Self-adaptive intelligent gripper based on 3D printing porous structure and magnetorheological fluid

Abstract

The invention relates to the technical field of intelligent grippers, in particular to a self-adaptive intelligent gripper based on a 3D printing porous structure and magnetorheological fluid, which comprises a connecting shaft, a mounting frame is fixedly connected to the bottom end of the connecting shaft, a servo motor is fixedly connected to the inner wall of the mounting frame, and an opening and closing device is arranged at the bottom end of the mounting frame. According to the device disclosed by the invention, the regulation and control device is arranged, and the opening and closing device is matched with the adsorption device, so that self-adaptive adjustment can be realized according to the shape of an object. By means of the design of the air inlet pipe and the connecting shell, the adsorption device can be attached to the outer surface of an object, the advantages are obvious when objects in irregular shapes are grabbed, the grabbing posture can be flexibly adjusted when products with changeable shapes and complex materials are grabbed on an industrial automatic assembly line and small soft tissue is grabbed in a medical minimally invasive surgery, and the grabbing success rate is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent grippers, and particularly to an adaptive intelligent gripper based on 3D printed porous structures and magnetorheological fluids. Background Art

[0002] In the current era of rapid technological development, automation and flexible production have become important development trends in various industries, which pose extremely stringent requirements for the performance of robotic grippers.

[0003] Traditional rigid grippers have obvious limitations when dealing with complex-shaped and sensitive objects. In minimally invasive medical surgeries, when grasping delicate soft tissues, rigid grippers are difficult to operate precisely and are extremely likely to cause damage to the tissues; in the food processing industry when handling fragile fruits and agricultural products, they also cannot provide sufficient flexible protection, resulting in a high product breakage rate. While traditional soft grippers have a certain degree of flexibility, they have insufficient grasping force. When grasping products with variable shapes and complex materials on industrial automation production lines, situations often occur where the grasping is not firm and stable transportation cannot be achieved.

[0004] Against this background, the adaptive intelligent gripper of the present invention based on 3D printed porous structures and magnetorheological fluids has emerged, aiming to solve the problems existing in existing grippers and meet the urgent needs of various industries for high-performance grippers. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the technical solution adopted by the present invention to solve its technical problems is: an adaptive intelligent gripper based on 3D printed porous structures and magnetorheological fluids, comprising: a connecting shaft, the bottom end of the connecting shaft is fixedly connected with a mounting frame, the inner wall of the mounting frame is fixedly connected with a servo motor, the bottom end of the mounting frame is provided with an opening and closing device, and the bottom end of the opening and closing device is provided with a regulating device; the opening and closing device includes a moving block, the inner wall of the moving block is threadedly connected with an adjusting screw rod, the outer wall of the moving block is rotatably connected with a pull rod, one end of the pull rod away from the moving block is fixedly and rotatably connected with a turning handle, the bottom end of the turning handle is rotatably connected with a connecting block, and the inner wall of the connecting block is fixedly connected with an air delivery pipe; the regulating device includes a connecting shell, a pipe running groove is opened in the wall of the connecting shell, an air inlet pipe is slidably connected to the inner wall of the pipe running groove, a contraction pipe is fixedly connected to the inner wall of the pipe running groove, a rotating rod is fixedly connected to the outer wall of the connecting shell, a torsion spring is fixedly connected to the outer wall of the rotating rod, and an adsorption device is arranged on the outer wall of the connecting shell. During use, first supply air to the air delivery pipe. Through connection with the air inlet pipe in the regulating device, when the air inlet pipe is straightened in the pipe running groove, multiple joined connecting shells are rotated until blocked by a limiting block, making the connection part become a straight vertical state.

[0006] The present invention is further configured such that the outer wall of the adjusting screw is rotatably connected to the inner wall of the mounting bracket, the outer wall of the rotating handle is rotatably connected to the outer wall of the mounting bracket, and the outer wall of the air delivery pipe is fixedly connected to the outer wall of the mounting bracket. Start the servo motor on the mounting bracket to drive the adjusting screw to rotate, and drive the axially displaced moving block connected by threads through the adjusting screw.

