Multi-size sheet-shaped pneumatic driver capable of bidirectionally fluctuating and driving method

Abstract

The invention relates to a multi-size sheet-shaped pneumatic driver capable of bidirectionally fluctuating and a driving method, the driver comprises a driving assembly, the driving assembly comprises two sheet-shaped air bag pieces, a flexible framework and a ventilation pipe, and the flexible framework is fixed between the two sheet-shaped air bag pieces; the sheet-shaped air bag piece is composed of a plurality of air bags arranged side by side. Each air bag is formed by two layers of sheet-shaped films and a flexible frame in a heat sealing mode to form a sealed air cavity. The ventilation assembly comprises an air inlet module and an air outlet module, the air inlet module is a ventilation pipe in the middle of the long edge of the sheet-shaped air bag part and is connected with an air pump, and the air outlet module is a ventilation pipe in the middle of the short edge and can achieve automatic deflation; the control center is used for controlling the on-off of the air pump; the two sheet-shaped air bag pieces are alternately and asynchronously inflated, the flexible framework is driven to be bent in a two-way mode to form a C shape, and periodical fluctuation propulsive force is generated. Compared with the prior art, the system has the advantages of high flexibility, controllable deformation, modularization, expandability, low energy consumption, simplified control and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of soft drive technology, in particular to a multi-size sheet-shaped pneumatic drive capable of bidirectional fluctuation and a driving method. Background Art

[0002] In recent years, soft robots, as an emerging type of intelligent equipment, have garnered widespread attention in various fields, including mechanical engineering. Their key advantages lie in their high structural flexibility, strong safety, low cost, and ability to achieve complex deformations. They are particularly well-suited for tasks involving frequent human contact or in unstructured environments. Compared to traditional rigid robots, soft robots, made from polymer elastic materials such as silicone and TPU, possess superior compliance, collision resistance, and the ability to adapt to complex terrain or surface morphologies.

[0003] Soft robots have demonstrated potential in a variety of fields. For example, flying soft robots can be used for environmental exploration and disaster relief, and soft robotic fish can be applied to deep-sea exploration and environmental monitoring. In the biomedical field, biomimetic grippers that combine flexible materials with actuation technology enable more natural grasping and manipulation, providing important support for the development of micro- and nano-medical robots, prosthetics, and assisted rehabilitation devices.

[0004] In terms of actuation methods, currently mainstream soft actuators utilize pneumatics, hydraulics, dielectric elastomers, or shape memory alloys. Pneumatic actuators are widely used due to their fast response, strong controllability, and simple implementation. Pneumatic actuators use gas pressure to expand a cavity, which then achieves motion through flexible deformation.

[0005] Patent CN202211481007.0 discloses a flexible pneumatic actuator and a flexible pneumatic drive device. The flexible pneumatic actuator includes a main body structure and a deformation part. The main body structure includes a first air port and a hollow part that are connected to each other. The deformation part is connected to the main body structure and includes an outer wall and an inner cavity formed by the outer wall. The inner cavity is connected to the hollow part of the main body structure. The material of the deformation part is a liquid crystal elastomer with a preset liquid crystal orientation. The flexible pneumatic actuator changes the internal pressure of the inner cavity and the hollow part so that the deformation part undergoes a preset deformation according to the liquid crystal orientation. However, in the technical solution, the liquid crystal elastomer material has limitations, restricts large-scale production and is uncontrollable, has limited driving performance, and is complex to control.

