A flexible valve as a pneumatic logic gate element

Abstract

The present invention discloses a flexible valve as a pneumatic logic gate element; the flexible valve includes a valve housing, a telescopic deformation tube, a valve stem and a three-way hose. The valve housing is provided with a first chamber and a second chamber that are not connected to each other. The telescopic deformation tube is fixed in the valve housing. The telescopic deformation tube is divided into a first telescopic section in the first chamber and a second telescopic section in the second chamber. When the valve stem is in the first extreme position, the first ventilation hose is cut off and the second ventilation hose is connected. When the valve stem is in the second extreme position, the second ventilation hose is cut off and the first ventilation hose is connected. The present invention realizes on-off control of the two ventilation hoses by squeezing the hoses, and then can adjust the input air pressure of the five working air ports so that the same flexible valve can be arbitrarily switched between the five pneumatic logic gate elements of AND gate, NOT gate, OR gate, NAND gate and XOR gate, thereby realizing full pneumatic digital control of the pneumatic circuit.

Description

Technical Field

[0001] The present invention belongs to the field of flexible valves, and particularly relates to a flexible valve as a pneumatic logic gate element. Background Art

[0002] With the development of flexible mechanical devices, pneumatic control equipment has become increasingly complex. In flexible robotic devices, complex drive sequences and precise force control usually require hard electronic valves. However, due to their heavy weight, large volume, and lack of good ductility and stretchability, hard electronic valves cannot be applied to flexible devices. Integrating the control system into soft devices is a necessary step to achieve complex devices and difficult drive sequences. In addition, pneumatic valves are difficult to implement logic gate functions and are difficult to switch between multiple logic gate modes, which limits the flexibility of pure pneumatic control. Summary of the Invention

[0003] The object of the present invention is to provide a flexible valve as a pneumatic logic gate element.

[0004] A flexible valve as a pneumatic logic gate element includes a valve housing, a telescopic deformation tube, a valve stem, and a three-way ventilation tube; a first chamber and a second chamber that are not connected to each other are provided inside the valve housing; the telescopic deformation tube is fixed inside the valve housing; the telescopic deformation tube is divided into a first telescopic section in the first chamber and a second telescopic section in the second chamber; the inner cavities of the first telescopic section and the second telescopic section are connected; both ends of the valve stem are respectively fixed to the opposite ends of the first telescopic section and the second telescopic section.

[0005] A first flow channel and a second flow channel are respectively provided at both ends of the valve housing. First grooves and second grooves are respectively formed at both ends of the inner cavity of the valve housing. Both ends of the valve stem respectively extend into the first groove and the second groove; the first groove intersects with the first flow channel; the second groove intersects with the second flow channel.

[0006] In a state where the air pressure in the first chamber is less than the air pressure in the second chamber, the first telescopic section elongates, the second telescopic section shortens, the valve stem is in the first limit position, and the first flow channel is blocked by the valve stem; in a state where the air pressure in the second chamber is less than the air pressure in the first chamber, the first telescopic section shortens, the second telescopic section elongates, the valve stem is in the second limit position, and the second flow channel is blocked by the valve stem.

[0007] The three-way ventilation tube includes a first ventilation tube, a second ventilation tube, and an output ventilation tube that are connected to each other; the first ventilation tube is butted against one end of the first flow channel; the second ventilation tube is butted against one end of the second flow channel. The other end of the first flow channel serves as a first ventilation port; the other end of the second flow channel serves as a second ventilation port. The outer end of the output ventilation tube serves as an output ventilation port. A first control port communicating with the first chamber and a second control port communicating with the second chamber are provided on the valve housing.

[0008] Preferably, the flexible valve has a NOT gate mode; in the NOT gate mode, the first control port serves as the input port, and the output vent port serves as the output port; a constant air pressure P0 is introduced into the first vent port, a constant air pressure P1 is introduced into the second vent port, and a constant air pressure P2 is introduced into the second control port; P0 < P2 < P1.

[0009] Preferably, the flexible valve has an AND gate mode; in the AND gate mode, the first vent port serves as the first input port, the first control port serves as the second input port, and the output vent port serves as the output port; a constant air pressure P0 is introduced into the second vent port, and a constant air pressure P2 is introduced into the second control port; P0 < P2 < P1.