[0007] The present invention is further configured such that the outer wall of the adjusting screw is fixedly connected to the data transmission end of the servo motor, bellows are fixedly connected to the upper and lower ends of the moving block, and the ends of the bellows away from the moving block are respectively rotatably connected to the outer walls of the mounting bracket and the adjusting screw. The movement of the moving block drives the rotating handle to rotate on the mounting bracket through a pull rod, causing the connecting block to move and driving the adsorption device to complete the opening and closing action of the gripper. The telescopic design of the bellows allows the moving block to compensate for mechanical tolerances during linear motion while maintaining airtightness.

[0008] The present invention is further configured such that a porous block is provided on the inner wall of the connecting shell, an electromagnet is fixedly connected to the outer wall of the connecting shell, a flow pipe is fixedly connected to the outer wall of the connecting shell, an electromagnetic coil is fixedly connected to the outer wall of the electromagnet, the electromagnetic coil is sleeved outside the flow pipe, and a connecting pipe is fixedly connected to the outer wall of the air inlet pipe. This device is connected to a magnetic field generator. After the electromagnet and the electromagnetic coil are energized, a controllable magnetic field is generated inside the connecting shell, acting on the magnetorheological fluid. The magnetorheological fluid is an MR fluid. The pore structure of the gradient porous block guides the directional flow of the MR fluid, and the fluid is concentrated and distributed in the grasping area through the flow pipe. When the magnetic field strength changes, the nano-magnetic particles in the MR fluid form a chain-like structure, and the fluid viscosity changes from liquid flexibility to solid-like rigidity, realizing local stiffness adjustment.

[0009] The present invention is further configured such that a limiting block is fixedly connected to the outer wall of the connecting shell, the outer wall of the rotating rod is rotatably connected to the inner wall of the connecting block, one end of the torsion spring away from the rotating rod is fixedly connected to the outer wall of the connecting block, the outer wall of the air inlet pipe is fixedly connected to the inner wall of the connecting block, and the end of the air inlet pipe away from the connecting shell is fixedly connected to the outer wall of the air delivery pipe. When the adsorption device touches the surface of an object, stop supplying air to the air delivery pipe, so that the air inlet pipe is no longer straightened. Under the action of the torsion protection, the connecting shell rotates through the connection of the rotating rod, and thus drives the adsorption device to fit on the outer surface of the object according to the shape of the clamped object.

[0010] The present invention is further configured such that the adsorption device includes an airbag pad, a contact ring is fixedly connected to the outer wall of the airbag pad, a closing assembly is fixedly connected to the inner wall of the contact ring, an air cavity is provided inside the airbag pad, and a mounting pipe is fixedly connected to the inner wall of the airbag pad.

[0011] The present invention is further configured such that the outer wall of the airbag pad is fixedly connected to the outer wall of the connection shell, the end of the installation pipe away from the airbag pad is fixedly connected to the outer wall of the connection pipe, and the closing assembly is arranged inside the air chamber. When grasping an object, the air inlet pipe injects gas into the air chamber of the airbag pad through the connection pipe, causing the contact ring to expand and fit the surface of the object. When there is no article fitting on the contact ring, under the action of the external atmospheric pressure, the valve cover presses on the valve body sealing ring, closing the air passage inside the cylinder.

[0012] The present invention is further configured such that the closing assembly includes a cylinder body, a filter screen is fixedly connected to the top end of the cylinder body, a valve cover is arranged inside the cylinder body, a return spring is fixedly connected to the bottom end of the valve cover, and a valve body sealing ring is fixedly connected to the inner wall of the cylinder body.

[0013] The present invention is further configured such that the outer wall of the cylinder body is fixedly connected to the inner wall of the contact ring, and the end of the return spring away from the valve cover is fixedly connected to the inner wall of the cylinder body. When there is a workpiece in contact, under the action of the return spring, the valve cover of the closing assembly opens under the action of air pressure. The return spring ensures quick closing when released, forming a negative pressure adsorption effect. The filter screen prevents foreign objects from entering, and the valve body sealing ring ensures airtightness.

[0014] The beneficial effects of the present invention are as follows:

[0015] 1. By setting the regulation device, the opening and closing device and the adsorption device in cooperation, the present invention can adaptively adjust according to the shape of the object. The design of the air inlet pipe and the connection shell enables the adsorption device to fit the outer surface of the object, which has obvious advantages when grasping irregularly shaped objects. When grasping products with variable shapes and complex materials on an industrial automation production line, and when grasping small soft tissues in minimally invasive medical procedures, the grasping posture can be flexibly adjusted to improve the grasping success rate.

