Air pressure analog quantity identification and multi-mode output control method

Abstract

The invention provides an air pressure analog quantity identification and multi-mode output control method, which is realized based on an analog quantity-digital quantity converter and comprises a first chamber, a second chamber, a third chamber, a first output air pipe, a second output air pipe and a third output air pipe, the first cavity communicates with the output end of the first output air pipe. The output end of the second output air pipe and the output end of the third output air pipe communicate with different cavities of the soft robot correspondingly. And a bracket; the method includes the following steps that firstly, air pressure analog quantity is introduced into an input air pipe, the air pressure p1 of the input air pipe falls into any pressure interval, and an output mode is obtained; 2, pressure relief is conducted through pressure relief holes in the three cavities so as to restore the initial state; 3, air pressure analog quantity is introduced into the input air pipe, the air pressure p2 of the input air pipe falls into another pressure interval, and an output mode is obtained. According to the invention, mapping between analog quantity identification and multi-mode output is established.

Description

Technical Field

[0001] The present invention belongs to the technical field of fluid and soft robots, and in particular relates to a method for identifying air pressure analog quantities and controlling multi-mode outputs. Background Art

[0002] With the rapid development of intelligent manufacturing, flexible electronics, and soft robotics, pneumatic-driven systems are widely used in applications such as gripping actuators, wearable devices, and environmental interaction terminals due to their simple structure, fast response, and high energy density. In these applications, the system often needs to execute corresponding output action modes based on different pneumatic pressure inputs to achieve diverse functional responses.

[0003] However, existing technologies mostly use traditional switch-type control or logical judgment based on fixed thresholds to identify the air pressure state, which cannot achieve accurate perception of the continuity, dynamics and small changes of the air pressure input signal, resulting in inflexible output mode selection and limited diverse response capabilities and intelligence of the system. At the same time, current air pressure control systems generally lack an adaptive mapping mechanism between the identification of "analog air pressure signals" and multi-channel outputs, which limits the adaptability and scalability of air pressure systems in complex environments. Therefore, there is an urgent need for a technical solution that can perform high-precision identification of air pressure analog signals and realize multi-mode output control based on this, so as to improve the intelligence, response speed and control accuracy of the air pressure drive system and meet the diverse and complex practical application needs. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for identifying air pressure analog quantities and controlling multi-mode outputs. This method addresses the key issue of the existing difficulty in achieving multi-mode driver control using a single input air pressure. The technical solution employed is:

[0005] A method for air pressure analog recognition and multi-mode output control is implemented based on an analog-to-digital converter 14 and includes:

[0006] Chamber 15, chamber 2, chamber 16, and chamber 3, chamber 19, all include flexible diaphragms. In their initial state, the volumes of the cavities are the same, the flexible diaphragms are non-deformed, and the pressure within the three chambers is zero. The corresponding deformation pressures of the flexible diaphragms of chamber 15, chamber 2, chamber 16, and chamber 3, chamber 19, are P1, P2, and P3, respectively; wherein P1 < P2 ≤ P3, forming different pressure ranges.

[0007] The flexible diaphragm of the third chamber 19 contacts the first output air pipe 7, the flexible diaphragm of the first chamber 15 contacts the second output air pipe 8, and the flexible diaphragm of the second chamber 16 contacts the third output air pipe 9;

[0008] The input ends of the No. 1 output air pipe 7, No. 2 output air pipe 8, and No. 3 output air pipe 9, as well as the No. 2 chamber 16 and No. 3 chamber 19 are all connected to the output end of the input air pipe 1; the No. 1 chamber 15 is connected to the output end of the No. 1 output air pipe 7;

[0009] The output end of the second output air pipe 8 and the output end of the third output air pipe 9 are respectively connected to different cavities of the soft robot, and the soft robot presents an output mode corresponding to the air pressure analog value;

[0010] and a bracket, which is disposed in the corresponding cavity and forms a space with the cavity for accommodating the corresponding trachea;

[0011] The following steps are involved:

[0012] Step 1: Introduce an air pressure analog signal into the input air pipe 1, and if the gas pressure p1 falls into any pressure interval, obtain the output mode;

[0013] Step 2: Release the pressure through the pressure relief holes on the three chambers to restore the initial state;

[0014] Step 3: An air pressure analog signal is introduced into the input air pipe 1, and its pressure p2 falls into another pressure range, and an output mode is obtained.