[0010] Preferably, the flexible valve has an OR gate mode; the second vent port serves as the first input port, the first control port serves as the second input port, and the output vent port serves as the output port; a constant air pressure P1 is introduced into the first vent port, and a constant air pressure P2 is introduced into the second control port; P0 < P2 < P1.

[0011] Preferably, the flexible valve has a first compound logic gate mode; the second vent port serves as the first input port, the first control port serves as the second input port, and the output vent port serves as the output port; a constant air pressure P0 is introduced into the first vent port, and a constant air pressure P2 is introduced into the second control port; P0 < P2 < P1.

[0012] Preferably, the flexible valve has a second compound logic gate mode; in the second compound logic gate mode, the first vent port serves as the first input port, the first control port serves as the second input port, the second vent port serves as the third input port, and the output vent port serves as the output port; a constant air pressure P2 is introduced into the second control port; P0 < P2 < P1.

[0013] Preferably, a partition is fixed at the middle position of the inner cavity of the valve housing; the partition divides the inner cavity of the valve housing into a first chamber and a second chamber; a through hole is formed in the partition; the middle part of the telescopic deformation tube is fixedly sealed with the through hole on the partition.

[0014] Preferably, the opposite ends of the first telescopic section and the second telescopic section are both closed; both ends of the valve stem pass through the opposite end faces of the first telescopic section and the second telescopic section respectively.

[0015] Preferably, the telescopic deformation tube is made of an elastic material and is composed of a plurality of telescopic units arranged in sequence and integrally formed. Each telescopic unit is composed of two frustum-shaped tube sections integrally formed. The large-diameter edges of the two tube sections are connected together. First electrode plates are pasted on the inner sides of the two frustum-shaped tube sections; an insulating layer is arranged on the outer side surface of the first electrode plate. During the working process, a voltage is applied between the first electrode plates on the two frustum-shaped tube sections of the same telescopic unit to generate an electrostatic force between the two first electrode plates. A dielectric liquid is filled in the inner cavity of the telescopic deformation tube. A mobile power source is embedded and installed inside the valve stem.

[0016] Preferably, a first gel electrode and a second gel electrode are respectively fixed at both ends of the valve stem. The first gel electrode and the second gel electrode have the same structure and are both composed of a viscous gel and a second electrode sheet. The viscous gel is arranged on the outer side of the second electrode sheet; a first dielectric liquid electrode and a second dielectric liquid electrode are respectively fixed at the bottom ends of the first groove and the second groove. The first dielectric liquid electrode and the second dielectric liquid electrode have the same structure and are both composed of a third electrode sheet and a viscous dielectric liquid. The viscous dielectric liquid is arranged on the outer side of the third electrode sheet. During the working process, a voltage is applied between the corresponding second electrode sheet and the third electrode sheet; an electrostatic attraction force is generated between the bottom of the first groove or the second groove and the valve stem.

[0017] Preferably, the first electrode sheet, the second electrode sheet and the third electrode sheet are all made of copper sheets.

[0018] Preferably, the dielectric liquid is silicone oil.

[0019] Preferably, the valve housing is made of silica gel.

[0020] Preferably, the viscous gel is a hydrogel.

[0021] The beneficial effects of the present invention are as follows:

[0022] 1. The present invention realizes the on-off control of the first air vent and the second air vent by the way that the valve stem slides to block the flow channel, and further can adjust the input air pressure of each working air port, so that the same flexible valve can be arbitrarily switched between five pneumatic logic gate elements, namely AND gate, NOT gate, OR gate, first composite logic gate and second composite logic gate, to realize the full-pneumatic digital control of the pneumatic circuit.

[0023] 2. The present invention can connect multiple flexible valves with the same or different modes to form a multi-input and multi-output digital control air circuit with a more complex control logic, so as to cope with more complex pneumatic tasks without directly using a control circuit.

[0024] 3. The present invention uses the electrostatic driving force at the folded thin wall to strengthen the compressed state of the folded tube and keep it locked after it is completely compressed, so as to maintain the stability of the valve.

[0025] 4. The present invention combines the macroscopic air pressure and the microscopic electrostatic force, uses the axial movement of the valve stem to change the closed state of the valve, and completes the complete closing of the valve microscopically in the form of electrostatic adsorption of the electrodes of the valve stem. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is the first structural schematic diagram of the present invention.

[0027] Figure 2 Schematic diagram of the electrode acting force of the present invention.