[0016] 2. By setting the regulation device, the gradient porous block is combined with the magnetorheological fluid to achieve local stiffness adjustment under the action of a magnetic field. When the magnetic field strength changes, the viscosity of the MR fluid changes to adapt to different grasping requirements. When grasping fragile fruits, it maintains a liquid state to flexibly wrap the object; when grasping rigid workpieces, it transforms into a quasi-solid state for rigid and stable clamping, expanding the scope of application.

[0017] 3. By using an environmentally friendly non-magnetic carrier liquid and a nano-magnetic particle composite as the magnetorheological fluid, the present invention is applicable to the medical and food processing fields. The negative pressure adsorption design of the airbag pad and the filter screen to prevent foreign objects from entering ensure the safety and hygiene of the grasping process. When processing fragile fruits and agricultural products in food processing, it will not cause pollution to the products.

[0018] 4. The present invention integrates the lightweight and flexible design of porous materials, as well as the fast response and adjustable stiffness characteristics of MR fluids. The gripper realizes local and global regulation of stiffness through a built-in magnetic field generator, adapting to the grasping requirements of various complex-shaped objects. The innovative structural design combined with an intelligent control system enables the gripper to have broad application potential in fields such as medical treatment, industrial automation, and underwater operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of the present invention;

[0020] Figure 2 is a schematic structural diagram of the opening and closing device of the present invention;

[0021] Figure 3 is a schematic structural diagram of the regulation device of the present invention;

[0022] Figure 4 is a schematic structural diagram of the connection shell of the present invention;

[0023] Figure 5 is a schematic structural diagram of the connecting pipe of the present invention;

[0024] Figure 6 is a schematic structural diagram of the adsorption device of the present invention;

[0025] Figure 7 is a schematic structural diagram of the closing assembly of the present invention.

[0026] In the figure: 1, connecting shaft; 2, mounting bracket; 3, servo motor; 4, opening and closing device; 41, moving block; 42, adjusting screw; 43, bellows; 44, pull rod; 45, turning handle; 46, connecting block; 47, air supply pipe; 5, regulation device; 51, connection shell; 52, air inlet pipe; 53, pipe running groove; 54, shrinkable pipe; 55, electromagnet; 56, flow pipe; 57, electromagnetic coil; 58, porous block; 59, rotating rod; 510, torsion spring; 511, limit block; 512, connecting pipe; 6, adsorption device; 61, airbag pad; 62, mounting pipe; 63, contact ring; 64, closing assembly; 641, cylinder body; 642, filter screen; 643, valve cover; 644, valve body sealing ring; 645, return spring; 65, air cavity. DETAILED DESCRIPTION OF THE INVENTION

[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are given for purposes of illustration and description, and are not exhaustive or limit the present invention to the disclosed form. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles of the present invention and its practical applications, and to enable those of ordinary skill in the art to understand the present invention and thus design various embodiments with various modifications suitable for specific purposes.

[0028] Embodiment:

[0029] Please refer to Figure 1 - Figure 7 The present invention provides a technical solution: an adaptive intelligent gripper based on 3D printing porous structures and magnetorheological fluids, including: a connecting shaft 1, the bottom end of the connecting shaft 1 is fixedly connected with a mounting bracket 2, the inner wall of the mounting bracket 2 is fixedly connected with a servo motor 3, the bottom end of the mounting bracket 2 is provided with a opening and closing device 4, and the bottom end of the opening and closing device 4 is provided with a regulating device 5; the opening and closing device 4 includes a moving block 41, the inner wall of the moving block 41 is threadedly connected with an adjusting screw 42, the outer wall of the moving block 41 is rotatably connected with a pull rod 44, one end of the pull rod 44 away from the moving block 41 is fixedly and rotatably connected with a turning handle 45, the bottom end of the turning handle 45 is rotatably connected with a connecting block 46, and the inner wall of the connecting block 46 is fixedly connected with an air delivery pipe 47; the regulating device 5 includes a connecting shell 51, a pipe running groove 53 is formed in the wall of the connecting shell 51, an air inlet pipe 52 is slidably connected to the inner wall of the pipe running groove 53, a contraction pipe 54 is fixedly connected to the inner wall of the pipe running groove 53, a rotating rod 59 is fixedly connected to the outer wall of the connecting shell 51, a torsion spring 510 is fixedly connected to the outer wall of the rotating rod 59, and an adsorption device 6 is arranged on the outer wall of the connecting shell 51.