[0006] However, the existing soft pneumatic actuators still have the following problems that need to be solved urgently, such as insufficient flexibility: some actuators still use semi-rigid or thick-walled materials, resulting in limited flexible deformation; low driving accuracy: traditional pneumatic structures lack complex motion mode design, making it difficult to achieve more flexible movements such as undulation, tumbling, and creeping; poor modularity: most actuators cannot be disassembled or adjusted, making it difficult to adapt to various working conditions, resulting in high R&D costs and difficult maintenance; energy consumption and control issues: high-frequency charging and discharging often use solenoid valves and complex electronic control modules, which increases system energy consumption, weight, and power consumption. Summary of the Invention

[0007] The purpose of the present invention is to overcome the defects of the above-mentioned prior art such as limited flexible deformation, high energy consumption, complex control, and poor modular adaptability, and to provide a multi-sized sheet pneumatic actuator and driving method that can fluctuate in both directions, with high flexibility and controllable deformation; modularity and scalability; low energy consumption and simplified control.

[0008] The purpose of the present invention can be achieved by the following technical solutions:

[0009] The present invention proposes that through interactive asynchronous inflation, the airbag components can alternately generate C-shaped bending on both sides, forming bidirectional fluctuations, thereby achieving energy storage and release. The driver contains no electronic components, is low-cost, low-carbon and environmentally friendly. The driver can be applied to diverse needs in scenarios such as bionic robots, medical equipment, disaster relief, and industrial testing. By asynchronously alternating inflation and deflation of the two airbag components, C-shaped periodic bending deformation is achieved, generating a stable fluctuating propulsion force, enabling the soft robot to move forward. At the same time, a modular design is achieved through the splicing of flexible frames, allowing different size combinations to meet different application requirements.

[0010] The present invention provides a multi-size sheet-shaped pneumatic actuator capable of bidirectional fluctuation, comprising:

[0011] The driving assembly includes: two sheet-like airbag components, a flexible frame, and a ventilation tube, wherein the flexible frame is fixed between the two sheet-like airbag components; the sheet-like airbag component is composed of a plurality of airbags arranged side by side, and each airbag is formed by heat-sealing two layers of sheet-like film and the flexible frame to form a sealed air cavity;

[0012] The ventilation assembly includes an air inlet module and an air outlet module. The air inlet module is a ventilation pipe in the middle of the long side of the sheet-shaped airbag, which is connected to an air pump. The air outlet module is a ventilation pipe in the middle of the short side, which can achieve autonomous deflation.

[0013] Control center, used to control the on and off of the air pump;

[0014] By alternately and asynchronously inflating the two sheet-like airbags, the flexible skeleton is driven to bend into a C shape in both directions, generating a periodic fluctuating propulsion force, providing forward momentum for the soft robot.

[0015] Furthermore, double-sided tape is attached to both sides of the flexible skeleton, and two sheet-like airbag components are symmetrically attached to both sides of the flexible skeleton.

[0016] Furthermore, the two sheet-like airbag components are each formed by stacking a sheet-like film, a flexible frame and a sheet-like film in sequence. The flexible frame is sealed by hot melt to form a plurality of sealing lines, and an independent air cavity is formed between every two sealing lines.

[0017] Furthermore, the two sheet airbag components are a first sheet airbag component and a second sheet airbag component, the first sheet airbag component includes a left film of the first sheet airbag component and a right film of the first sheet airbag component, and the second sheet airbag component includes a left film of the second sheet airbag component and a right film of the second sheet airbag component;

[0018] The ventilation assembly takes in air through the first ventilation pipe in the middle of the long sides of the first sheet airbag component and the second sheet airbag component, and exhausts air through the second ventilation pipe in the middle of the short side; one end of the first ventilation pipe is connected to the sheet airbag component, and the other end is connected to the external air pipe; one end of the second ventilation pipe is connected to the sheet airbag component, and the other end is directly discharged into the atmosphere.

[0019] Furthermore, the flexible frame and the flexible skeleton are made of 3D printed TPU material, the sheet film is a transparent TPU film, and the ventilation tube is a transparent FEP hollow tube.

[0020] Furthermore, the inner diameter of the vent pipe of the air inlet module is larger than the inner diameter of the vent pipe of the air outlet module, forming a fast-in and slow-out airflow control.