[0028] Figure 3 Schematic diagram of the electrode acting force at the valve stem of the present invention.

[0029] Figure 4a Simplified component diagram of the present invention in the NOT gate mode.

[0030] Figure 4b Schematic diagram showing that when the input is 0 and the output is 1 in the NOT gate mode of the present invention.

[0031] Figure 4c Schematic diagram showing that when the input is 1 and the output is 0 in the NOT gate mode of the present invention.

[0032] Figure 5a Simplified schematic diagram of the components of the present invention in the AND gate mode.

[0033] Figure 5b Schematic diagram showing that when both inputs are 1 and the output is 1 in the AND gate mode of the present invention

[0034] Figure 6a Simplified schematic diagram of the components of the present invention in the OR gate mode.

[0035] Figure 6b Schematic diagram showing that when input 1 is 1, input 2 is 0, and the output is 1 in the OR gate mode of the present invention.

[0036] Figure 7a Simplified schematic diagram of the components of the present invention in the first composite logic gate mode.

[0037] Figure 7b Schematic diagram showing that when both inputs are 0 and the output is 0 in the first composite logic gate mode of the present invention.

[0038] Figure 8a Simplified schematic diagram of the components of the present invention in the second composite logic gate mode.

[0039] Figure 8b Schematic diagram showing that when the first input is 0, the second and third inputs are 1, and the output is 1 in the second composite logic gate mode of the present invention. Detailed implementation manners

[0040] The present invention will be further described below with reference to the accompanying drawings.

[0041] As Figure 1As shown in the figure, a flexible valve as a pneumatic logic gate element includes a valve housing, a three-way ventilation pipe 7, a valve rod 8, a telescopic and deformable pipe 10, and a partition 19. The valve housing includes an outer housing 2 and an inner housing 3. The inner housing 3 is fixed in the outer housing 2; a partition 19 is fixed at the middle position of the inner cavity of the inner housing 3; the partition 13 divides the inner cavity of the inner housing 3 into a first chamber 4 and a second chamber 22. The upper and lower ends of the inner housing 3 are respectively provided with a first control port 20 communicating with the first chamber 4 and a second control port 18 communicating with the second chamber 22. A through hole is provided on the partition 19. The middle part of the outer side of the telescopic and deformable pipe 10 is fixedly sealed with the through hole of the partition 19. The telescopic and deformable pipe 10 is divided into a first telescopic section 23 in the first chamber 4, a connecting section connected to the through hole on the partition 13, and a second telescopic section 24 in the second chamber 22. The opposite ends of the first telescopic section 23 and the second telescopic section 24 are both closed. The two ends of the valve rod 8 respectively pass through the opposite end faces of the first telescopic section 23 and the second telescopic section 24. And, the first telescopic section 23 and the second telescopic section 24 are fixed at the valve rod 8. The telescopic and deformable pipe completely isolates the first chamber 4 from the second chamber 22, so that both the first chamber 4 and the second chamber 22 form independent enclosed spaces. Through holes are provided at both ends of the inner housing 3, and the two ends of the valve rod 8 respectively penetrate through the through holes at both ends of the inner housing 3.

[0042] The telescopic and deformable pipe 10 is made of an elastic material and consists of a plurality of telescopic units integrally formed and arranged in sequence. The telescopic unit consists of two frustum-shaped pipe sections integrally formed. The large-diameter edges of the two pipe sections are connected together. When the telescopic and deformable pipe 10 elongates, the taper of the frustum-shaped pipe section decreases; when the telescopic and deformable pipe 10 shortens, the taper of the frustum-shaped pipe section increases.

[0043] A first electrode sheet 13 is pasted on the inner sides of both frustum-shaped pipe sections; an insulating layer is provided on the outer side of the first electrode sheet 13. During the working process, a voltage is applied between the first electrode sheets 13 on the two frustum-shaped pipe sections of the same telescopic unit, so that an electrostatic force is generated between the two first electrode sheets 13. A dielectric liquid 11 is filled in the inner cavity of the telescopic and deformable pipe 10. A mobile power source 9 is embedded and installed inside the valve rod 8; the mobile power source 9 provides voltage for the first electrode sheet 13 through a wire 12.