[0030] The outer wall of the adjusting screw 42 is rotatably connected with the inner wall of the mounting bracket 2, the outer wall of the turning handle 45 is rotatably connected with the outer wall of the mounting bracket 2, and the outer wall of the air delivery pipe 47 is fixedly connected with the outer wall of the mounting bracket 2. Start the servo motor 3 on the mounting bracket 2 to drive the adjusting screw 42 to rotate, and drive the axially displaced moving block 41 through the adjusting screw 42.

[0031] The outer wall of the adjusting screw 42 is fixedly connected with the data transmission end of the servo motor 3, bellows 43 are fixedly connected to the upper and lower ends of the moving block 41, and the ends of the bellows 43 away from the moving block 41 are respectively rotatably connected with the outer wall of the mounting bracket 2 and the adjusting screw 42. The movement of the moving block 41 drives the turning handle 45 to rotate on the mounting bracket 2 through the pull rod 44, so that the connecting block 46 moves, and drives the adsorption device 6 to complete the opening and closing action of the gripper.

[0032] The inner wall of the connecting shell 51 is provided with a porous block 58. The outer wall of the connecting shell 51 is fixedly connected with an electromagnet 55. The outer wall of the connecting shell 51 is fixedly connected with a circulation pipe 56. The outer wall of the electromagnet 55 is fixedly connected with an electromagnetic coil 57. The electromagnetic coil 57 is sleeved outside the circulation pipe 56. The outer wall of the air inlet pipe 52 is fixedly connected with a connecting pipe 512. After the electromagnet 55 and the electromagnetic coil 57 are powered on, a controllable magnetic field is generated inside the connecting shell 51, which acts on the magnetorheological fluid. The pore structure of the gradient porous block 58 guides the directional flow of the MR fluid, and the fluid is concentrated and distributed in the grasping area through the circulation pipe 56.

[0033] The outer wall of the connecting shell 51 is fixedly connected with a limiting block 511. The outer wall of the rotating rod 59 is rotatably connected with the inner wall of the connecting block 46. One end of the torsion spring 510 far from the rotating rod 59 is fixedly connected with the outer wall of the connecting block 46. The outer wall of the air inlet pipe 52 is fixedly connected with the inner wall of the connecting block 46. One end of the air inlet pipe 52 far from the connecting shell 51 is fixedly connected with the outer wall of the air delivery pipe 47. When the adsorption device 6 touches the surface of an object, the air supply to the air delivery pipe 47 is stopped, so that the air inlet pipe 52 is no longer straightened. Under the action of the torsion spring 510, the connecting shell 51 rotates through the connection of the rotating rod 59, and thus, according to the shape of the clamped object, the adsorption device 6 is driven to fit on the outer surface of the object.

[0034] The adsorption device 6 includes an airbag pad 61. The outer wall of the airbag pad 61 is fixedly connected with a contact ring 63. The inner wall of the contact ring 63 is fixedly connected with a closing assembly 64. An air cavity 65 is formed inside the airbag pad 61. The inner wall of the airbag pad 61 is fixedly connected with an installation pipe 62.

[0035] The outer wall of the airbag pad 61 is fixedly connected with the outer wall of the connecting shell 51. One end of the installation pipe 62 far from the airbag pad 61 is fixedly connected with the outer wall of the connecting pipe 512. The closing assembly 64 is arranged inside the air cavity 65. When grasping an object through the adsorption device 6, the air inlet pipe 52 injects gas into the air cavity 65 of the airbag pad 61 through the connecting pipe 512, so that the contact ring 63 expands and fits on the surface of the object. When there is no object fitting on the contact ring 63, under the action of the external atmospheric pressure, the valve cover 643 presses on the valve body sealing ring 644, closing the air passage inside the cylinder body 641.

[0036] The closing assembly 64 includes a cylinder body 641. The top end of the cylinder body 641 is fixedly connected with a filter screen 642. A valve cover 643 is arranged inside the cylinder body 641. The bottom end of the valve cover 643 is fixedly connected with a return spring 645. The inner wall of the cylinder body 641 is fixedly connected with a valve body sealing ring 644. When a workpiece touches, under the action of the return spring 645, the valve cover 643 of the closing assembly 64 is opened under the action of air pressure. The return spring 645 ensures quick closing during release, forming a negative pressure adsorption effect. The filter screen 642 prevents foreign objects from entering the fluid passage, and the valve body sealing ring 644 ensures airtightness.