[0021] Furthermore, the control center includes an STM32 control board, a lithium battery, and a solenoid valve, which are used to alternately control the inflation and deflation timing of the two sheet-like airbag components. The STM32 main controller implements logic control, sequentially controlling the alternating inflation and deflation of the airbags to complete the periodic driving process.

[0022] Furthermore, multiple drivers can be connected in series via flexible connecting belts to form multiple drive units to increase propulsion force.

[0023] Furthermore, it also includes: a bionic foot, which is covered with artificial fiber simulated bristles to enhance ground friction.

[0024] The present invention also provides a method for driving a bidirectionally oscillating multi-size sheet-shaped pneumatic actuator, comprising the following steps:

[0025] S1: The control center controls the on and off of the air pump to inflate the first sheet airbag component, while the second sheet airbag component remains uninflated, causing the actuator to bend to one side in a "C" shape, forming a positive wave;

[0026] S2: Stop inflating the first sheet-like airbag component, so that the first sheet-like airbag component automatically deflates, and the driver returns to a flat state;

[0027] S3: Inflate the second sheet-like airbag component, while the first sheet-like airbag component remains uninflated, so that the actuator bends to the other side in a "C" shape, thereby achieving reverse oscillation;

[0028] S4: Stop inflating the second sheet-like airbag component, so that the second sheet-like airbag component automatically deflates, and the driver returns to a flat state;

[0029] S5: By cyclically executing S1 to S4, a periodic motion is generated to achieve bidirectional fluctuations of the multi-sized sheet pneumatic actuator to generate a stable propulsion force and realize the advancement of the soft robot.

[0030] Compared with the prior art, the present invention has the following advantages:

[0031] (1) High flexibility and controllable deformation. By alternating asynchronous inflation, the sheet-like airbags on both sides produce periodic C-shaped bending, achieving bidirectional wave propulsion, a more flexible motion mode, and suitable for complex environments. The flexible skeleton made of 3D printed TPU material limits the deformation range of the airbag, ensuring that the deformation is controllable and stable, and avoiding disordered expansion. The flexible skeleton constrains the structure of the sheet-like airbag, allowing the actuator to swing in both directions within a controllable range.

[0032] (2) Modularity and scalability. The flexible frame and flexible connecting belt support the combination of multiple drivers in series. Users can adjust the size and length of the driver according to their needs to adapt to different loads or scenarios. In the event of local damage, only a single module needs to be replaced, reducing maintenance costs. The flexible frame structure adopts a splicable design. Users can freely adjust the length and size of the driver according to the application scenario, and it has good scalability. The modular assembly method simplifies the manufacturing process of the driver. At the same time, the unit module can be quickly replaced in the event of local damage, improving the maintainability and reliability of the equipment. Multiple drive units can be combined in series to achieve synchronous operation, thereby increasing the overall output drive power and meeting application scenarios with higher requirements for propulsion and carrying capacity.

[0033] (3) Low energy consumption and simplified control. The self-venting structure design of the driver does not require reliance on complex electronic control systems for exhaust, significantly reducing dependence on electronic components such as solenoid valves, effectively reducing energy consumption and system weight. The entire driving process has almost no gas emission pollution, has good environmental adaptability and green driving potential, and helps solve the problem of high energy consumption of current drivers. The entire driving component meets the definition of soft materials and can produce a larger deformation relative to the object of action when the outside world collides with the object of action, avoiding mechanical damage or part breakage caused by collision in conventional rigid drivers, and has better human-machine collaboration safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic structural diagram of the overall structure of the bidirectionally oscillating multi-size sheet-shaped pneumatic actuator and the sheet-shaped airbag component of the present invention;

[0035] Figure 2 Schematic diagram of the flexible frame and flexible skeleton of the bidirectionally undulating multi-size sheet-shaped pneumatic actuator of the present invention;

[0036] Figure 3 It is a schematic structural diagram of the sheet-like airbag component and the vent pipe of the present invention;