[0044] Through holes are provided at both ends of the outer housing 2 along its own width; the two through holes are respectively a first flow channel 6 and a second flow channel 16. First grooves 5 and second grooves 21 aligned with the valve rod 8 are provided at both ends of the inner cavity of the outer housing 2. The first groove 5 completely intersects with the first flow channel 6; the second groove 21 completely intersects with the second flow channel 16.

[0045] The valve stem 8 has two limit positions axially. The first limit position of the valve stem 8 is that one end of the valve stem 8 extends into the first groove 5; the second limit position of the valve stem 8 is that the other end of the valve stem 8 extends into the second groove 21. A sealing ring 15 is provided at the position where the valve stem 8 passes through the inner shell 3. When the valve stem 8 extends into the first groove 5, the valve stem 8 completely blocks the first flow channel 6; when the valve stem 8 extends into the second groove 21, the valve stem 8 completely blocks the second flow channel 16.

[0046] Both the first telescopic section 23 and the second telescopic section 24 can telescopically move axially, thereby driving the valve stem 8 to move axially. When the pressure in the first chamber 4 is less than the pressure in the second chamber 22, the first telescopic section 23 elongates, the second telescopic section 24 shortens, and the valve stem 8 moves towards the first chamber 4 to the first limit position. When the pressure in the second chamber 22 is less than the pressure in the first chamber 4, the second telescopic section 24 elongates, the first telescopic section 23 shortens, and the valve stem 8 moves towards the second chamber 22 to the second limit position.

[0047] As Figure 2 shown, when the second telescopic section 24 and the first telescopic section 23 are in the extended state, the included angle between the two first electrode plates 13 is larger, the distance between the first electrode plates 13 is larger, and the electrostatic adsorption force is smaller; when the second telescopic section 24 and the first telescopic section 23 are in the compressed state, the distance between the first electrode plates 13 is smaller, and the electrostatic adsorption force is larger. This adsorption force can further compress the second telescopic section 24 and the first telescopic section 23 and maintain the stability of the valve in the locked state after complete compression.

[0048] As Figure 3 shown, first gel electrodes 28 and second gel electrodes 26 are respectively provided at both ends of the valve stem 8. The first gel electrodes 28 and the second gel electrodes 26 have the same structure and are both composed of a high-viscosity gel 28-1 and a second electrode plate 28-2. First dielectric liquid electrodes 27 and second dielectric liquid electrodes 25 are respectively fixed at the bottom ends of the first groove 5 and the second groove 21. The first dielectric liquid electrodes 27 and the second dielectric liquid electrodes 25 have the same structure and are both composed of a third electrode plate 27-1 and a high-viscosity dielectric liquid 27-2. When the distance between the first gel electrode and the first dielectric liquid electrode 27 becomes smaller, the two are attracted to each other under the action of electrostatic force; when the distance between the second gel electrode 26 and the second dielectric liquid electrode 25 becomes smaller, the two are attracted to each other under the action of electrostatic force.

[0049] The three-way vent pipe 7 includes a first vent pipe, a second vent pipe, and an output vent pipe with their inner ends connected together. The outer end of the first vent pipe is butted against one end of the first flow channel 6; the outer end of the second vent pipe is butted against one end of the second flow channel 16. The other end of the first flow channel 6 serves as the first vent port 1; the other end of the second flow channel 16 serves as the second vent port 17. The outer end of the output vent pipe serves as the output vent port 14.

[0050] When the air pressure in the first chamber 4 is greater than the air pressure in the second chamber 22, the valve stem 5 slides to the first groove 5, and the valve stem 5 cuts off the first flow channel, so that the first vent port 1 is cut off from the output vent port 14, while the second vent port 17 is in communication with the output vent port 14. At this time, the output pressure of the output vent port 14 is equal to the input pressure of the second vent port 17.

[0051] When the air pressure in the second chamber 22 is greater than the air pressure in the first chamber 4, the valve stem 5 slides to the first groove 5, and the valve stem 5 cuts off the first flow channel, so that the first vent port 1 is in communication with the output vent port 14, while the second vent port 17 is cut off from the output vent port 14. At this time, the output pressure of the output vent port 14 is equal to the input pressure of the first vent port 1.