[0015] Preferably, when P1<P2<P3, the gripper of the soft robot is made of flexible material by 3D printing, and the gripper comprises: an integrally formed gripper upper section 17 and a gripper lower section 18;

[0016] The upper gripper section 17 includes a plurality of cutouts to form a plurality of gripper layers, the cutouts extending horizontally from the outer side surface of the upper gripper section 17 to the inner side surface A of the upper gripper section 17; the gripper layers are connected by a No. 1 flexible tube, which is connected to the No. 2 output air pipe 8;

[0017] Several cutting openings are opened on the lower section 18 of the gripper to form multiple gripper layers, and the cutting openings extend horizontally from the inner side surface of the lower section 18 of the gripper to the outer side surface B of the lower section 18 of the gripper; the gripper layers are connected by a No. 2 flexible tube, and the No. 2 flexible tube is connected to the No. 3 output air pipe 9.

[0018] Preferably, when P1<P2=P3, the soft robot is a soft crawling robot, comprising: two flexible cavities arranged in parallel and independently, the flexible cavities connecting the head and the tail, one of the flexible cavities connected to the No. 2 output air pipe 8, and the other flexible cavity connected to the No. 3 output air pipe 9.

[0019] Preferably, when P1<P2=P3, the output mode is caused to appear cyclically through the software oscillator 13 and the analog-to-digital converter 14;

[0020] The software oscillator 13 includes:

[0021] Three identical oscillation chambers, each comprising a flexible diaphragm and having no deformation of the flexible diaphragm and zero pressure in the chamber in an initial state;

[0022] The thickness of the flexible diaphragm of the oscillation chamber, the corresponding deformation pressure P0 of the flexible diaphragm; P0<P1<P2=P3 to form several pressure intervals;

[0023] The flexible diaphragm of each oscillation chamber is in contact with an output air pipe; the input end of each output air pipe is connected to the input air pipe 1, and the output end is connected to the next oscillation chamber;

[0024] and a bracket, which is disposed in the corresponding chamber and forms a space with the chamber for accommodating the corresponding output air pipe;

[0025] The following steps are involved:

[0026] Step A: Replace the second output pipe 8 of the analog-to-digital converter 14 with the fourth output pipe 10 of the software oscillator 13, and replace the input end of the third output pipe 9 with the fifth output pipe 11 of the software oscillator 13;

[0027] Step B: A pressure analog signal is introduced into the input air pipe 1, and the gas pressure p0 falls into any pressure interval greater than the pressure P0, and the output mode is periodically obtained.

[0028] Compared with the prior art, the advantages of the present invention are:

[0029] 1. By introducing analog quantity recognition and multi-mode mapping mechanisms, intelligent coordination of complex inputs and diverse outputs can be achieved, improving the system's adaptability to multiple tasks and multiple working conditions.

[0030] Specifically: This method connects air pressure → oscillation frequency → digital encoding → multi-mode output in series to realize a full pneumatic logic chain from analog input to complex control. It is particularly suitable for fluid signals and hierarchical intelligent control scenarios in soft robots, effectively avoiding dependence on electronic devices and is suitable for full pneumatic systems or high-reliability environments.

[0031] 2. Compared with traditional discrete control, this method can respond promptly to small changes in air pressure, effectively avoiding output distortion or control lag caused by recognition errors.