[0037] Figure 4 This is a working principle diagram of the bidirectionally oscillating multi-size sheet-shaped pneumatic actuator of the present invention;

[0038] Figure 5 Schematic diagram of a bidirectional fluctuation test fixture for a multi-size sheet-shaped pneumatic actuator capable of bidirectional fluctuation according to the present invention;

[0039] Figure 6 This is a timing diagram of the drive control of the drive assembly of the bidirectionally fluctuating multi-size sheet-shaped pneumatic actuator of the present invention;

[0040] Figure 7 A schematic diagram of a driving process of a driving component of a bidirectionally oscillating multi-size sheet-shaped pneumatic actuator according to the present invention;

[0041] Figure 8 A flow chart of the driving device of the bidirectionally oscillating multi-size sheet-shaped pneumatic actuator of the present invention;

[0042] Figure 9 This is a structural diagram of a single prototype of the crawling robot with a multi-sized sheet-shaped pneumatic drive capable of bidirectional fluctuation according to the present invention;

[0043] Figure 10 This is a structural diagram of multiple spliced prototypes of the crawling robot with multi-sized sheet-like pneumatic drives that can fluctuate in both directions according to the present invention.

[0044] Figure markings: 1. flexible frame; 2. sheet film; 3. flexible skeleton; 4. double-sided tape; 5-1-1. left film of the first sheet airbag component; 5-1-2. right film of the first sheet airbag component; 5-2-1. left film of the second sheet airbag component; 5-2-2. right film of the second sheet airbag component; 6. bending test support; 7. bending test fixture; 8. air intake pipe; 9. bending test air pipe fixing fixture; 10. test air pump; 11. bionic foot; 12. artificial fiber simulated bristles; 13. flexible connecting belt. DETAILED DESCRIPTION

[0045] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Component models, material names, connection structures, control methods, algorithms, and other features not explicitly described in this technical solution are considered common technical features disclosed in the prior art.

[0046] Example 1

[0047] This embodiment provides a multi-size sheet-shaped pneumatic actuator capable of bidirectional fluctuation, such as Figure 1 Shown, including:

[0048] The drive assembly includes: two sheet-like airbag components, a flexible frame 3, and four ventilation tubes. The flexible frame 3 is fixed between the two sheet-like airbag components. The sheet-like airbag component is composed of multiple airbags arranged side by side. Each airbag is formed by heat-sealing two layers of sheet-like film 2 and flexible frame 1 to form a sealed air cavity.

[0049] The ventilation assembly includes an air inlet module and an air outlet module. The air inlet module is a ventilation pipe in the middle of the long side of the sheet-shaped airbag, which is connected to the air pump 10. The air outlet module is a ventilation pipe in the middle of the short side, which can achieve autonomous deflation.

[0050] A control center for controlling the on and off of the air pump 10;

[0051] By alternately and asynchronously inflating the two sheet-like airbags, the flexible skeleton 3 is driven to bend into a C-shape in both directions, generating a periodic fluctuating propulsion force, which provides the forward power of the soft robot.

[0052] In a specific embodiment, double-sided tapes 4 are attached to both sides of the flexible skeleton 3 , and two sheet-like airbag components are symmetrically attached to both sides of the flexible skeleton 3 .

[0053] In a specific embodiment, the two sheet-like airbag components are formed by stacking a sheet-like film 2, a flexible frame 1 and a sheet-like film 2 in sequence. The flexible frame 1 is sealed by hot melt to form multiple sealing lines, and an independent air cavity is formed between each two sealing lines.

[0054] In a specific embodiment, the two sheet airbag components are a first sheet airbag component and a second sheet airbag component. The first sheet airbag component includes a first sheet airbag component left film 5-1-1 and a first sheet airbag component right film 5-1-2. The second sheet airbag component includes a second sheet airbag component left film 5-2-1 and a second sheet airbag component right film 5-2-2.