[0052] The flexible valve as a pneumatic logic gate element has five working modes, namely the NOT gate mode, the AND gate mode, the OR gate mode, the first composite logic gate mode and the second composite logic gate mode. The five working modes correspond to five logic gate elements respectively. Three air pressures P0, P1, and P2 of different magnitudes are preset, where P0 < P2 < P1. The output air pressure P0 represents the output of a "0" signal; the output air pressure P1 represents the output of a "1" signal. The first composite logic gate has two input ports and one output port, and is a combination of an AND gate and a NOT gate. The NOT gate is connected to the first input port of the AND gate. The second composite logic gate has three input ports and one output port, and is a combination of a NOT gate, two AND gates and one OR gate. The output ports of the two AND gates are respectively connected to the two input ports of the OR gate. The first input ports of the two AND gates are respectively connected to the input port and the output port of the NOT gate. The second input ports of the two AND gates are respectively the first input port and the third input port of the second composite logic gate; the input port of the NOT gate is the second input port of the second composite logic gate; the output port of the OR gate is the output port of the second composite logic gate.

[0053] As Figure 4a 、 4b, as shown in Figs. 4c, in the NOT gate mode, the first control port 20 serves as the input port, and the output vent port 14 serves as the output port; a constant air pressure P0 is introduced into the first vent port 1, a constant air pressure P1 is introduced into the second vent port 17, and a constant air pressure P2 is introduced into the second control port 18. When the input of the first control port 20 serving as the input port is the air pressure P0, that is, the input is "0", at this time, the first vent port 1 is blocked, the second vent port 17 is conducted, and the air pressure of the output vent port 14 serving as the output port is equal to the air pressure P1 input to the second vent port 17, that is, the output value is "1"; conversely, when the input of the first control port 20 serving as the input port is the air pressure P1, that is, the input is "1", at this time, the second vent port 17 is blocked, the first vent port 1 is conducted, and the air pressure of the output vent port 14 serving as the output port is equal to the air pressure P0 input to the first vent port 1, that is, the output value is "0". Therefore, in the NOT gate mode, the Boolean values of the input and output of the flexible valve serving as a pneumatic logic gate element are opposite, and the flexible valve serving as a pneumatic logic gate element presents a NOT gate air path structure.

[0054] As Figure 5a and 5b shown, in the AND gate mode, the first vent port 1 serves as the first input port, the first control port 20 serves as the second input port, and the output vent port 14 serves as the output port; a constant air pressure P0 is introduced into the second vent port 17, and a constant air pressure P2 is introduced into the second control port 18. When the input of the first vent port 1 serving as the first input port is the air pressure P0, that is, the input 1 is "0", at this time, regardless of whether the first control port 20 is blocked or conducted, the air pressure of the output vent port 14 serving as the output port is constantly P0, that is, the output value is "0"; conversely, when the input air pressure of the first control port 20 serving as the second input port is P0, at this time, regardless of whether the first control port 1 is blocked or conducted, the air pressure of the output vent port 14 serving as the output port is constantly the air pressure P0 of the second vent port 17, that is, the output value is "0"; therefore, only when the input of the first vent port 1 serving as the input port is the air pressure P1 and the input of the first control port 20 is the air pressure P1, that is, both input 1 and input 2 are "1", at this time, the air pressure of the output vent port 14 serving as the output port is P1, that is, the output value is "1". Therefore, in the AND gate mode, only when the input Boolean values are both 1, the output Boolean value is 1. The flexible valve serving as a pneumatic logic gate element presents an AND gate air path structure.

[0055] As Figure 6a and 6b shown, in the OR gate mode, the second vent port 17 serves as the first input port, the first control port 20 serves as the second input port, and the output vent port 14 serves as the output port; a constant air pressure P1 is introduced into the first vent port 1, and a constant air pressure P2 is introduced into the second control port 18.

[0056] When the input of the second vent port 17 as the first input port is the air pressure P1, that is, the input 1 is "1", at this time, the air pressures of both the first vent port 1 and the second vent port 17 are P1. The air pressure of the output vent port 14 as the output port is P1, that is, the output value is "1"; when the input of the first control port 20 as the second input port is the air pressure P1, that is, the input 2 is "1", at this time, the first vent port 1 is conducting and the second vent port 17 is cut off. The air pressure of the output vent port 14 as the output port is equal to the first vent port P1, that is, the output value is "1"; when the inputs of the second vent port 17 as the first input port and the first control port 20 as the second input port are the air pressure P0, that is, both the input 1 and the input 2 are "0", at this time the first vent port 1 is cut off and the second vent port 17 is conducting. The air pressure of the output vent port 14 as the output port is equal to the first vent port P0, that is, the output value is "0". Therefore, in the NOT gate mode, only when one of the input Boolean values is 1, the output Boolean value is 1. The flexible valve for the pneumatic logic gate element presents an OR gate air path structure.

