L = 20mm, and interface adhesion energy Δγ = 0.4N / m. Obviously, when other parameters remain unchanged, as the magnetic field intensity gradually increases, the length of the magnetically controlled intelligent adhesion structure soft gripper overlapping with the x-axis also shows a trend of gradually increasing. This is because the greater the magnetic field intensity, the greater the potential energy of the magnetic field force, the more bending strain energy is overcome, the greater the adhesion contact length formed by the magnetically controlled intelligent adhesion structure soft gripper and the x-axis, and the greater the grasping force. When the magnetic field force is large enough, the potential energy of the magnetic field force can overcome the bending strain energy of the magnetically controlled intelligent adhesion structure soft gripper. At this time, the magnetically controlled intelligent adhesion structure soft gripper is completely adhered to the x-axis, and the grasping force reaches the maximum.

[0062] like Figure 7 The figure shows the actual deformation of the magnetically controlled intelligent adhesive soft gripper under the action of a magnetic field. As the magnetic field strength gradually increases, the adhesive contact area between the magnetically controlled intelligent adhesive soft gripper and the horizontal substrate increases accordingly. When the magnetic field strength increases to 600mT, the magnetically controlled intelligent adhesive soft gripper can be fully extended to a flat state, achieving complete adhesive contact with the substrate. At this time, the gripping force reaches the maximum, which is consistent with the theoretical deformation results. Figure 6 Keep qualitative consistency.

[0063] like Figure 8 The figure shows the relationship between the gripping force and magnetic field strength of the magnetically controlled intelligent adhesive soft gripper of the present invention. When the magnetic field strength is large (600mT), the magnetically controlled intelligent adhesive soft gripper can obtain a gripping force of about 3N; as the magnetic field strength decreases, the gripping force decreases accordingly. Furthermore, the gripping force can be adjusted by changing the magnetic field strength according to the following formula:

[0064] F = -3.258 × 10 -8 B 3 +4.338×10 -5 B 2 -1.072×10 -2B+0.8959

[0065] Where: F is the grasping force, in Newton (N); B is the magnetic field intensity, in milliteslare (mT);

[0066] like Fig. 9 The figure shows a working method of a magnetically controlled intelligent adhesion structure soft gripper that is adaptive to the surface morphology of an object disclosed in this embodiment, and the specific implementation steps are as follows:

[0067] In the first step, in the absence of a magnetic field, the external field sensitive polymer backing layer maintains its initial state, and the functional surface of the adhesive structure exhibits a weak gripping force;

[0068] In the second step, after applying the magnetic field, the external field sensitive polymer backing layer deforms, causing the functional surface of the adhesive structure to form an adhesive contact with the object, and the object is successfully grasped;

[0069] In the third step, after the magnetic field is removed, the deformation of the external field sensitive polymer backing layer disappears, the functional surface of the adhesion structure restores its original morphology under the action of elastic strain energy, and the object is successfully released.

[0070] The specific description above further illustrates the purpose, technical solutions and beneficial effects of the invention in detail. It should be understood that the above is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A magnetically controlled intelligent adhesion structure soft gripper that adapts to the surface morphology of an object, characterized by: It comprises the following two layers: the upper layer is an adhesive structure functional surface, and the lower layer is an external field sensitive polymer backing layer; the adhesive structure functional surface is a mushroom-shaped microstructure array, and the external field sensitive polymer backing layer is a polymer filled with magnetic particles.

2. According to claim 1, the magnetically controlled intelligent adhesion structure soft gripper that is adaptive to the surface morphology of an object is characterized by: The functional surface material of the adhesive structure is polydimethylsiloxane; the polymer material of the external field sensitive polymer backing layer is Ecoflex 00-30.

3. The magnetically controlled intelligent adhesion structure soft gripper capable of self-adapting to the surface morphology of an object according to claim 1, characterized in that: The preparation method of the external field sensitive polymer backing layer is as follows: preparing a backing layer mold structure with an initial curvature, pouring a mixture of magnetic particles and Ecoflex 00-30 with a mass ratio of 1:1 into the mold structure; placing the mold structure in a vacuum drying oven at 60 to 80° C. for curing for 40 to 120 minutes, and obtaining an external field sensitive polymer backing layer containing magnetic particles after curing.

4. The magnetically controlled intelligent adhesion structure soft gripper capable of self-adapting to the surface morphology of an object according to claim 3, characterized in that: The preparation method of the external field sensitive polymer backing layer is as follows: preparing a backing layer mold structure with an initial curvature, pouring a mixture of magnetic particles and Ecoflex 00-30 with a mass ratio of 1:1 into the mold structure; placing the mold structure in a vacuum drying oven at 80°C for curing for 40 minutes, and obtaining an external field sensitive polymer backing layer containing magnetic particles after curing.

5. A method for preparing a magnetically controlled intelligent adhesive structure soft gripper as claimed in claim 1, 2, 3 or 4, characterized in that: First, a mold structure of a mushroom-shaped microstructure array is prepared, and polydimethylsiloxane is filled in the mold structure; then, the polydimethylsiloxane is filled into the cavity by degassing; then, an external field-sensitive polymer backing layer filled with magnetic particles is placed on the mushroom-shaped microstructure array mold, and is flattened with a heavy object; Finally, the mold structure is placed in a vacuum drying oven at 60 to 80° C. for curing for 40 to 120 minutes. After the curing is completed, a mushroom-shaped microstructure array with excellent adhesion performance is obtained.

6. The method according to claim 5, characterized in that: The external field sensitive polymer backing layer filled with magnetic particles has a length and a width of 20 to 30 mm and a thickness of 1 to 3 mm.

7. The method according to claim 5, characterized in that: The dimensions of a single mushroom-shaped microstructure in the mushroom-shaped microstructure array are as follows: the height of the mushroom-shaped structure is 60-70 μm, the diameter of the mushroom-shaped structure stem is 40-45 μm, the diameter of the mushroom-shaped structure head is 60-70 μm, and the distance between two adjacent mushroom-shaped microstructures is 60-70 μm.

8. The method according to claim 5, characterized in that: The magnetic particles are one or more of carbonyl iron powder, ferroferric oxide, neodymium iron boron and hydroxy iron powder, and the particle size of the magnetic particles is 1 to 5 μm.

9. A magnetically controlled intelligent adhesion structure soft gripper that adapts to the surface morphology of an object as claimed in claim 1, 2, 3 or 4, characterized in that: The working method includes the following steps: In the first step, in the absence of a magnetic field, the external field sensitive polymer backing layer maintains its initial state, and the functional surface of the adhesive structure exhibits a weak gripping force; In the second step, after applying the magnetic field, the external field sensitive polymer backing layer deforms, causing the functional surface of the adhesive structure to form an adhesive contact with the object, and the object is successfully grasped; The gripping force is adjusted by varying the magnetic field strength according to the following formula: F=-3.258×10 -8 B 3 +4.338×10 -5 B 2 -1.072×10 -2 B+0.8959 Where: F is the grasping force, in Newton (N); B is the magnetic field intensity, in milliteslare (mT); In the third step, after the magnetic field is removed, the deformation of the external field sensitive polymer backing layer disappears, the functional surface of the adhesion structure restores its original morphology under the action of elastic strain energy, and the object is successfully released.

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