[0055] like Figure 3As shown, the ventilation assembly takes in air through the first ventilation pipe in the middle of the long sides of the first sheet airbag component and the second sheet airbag component, and exhausts air through the second ventilation pipe in the middle of the short side; one end of the first ventilation pipe is connected to the sheet airbag component, and the other end is connected to the external air pipe 10; one end of the second ventilation pipe is connected to the sheet airbag component, and the other end is directly discharged into the atmosphere.

[0056] like Figure 2 As shown, in a specific embodiment, the flexible frame 1 and the flexible skeleton 3 are made of 3D printed TPU material, the sheet film 2 is a transparent TPU film, and the ventilation tube is a transparent FEP hollow tube.

[0057] To prevent unexpected elastic deformation of the air cavity during inflation, the present invention uses thermoplastic polyurethane (TPU) film as the air cavity material. This material offers excellent flexibility, airtightness, and heat-sealing properties, as well as wear resistance, corrosion resistance, and self-healing properties. It can meet the requirements for stable operation of the actuator under hot-melt sealing processes and multiple bending deformation conditions.

[0058] The flexible skeleton 3 and flexible frame 1 constitute the skeletal support structure of the air cavity and are both made of 3D-printable TPU material. Because it is difficult to precisely control the shape and degree of deformation of a single airbag component during inflation, the flexible skeleton is used to structurally restrict and guide the interior of the airbag, thereby controlling its deformation and bending direction. The airbag component is firmly bonded to the flexible skeleton with double-sided tape, ensuring that it will not fall off the substrate during deformation and effectively transmitting driving force. In addition, the TPU film material used in the flexible frame and airbag components has similar properties and both have high-temperature melt bonding properties, which helps to improve the sealing and durability of the overall air cavity structure.

[0059] In a specific embodiment, the thickness of the sheet-like film 2 is 0.15 mm, and the thickness of the flexible skeleton 3 and the flexible frame 1 is 0.1 mm.

[0060] In a specific embodiment, the inner diameter of the ventilation tube of the air inlet module is larger than that of the ventilation tube of the air outlet module, forming a fast-in, slow-out airflow control. The outer diameter of the ventilation tube of the air inlet module is 1.6mm, and the inner diameter ID is 1.0mm. The outer diameter of the ventilation tube of the air outlet module is 1.6mm, and the inner diameter ID is 0.5mm.

[0061] In a specific embodiment, the control center includes an STM32 control board, a lithium battery, and a solenoid valve, which are used to alternately control the inflation and deflation timing of the two sheet-like airbag components. The STM32 main controller implements logic control, sequentially controlling the alternating inflation and deflation of the airbags to complete the periodic driving process.

[0062] In a specific embodiment, multiple drivers can be connected in series via a flexible connecting belt 13 to form multiple driving units to increase the propulsion force.

[0063] like Figure 9 As shown, in a specific embodiment, it also includes: a bionic foot 11, and the bionic foot 11 is covered with artificial fiber simulated bristles 12 for enhancing ground friction.

[0064] like Figure 5 As shown, during the bidirectional fluctuation test, the test assembly includes a bend test support 6, a bend test fixture 7, a bend test air pipe fixing fixture 9, an air intake pipe 8, and a test air pump 10. This assembly is used to clamp the airbag component to the bracket in a naturally hanging position for bending performance testing. The external air pipe is fixed to one side of the bend test support 6 by the bend test air pipe fixing fixture 9 to prevent external disturbances or air pipe gravity from affecting the driver module performance. The air intake pipe 8 is connected to the air intake module's vent pipe.