[0037] The outer wall of the cylinder body 641 is fixedly connected to the inner wall of the contact ring 63, and one end of the return spring 645 away from the valve cover 643 is fixedly connected to the inner wall of the cylinder body 641.

[0038] Working principle:

[0039] For the self-adaptive intelligent gripper based on 3D printed porous structure and magnetorheological fluid of the present invention, its core working principle is to realize the self-adaptive grasping of complex objects through the synergistic action of mechanical structure drive, magnetic field regulation, and fluid stiffness switching, combined with intelligent feedback control;

[0040] During use, the overall device is connected to an external robotic arm through the connecting shaft 1, and the air supply pipe 47 is connected to an external electrical device. When clamping is required, first supply air to the air supply pipe 47. Through the connection with the air inlet pipe 52 in the regulation device 5, when the air inlet pipe 52 is straightened in the pipe groove 53, the connection parts of the multiple combined connection shells 51 become a straight vertical state. Then, through the opening and closing device 4, the servo motor 3 on the mounting bracket 2 is started, which drives the adjusting screw 42 to rotate. The moving block 41 connected by threads is axially displaced by the driving of the adjusting screw 42. The movement of the moving block 41 drives the rotating handle 45 to rotate on the mounting bracket 2 through the pull rod 44, causing the connecting block 46 to move and driving the adsorption device 6 to complete the opening and closing action of the gripper. The telescopic design of the bellows 43 allows the moving block 41 to compensate for mechanical tolerances during linear motion while maintaining airtightness;

[0041] When the adsorption device 6 touches the surface of the object, stop supplying air to the air supply pipe 47. As a result, the air inlet pipe 52 is no longer straightened. Under the action of the torsion spring 510, the connection shell 51 rotates through the connection of the rotating rod 59, and thus, according to the shape of the clamped object, drives the adsorption device 6 to fit on the outer surface of the object, so as to meet the grasping requirements of various complex-shaped objects. Then, through the provided magnetic field generator, after the electromagnet 55 and the electromagnetic coil 57 are energized, a controllable magnetic field is generated inside the connection shell 51, acting on the magnetorheological fluid. The pore structure of the gradient porous block 58 guides the directional flow of the MR fluid, and the fluid is concentratedly distributed in the grasping area through the flow pipe 56. When the magnetic field intensity changes, the nano-magnetic particles in the MR fluid form a chain-like structure, and the fluid viscosity changes from liquid flexibility to solid-like rigidity, realizing local stiffness adjustment;

[0042] When grasping an object through the adsorption device 6, the intake pipe 52 injects gas into the air chamber 65 of the airbag pad 61 through the connecting pipe 512, causing the contact ring 63 to expand and fit the surface of the object. When there is no object in contact with the contact ring 63, under the action of the external atmospheric pressure, the valve cover 643 presses on the valve body sealing ring 644, closing the air passage in the cylinder body 641. When a workpiece comes into contact, under the action of the return spring 645, the valve cover 643 of the closing assembly 64 is opened under the action of air pressure. The return spring 645 ensures rapid closing during release, forming a negative pressure adsorption effect. The filter screen 642 prevents foreign objects from entering the fluid passage, and the valve body sealing ring 644 ensures airtightness.

[0043] Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art and related fields based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention. Structures, devices, and operation methods not specifically described and explained in the present invention, unless otherwise specified and limited, are implemented according to the conventional means in the art.

Claims

1. Adaptive intelligent gripper based on 3D printed porous structure and magnetorheological fluid, including: A connecting shaft (1), the bottom end of the connecting shaft (1) is fixedly connected to a mounting frame (2), the inner wall of the mounting frame (2) is fixedly connected to a servo motor (3), characterized in that an opening and closing device (4) is provided at the bottom end of the mounting frame (2), and a regulating device (5) is provided at the bottom end of the opening and closing device (4); The opening and closing device (4) comprises a moving block (41), the inner wall of the moving block (41) is threadedly connected to an adjusting screw (42), the outer wall of the moving block (41) is rotatably connected to a pull rod (44), one end of the pull rod (44) away from the moving block (41) is fixedly rotatably connected to a rotating handle (45), the bottom end of the rotating handle (45) is rotatably connected to a connecting block (46), and the inner wall of the connecting block (46) is fixedly connected to an air supply pipe (47); The regulating device (5) comprises a connecting shell (51), a pipe groove (53) is provided in the wall of the connecting shell (51), an air intake pipe (52) is slidably connected to the inner wall of the pipe groove (53), a shrinkage tube (54) is fixedly connected to the inner wall of the pipe groove (53), a rotating rod (59) is fixedly connected to the outer wall of the connecting shell (51), a torsion spring (510) is fixedly connected to the outer wall of the rotating rod (59), and an adsorption device (6) is provided on the outer wall of the connecting shell (51).