[0057] As Figure 7a , 7b shown, in the first composite logic gate mode, the second vent port 17 serves as the first input port, the first control port 20 serves as the second input port, and the output vent port 14 serves as the output port; a constant air pressure P0 is introduced into the first vent port 1, and a constant air pressure P2 is introduced into the second control port 18.

[0058] When the input of the second vent port 17 as the first input port is the air pressure P1, that is, the input 1 is "1", and when the input of the first control port 20 as the second input port is the air pressure P0, that is, the input 2 is "0", at this time, the first vent port 1 is cut off and the second vent port 17 is conducting. The air pressure of the output vent port 14 as the output port is equal to the second vent port 17, that is, the output value is "1"; when the input of the second vent port 17 as the first input port is the air pressure P1, that is, the input 1 is "1", and when the input of the first control port 20 as the second input port is the air pressure P1, that is, the input 2 is "1", at this time, the first vent port 1 is conducting and the second vent port 17 is cut off. The air pressure of the output vent port 14 as the output port is equal to the first vent port P0, that is, the output value is "0"; when the input of the second vent port 17 as the first input port is the air pressure P0, that is, the input 1 is "0", at this time, regardless of whether the first control port 20 is cut off or conducting, the air pressure of the output vent port 14 as the output port is constantly P0, that is, the output value is "0"; therefore, in the first composite logic gate mode, only when the Boolean value of the input 1 is 1 and the Boolean value of the input 2 is 0, the output Boolean value is 1, and in other cases the output Boolean value is 0. The flexible valve for the pneumatic logic gate element presents a first composite logic gate air path structure.

[0059] The truth table of the first composite logic gate is as follows:

[0060] Input 1 Input 2 Output 0 0 0 1 0 1 0 1 0 1 1 0

[0061] As Figure 8a 、 8b shown, in the second composite logic gate mode, the first vent port 1 serves as the first input port, the first control port 20 serves as the second input port, and the second vent port 17 serves as the third input port; the output vent port 14 serves as the output port; a constant air pressure P2 is introduced into the second control port 18.

[0062] When the input of the first vent port 1 as the first input port is the air pressure P1, that is, the input 1 is "1", and the input of the second vent port 17 as the third input port is the air pressure P1, that is, the input 3 is "1", at this time, regardless of whether the state of the first control port 20 is cut-off or conducting, the air pressure of the output vent port 14 as the output port is constantly P1, that is, the output value is "1"; When the input of the first vent port 1 as the first input port is the air pressure P1, that is, the input 1 is "1", and the air pressure of the first control port 20 as the second input port is constantly P1, that is, the input 2 is "1", at this time, the first vent port 1 is conducting and the second vent port 17 is cut-off. The air pressure of the output vent port 14 as the output port is equal to the air pressure P1 of the first vent port, that is, the output value is "1"; When the input of the first vent port 1 as the first input port is the air pressure P0, that is, the input 1 is "0", and the input of the second vent port 17 as the third input port is the air pressure P0, that is, the input 3 is "0", at this time, regardless of whether the state of the first control port 20 is cut-off or conducting, the air pressure of the output vent port 14 as the output port is constantly P0, that is, the output value is "0"; When the input of the first vent port 1 as the first input port is the air pressure P1, that is, the input 1 is "1", the air pressure of the first control port 20 as the second input port is constantly P0, that is, the input 2 is "0", and the input of the second vent port 17 as the third input port is the air pressure P0, that is, the input 3 is "0", at this time, the first vent port 1 is cut-off and the second vent port 17 is conducting. The air pressure of the output vent port 14 as the output port is equal to the air pressure P0 of the second vent port, that is, the output value is "0"; When the input of the first vent port 1 as the first input port is the air pressure P0, that is, the input 1 is "0", the air pressure of the first control port 20 as the second input port is constantly P0, that is, the input 2 is "0", and the input of the second vent port 17 as the third input port is the air pressure P1, that is, the input 3 is "1", at this time, the first vent port 1 is cut-off and the second vent port 17 is conducting. The air pressure of the output vent port 14 as the output port is equal to the air pressure P1 of the second vent port, that is, the output value is "1"; When the input of the first vent port 1 as the first input port is the air pressure P0, that is, the input 1 is "0", the air pressure of the first control port 20 as the second input port is constantly P1, that is, the input 2 is "1", and the input of the second vent port 17 as the third input port is the air pressure P1, that is, the input 3 is "1", at this time, the first vent port 1 is conducting and the second vent port 17 is cut-off. The air pressure of the output vent port 14 as the output port is equal to the air pressure P0 of the first vent port, that is, the output value is "0".