[0065] This embodiment also provides a method for driving a bidirectionally oscillating multi-sized sheet-shaped pneumatic actuator, comprising the following steps:

[0066] S1: The control center controls the on and off of the air pump 10 to inflate the first sheet airbag component, while the second sheet airbag component remains uninflated, causing the actuator to bend to one side in a "C" shape, forming a positive wave;

[0067] S2: Stop inflating the first sheet-like airbag component, so that the first sheet-like airbag component automatically deflates, and the driver returns to a flat state;

[0068] S3: Inflate the second sheet-like airbag component, while the first sheet-like airbag component remains uninflated, so that the actuator bends to the other side in a "C" shape, thereby achieving reverse oscillation;

[0069] S4: Stop inflating the second sheet-like airbag component, so that the second sheet-like airbag component automatically deflates, and the driver returns to a flat state;

[0070] S5: By cyclically executing S1 to S4, a periodic motion is generated to achieve bidirectional fluctuations of the multi-sized sheet pneumatic actuator to generate a stable propulsion force and realize the advancement of the soft robot.

[0071] like Figure 6 、 7As shown, t1 represents the initial steady-state position of the airbag component. The first sheet-like airbag component 5-1 is then rapidly inflated. The inflation rate is high, and the airbag intake rate is greater than the deflation rate. This creates a compressive load on the surface of the flexible skeleton 3, causing it to bend toward the first sheet-like airbag component 5-1, entering state t2. When inflation ceases, the first sheet-like airbag component 5-1 deflates outward through the deflation port until deflation is complete, reaching the original state shown at t3. Similarly, when the second sheet-like airbag component 5-2 is inflated, the airbag bends toward the second sheet-like airbag component 5-2, and the airbag component enters state t4 until inflation ceases and deflation is complete, ultimately returning to the steady-state state t1. Multi-cycle alternating control enables periodic, bidirectional oscillating motion.

[0072] like Figure 8 Figure 2 shows the fabrication process of the bistable drive device, which primarily includes air cavity fabrication and bending performance testing. Air cavity fabrication involves material preparation, film cutting, heat-sealing the air cavity with the flexible frame 1, installing the air tube in the air cavity, and testing the finished product for airtightness. The fabricated air cavity undergoes a bilateral bending test, and only air cavities with consistent bending strength are selected for assembly.

[0073] like Figure 9 、 Figure 10 As shown in FIG, the pneumatic actuator can be used as a single driving unit in a flexible structure, or multiple units can be used in series to form a system such as a flexible soft robot, a wave propulsion structure, etc. Figure 9 In the single-segment soft robot shown in [1], a single drive unit realizes basic bending movements; Figure 10 In the system, the combination of multiple units in series can achieve coordinated propulsion and high-load drive, meeting more complex environmental adaptation and power requirements.

[0074] Components not described in detail in this embodiment are all existing components that can be purchased through public channels.

[0075] The above description of the embodiments is intended to facilitate understanding and use of the invention by those skilled in the art. It will be apparent that those skilled in the art can readily make various modifications to these embodiments and apply the general principles described herein to other embodiments without requiring inventive effort. Therefore, the present invention is not limited to the above-described embodiments. Improvements and modifications made by those skilled in the art based on the disclosure of the present invention, without departing from the scope of the present invention, should be within the scope of protection of the present invention.

Claims

1. A multi-size sheet-shaped pneumatic actuator capable of bidirectional fluctuation, characterized in that: include: A driving assembly comprises: two sheet-like airbag components, a flexible frame (3) and a ventilation tube, wherein the flexible frame (3) is fixed between the two sheet-like airbag components; the sheet-like airbag components are composed of a plurality of airbags arranged side by side, and each airbag is formed by heat-sealing two layers of sheet-like films (2) and a flexible frame (1) to form a sealed air cavity; The ventilation assembly comprises an air inlet module and an air outlet module, wherein the air inlet module is a ventilation pipe in the middle of the long side of the sheet-shaped airbag component and is connected to an air pump (10), and the air outlet module is a ventilation pipe in the middle of the short side and is capable of achieving autonomous deflation; A control center for controlling the on and off of the air pump (10); By alternately and asynchronously inflating the two sheet-like airbags, the flexible skeleton (3) is driven to bend bidirectionally into a C shape, generating a periodic fluctuating propulsion force, and providing the forward power of the soft robot.