2. The adaptive intelligent gripper based on 3D printed porous structure and magnetorheological fluid according to claim 1, characterized in that: The outer wall of the adjusting screw (42) is rotatably connected to the inner wall of the mounting frame (2), the outer wall of the rotating handle (45) is rotatably connected to the outer wall of the mounting frame (2), and the outer wall of the air delivery pipe (47) is fixedly connected to the outer wall of the mounting frame (2).

3. The adaptive intelligent gripper based on 3D printed porous structure and magnetorheological fluid according to claim 1, characterized in that: The outer wall of the adjusting screw (42) is fixedly connected to the data transmission end of the servo motor (3), and the upper and lower ends of the moving block (41) are fixedly connected with a bellows (43), and one end of the bellows (43) away from the moving block (41) is rotatably connected to the mounting frame (2) and the outer wall of the adjusting screw (42) respectively.

4. The adaptive intelligent gripper based on 3D printed porous structure and magnetorheological fluid according to claim 1, characterized in that: The inner wall of the connecting shell (51) is provided with a porous block (58), the outer wall of the connecting shell (51) is fixedly connected to an electromagnet (55), the outer wall of the connecting shell (51) is fixedly connected to a circulation pipe (56), the outer wall of the electromagnet (55) is fixedly connected to an electromagnetic coil (57), the electromagnetic coil (57) is sleeved on the outside of the circulation pipe (56), and the outer wall of the intake pipe (52) is fixedly connected to a connecting pipe (512).

5. The adaptive intelligent gripper based on 3D printed porous structure and magnetorheological fluid according to claim 1, characterized in that: The outer wall of the connecting shell (51) is fixedly connected to the limiting block (511), the outer wall of the rotating rod (59) is rotatably connected to the inner wall of the connecting block (46), the end of the torsion spring (510) away from the rotating rod (59) is fixedly connected to the outer wall of the connecting block (46), the outer wall of the air intake pipe (52) is fixedly connected to the inner wall of the connecting block (46), and the end of the air intake pipe (52) away from the connecting shell (51) is fixedly connected to the outer wall of the air delivery pipe (47).

6. The adaptive intelligent gripper based on 3D printed porous structure and magnetorheological fluid according to claim 1, characterized in that: The adsorption device (6) comprises an airbag cushion (61), the outer wall of the airbag cushion (61) is fixedly connected to a contact ring (63), the inner wall of the contact ring (63) is fixedly connected to a closing component (64), an air cavity (65) is provided inside the airbag cushion (61), and the inner wall of the airbag cushion (61) is fixedly connected to a mounting tube (62).

7. The adaptive intelligent gripper based on 3D printed porous structure and magnetorheological fluid according to claim 6, characterized in that: The outer wall of the airbag cushion (61) is fixedly connected to the outer wall of the connecting shell (51), one end of the mounting tube (62) away from the airbag cushion (61) is fixedly connected to the outer wall of the connecting tube (512), and the closing component (64) is arranged inside the air cavity (65).

8. The adaptive intelligent gripper based on 3D printed porous structure and magnetorheological fluid according to claim 7, characterized in that: The closing assembly (64) comprises a cylinder (641), the top end of which is fixedly connected to a filter screen (642), a valve cover (643) is arranged inside the cylinder (641), the bottom end of the valve cover (643) is fixedly connected to a return spring (645), and the inner wall of the cylinder (641) is fixedly connected to a valve body sealing ring (644).

9. The adaptive intelligent gripper based on 3D printed porous structure and magnetorheological fluid according to claim 8, characterized in that: The outer wall of the cylinder (641) is fixedly connected to the inner wall of the contact ring (63), and one end of the return spring (645) away from the valve cover (643) is fixedly connected to the inner wall of the cylinder (641).

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