[0063] Therefore, in the second composite logic gate mode, when input 1 is "1", if input 2 or input 3 is "1", the output is "0"; when input 1 and input 2 are "0" and input 3 is "1", the output is "0"; when one of the inputs is 1 and the other two inputs are 0, the output is 1; when all three inputs are 1, the output is 1; in other cases, the output is 0; the flexible valve of the pneumatic logic gate element presents the second composite logic gate gas path structure.

[0064] The truth table of the second composite logic gate is as follows:

[0065]

[0066]

[0067] This embodiment also provides a working method for the flexible valve used as the pneumatic logic gate element described above. The specific process is as follows:

[0068] According to the pneumatic control requirements, set the flexible valve of the pneumatic logic gate element to any one of the NOT gate mode, AND gate mode, OR gate mode, first composite logic gate mode, and second composite logic gate mode; according to the set mode, set each working air port as an input port, an output port, or introduce a set air pressure. Then connect the flexible valve into the air path control loop and use it as a pneumatic logic gate element.

[0069] In summary, for the flexible valve provided in this embodiment and used as a pneumatic logic gate element, only by introducing a specified air pressure to each working air port, the flexible bistable valve can be converted into five pneumatic logic gates (AND gate, NOT gate, OR gate, first composite logic gate, XOR gate) respectively; according to the air path control requirements, set multiple flexible valves used as pneumatic logic gate elements to the required pneumatic logic gates and connect them in series or in parallel, and different functional complex logic air paths can be obtained to achieve the logical control of complex equipment and driving sequences.

Claims

1. A flexible valve as a pneumatic logic gate element, comprising a valve housing; characterized in that: It also includes a telescopic deformation pipe, a valve stem (8) and a three-way ventilation pipe; a first chamber (4) and a second chamber (22) that are not connected to each other are arranged inside the valve housing; the telescopic deformation pipe is fixed inside the valve housing; the telescopic deformation pipe is divided into a first telescopic section (23) in the first chamber (4) and a second telescopic section (24) in the second chamber (22); the inner cavities of the first telescopic section (23) and the second telescopic section (24) are connected; the two ends of the valve stem (8) are respectively fixed to the opposite ends of the first telescopic section (23) and the second telescopic section (24). A first flow channel (6) and a second flow channel (16) are respectively arranged at both ends of the valve housing; a first groove (5) and a second groove (21) are respectively opened at both ends of the inner cavity of the valve housing; the two ends of the valve stem (8) respectively extend into the first groove (5) and the second groove (21); the first groove (5) intersects with the first flow channel (6); the second groove (21) intersects with the second flow channel (16). Under the state that the air pressure in the first chamber (4) is less than the air pressure in the second chamber (22), the first telescopic section (23) elongates, the second telescopic section (24) shortens, the valve stem (8) is in the first limit position, and the first flow channel (6) is blocked by the valve stem (8); under the state that the air pressure in the second chamber (22) is less than the air pressure in the first chamber (4), the first telescopic section (23) shortens, the second telescopic section (24) elongates, the valve stem (8) is in the second limit position, and the second flow channel (16) is blocked by the valve stem (8). The three-way ventilation pipe described includes a first ventilation pipe, a second ventilation pipe and an output ventilation pipe that are connected to each other; the first ventilation pipe is butted with one end of the first flow channel (6); the second ventilation pipe is butted with one end of the second flow channel (16); the other end of the first flow channel (6) serves as a first ventilation port (1); the other end of the second flow channel (16) serves as a second ventilation port (17); the outer end of the output ventilation pipe serves as an output ventilation port (14); a first control port (20) communicated with the first chamber (4) and a second control port (18) communicated with the second chamber (22) are arranged on the valve housing.