2. A bidirectionally oscillating multi-size sheet-shaped pneumatic actuator according to claim 1, characterized in that: Double-sided adhesive tapes (4) are respectively attached to both sides of the flexible skeleton (3), and two sheet-like airbag components are symmetrically attached to both sides of the flexible skeleton (3).

3. A bidirectionally oscillating multi-size sheet-shaped pneumatic actuator according to claim 1, characterized in that: The two sheet-like airbag components are formed by stacking a sheet-like film (2), a flexible frame (1) and a sheet-like film (2) in sequence. The flexible frame (1) is sealed by hot melt to form multiple sealing lines, and an independent air cavity is formed between each two sealing lines.

4. A bidirectionally oscillating multi-size sheet-shaped pneumatic actuator according to claim 3, characterized in that: The two sheet airbag components are a first sheet airbag component and a second sheet airbag component. The first sheet airbag component includes a first sheet airbag component left film (5-1-1) and a first sheet airbag component right film (5-1-2). The second sheet airbag component includes a second sheet airbag component left film (5-2-1) and a second sheet airbag component right film (5-2-2). The ventilation assembly takes in air through the first ventilation pipe in the middle of the long side of the first sheet airbag component and the second sheet airbag component, and exhausts air through the second ventilation pipe in the middle of the short side; one end of the first ventilation pipe is connected to the sheet airbag component, and the other end is connected to the external air pipe (10); one end of the second ventilation pipe is connected to the sheet airbag component, and the other end is directly discharged into the atmosphere.

5. The multi-size sheet-shaped pneumatic actuator capable of bidirectional fluctuation according to claim 1, characterized in that: The flexible frame (1) and the flexible skeleton (3) are made of 3D-printed TPU material, the sheet-like film (2) is a transparent TPU film, and the ventilation tube is a transparent FEP hollow tube.

6. The multi-size sheet-shaped pneumatic actuator capable of bidirectional fluctuation according to claim 1, characterized in that: The inner diameter of the vent pipe of the air inlet module is larger than that of the vent pipe of the air outlet module, thereby forming a fast-in, slow-out airflow control.

7. The multi-size sheet-shaped pneumatic actuator capable of bidirectional fluctuation according to claim 1, characterized in that: The control center includes an STM32 control board, a lithium battery, and a solenoid valve, and is used to alternately control the inflation and deflation timing of the two sheet-like airbag components.

8. The multi-size sheet-shaped pneumatic actuator capable of bidirectional fluctuation according to claim 1, characterized in that: A plurality of drivers can be connected in series via a flexible connecting belt (13) to form a plurality of driving units to increase the propulsion force.

9. The multi-size sheet-shaped pneumatic actuator capable of bidirectional fluctuation according to claim 1, characterized in that: Also includes: The bionic foot (11) is covered with artificial fiber simulated bristles (12) for enhancing ground friction.

10. A method for driving a bidirectionally oscillating multi-size sheet-shaped pneumatic actuator according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: The air pump (10) is controlled to be on and off by the control center to inflate the first sheet airbag component, while the second sheet airbag component remains in an uninflated state, so that the driver is bent to one side in a "C" shape, forming a positive wave; S2: Stop inflating the first sheet-like airbag component, so that the first sheet-like airbag component automatically deflates, and the driver returns to a flat state; S3: Inflate the second sheet-like airbag component while the first sheet-like airbag component remains uninflated, so that the actuator bends to the other side in a "C" shape to achieve reverse oscillation. S4: Stop inflating the second sheet-like airbag component, so that the second sheet-like airbag component automatically deflates, and the driver returns to a flat state; S5: By cyclically executing S1 to S4, a periodic motion is generated to achieve bidirectional fluctuations of the multi-sized sheet pneumatic actuator to generate a stable propulsion force and realize the advancement of the soft robot.

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