2. The flexible valve as a pneumatic logic gate element according to claim 1, characterized in that: It has a NOT gate mode; in the NOT gate mode, the first control port serves as an input port, and the output ventilation port (14) serves as an output port; a constant air pressure P0 is introduced into the first ventilation port (1), a constant air pressure P1 is introduced into the second ventilation port (17), and a constant air pressure P2 is introduced into the second control port; P0 < P2 < P1.

3. The flexible valve as a pneumatic logic gate element according to claim 1, characterized in that: It has an AND gate mode; in the AND gate mode, the first ventilation port (1) serves as a first input port, the first control port serves as a second input port, and the output ventilation port (14) serves as an output port; a constant air pressure P0 is introduced into the second ventilation port (17), and a constant air pressure P2 is introduced into the second control port; P0 < P2 < P1.

4. The flexible valve as a pneumatic logic gate element according to claim 1, characterized in that: It has an OR gate mode; the second ventilation port (17) serves as a first input port, the first control port serves as a second input port, and the output ventilation port (14) serves as an output port; a constant air pressure P1 is introduced into the first ventilation port (1), and a constant air pressure P2 is introduced into the second control port; P0 < P2 < P1.

5. The flexible valve as a pneumatic logic gate element according to claim 1, characterized in that: It has a first composite logic gate mode; the second vent (17) serves as the first input port, the first control port serves as the second input port, and the output vent (14) serves as the output port; a constant air pressure P0 is introduced into the first vent (1), and a constant air pressure P2 is introduced into the second control port; P0 < P2 < P1.

6. The flexible valve as a pneumatic logic gate element according to claim 1, characterized in that: It has a second composite logic gate mode; in the second composite logic gate mode, the first vent (1) serves as the first input port, the first control port (20) serves as the second input port, the second vent (17) serves as the third input port, and the output vent (14) serves as the output port; a constant air pressure P2 is introduced into the second control port; P0 < P2 < P1.

7. A flexible valve as a pneumatic logic gate element according to any one of claims 1-6, characterized in that: A partition (19) is fixed at the middle position of the inner cavity of the valve housing; the partition (19) divides the inner cavity of the valve housing into a first chamber (4) and a second chamber (22); through holes are provided on the partition (19); the middle part of the telescopic deformation tube is fixedly sealed with the through holes on the partition (19).

8. A flexible valve as a pneumatic logic gate element according to any one of claims 1-6, characterized in that: Both opposite ends of the first telescopic section (23) and the second telescopic section (24) are closed; both ends of the valve stem (8) pass through the opposite end faces of the first telescopic section (23) and the second telescopic section (24) respectively.

9. The flexible valve as a pneumatic logic gate element according to claim 8, characterized in that: The telescopic deformation tube (10) is made of an elastic material and consists of a plurality of telescopic units arranged in sequence and integrally formed; each telescopic unit consists of two frustum-shaped tube sections integrally formed; the large-diameter edges of the two tube sections are connected together; first electrode plates (13) are pasted on the inner sides of the two frustum-shaped tube sections; an insulating layer is provided on the outer side of the first electrode plates (13); during the working process, a voltage is applied between the first electrode plates (13) on the two frustum-shaped tube sections of the same telescopic unit to generate an electrostatic force between the two first electrode plates (13); a dielectric liquid (11) is filled in the inner cavity of the telescopic deformation tube (10); a mobile power source (9) is embedded and installed inside the valve stem (8).

10. A flexible valve as a pneumatic logic gate element according to claim 8, characterized in that: First gel electrodes (28) and second gel electrodes (26) are respectively fixed at both ends of the valve stem (8); the first gel electrode (28) and the second gel electrode (26) have the same structure and both consist of a viscous gel (28-1) and a second electrode plate (28-2); the viscous gel (28-1) is arranged on the outer side of the second electrode plate (28-2); first dielectric liquid electrodes (27) and second dielectric liquid electrodes (25) are respectively fixed at the bottoms of the first groove (5) and the second groove (21); the first dielectric liquid electrode (27) and the second dielectric liquid electrode (25) have the same structure and both consist of a third electrode plate (27-1) and a viscous dielectric liquid (27-2); the viscous dielectric liquid (27-2) is arranged on the outer side of the third electrode plate (27-1); during the working process, a voltage is applied between the corresponding second electrode plate (28-2) and the third electrode plate (27-1); an electrostatic suction force is generated between the bottom of the first groove (5) or the second groove (21) and the valve stem (8).

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