[0032] 3. This method can be widely used in scenarios requiring multifunctional responses, such as medical rehabilitation, bionic robots, and automated equipment, and has good scalability and engineering application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is the motion diagram of the reverse comparator;

[0034] Figure 2 Fig. 1 is a schematic diagram of the deformation of a flexible chamber;

[0035] Figure 3 Fig. 2 is a schematic diagram of a reverse comparator;

[0036] Figure 4 Fig. 3 is a schematic diagram of an analog-digital converter in Example 1;

[0037] Figure 5 Fig. 4 is a comparison of the actual states of a soft robot in Example 1;

[0038] Figure 6 Fig. 5 is a photograph of a soft robot in Example 1;

[0039] Figure 7 Fig. 6 is a schematic diagram of an analog-digital converter in Example 2;

[0040] Figure 8 Fig. 7 is a structural diagram of a soft oscillator in Example 3;

[0041] Figure 9 Fig. 8 is a structural diagram of an adjustable soft oscillator in Example 3.

[0042] Wherein, 1 - input air pipe, 2 - output air pipe, 3 - air pressure output end, 4 - air vent, 5 - flexible chamber, 6 - flexible diaphragm;

[0043] 7 - first output air pipe, 8 - second output air pipe, 9 - third output air pipe;

[0044] 10 - fourth output air pipe, 11 - fifth output air pipe, 12 - sixth output air pipe;

[0045] 13 - soft oscillator, 14 - analog-digital converter,

[0046] 15 - first chamber, 16 - second chamber, 19 - third chamber,

[0047] 17 - upper segment of gripper, 18 - lower segment of gripper. DETAILED DESCRIPTION

[0048] The air pressure analog quantity recognition and multi-mode output control method of the present application will be described in more detail below with reference to the accompanying drawings, which show preferred embodiments of the present application, it being understood that those skilled in the art can modify the present application described herein while still achieving the advantageous effects of the present application. Therefore, the following description should be understood as a broad knowledge to those skilled in the art, and not as a limitation on the present application.

[0049] Example 1

[0050] A method for air pressure analog recognition and multi-mode output control is implemented based on an analog-to-digital converter 14.

[0051] like Figure 4 As shown, the analog-to-digital converter 14 includes three flexible chambers with different diaphragm thicknesses, namely chamber 15 (chamber I), chamber 2 (chamber II), and chamber 3 (chamber III).

[0052] That is, in this embodiment, when P1 < P2 < P3, four pressure intervals are formed.

[0053] The deformation air pressure required for the deformation of the flexible diaphragm of the first chamber 15 is relatively small, while the deformation air pressure required for the deformation of the flexible diaphragm of the third chamber 19 is relatively large.

[0054] like Figure 3 As shown, each chamber includes a chamber body and a flexible diaphragm to form a closed space, and the chamber body is provided with an air leakage hole. The chamber body and the flexible diaphragm are integrally formed by 3D printing.

[0055] The materials of the flexible diaphragm and the cavity body are both Tuozhu TPU85A, and the thickness of the cavity body is greater than that of the flexible diaphragm.

[0056] about Figure 4 The structure of the analog-to-digital converter 14 is as follows:

[0057] The analog-to-digital converter 14 includes:

[0058] An input gas pipe 1 for delivering gas;

[0059] Chamber No. 15, Chamber No. 2, Chamber No. 16, and Chamber No. 3, Chamber No. 19, are all flexible chambers. In their initial state, the chambers have the same volume, the flexible diaphragms are undeformed, and the pressure within the three chambers is zero. The flexible diaphragm of Chamber No. 3, Chamber No. 19, contacts the first output air pipe, Chamber No. 7; the flexible diaphragm of Chamber No. 15 contacts the second output air pipe, Chamber No. 8; and the flexible diaphragm of Chamber No. 3, Chamber No. 19 contacts the third output air pipe, Chamber No. 9.

[0060] The input ends of the No. 1 output air pipe 7, No. 2 output air pipe 8, and No. 3 output air pipe 9, as well as the No. 2 chamber 16 and No. 3 chamber 19 are all connected to the output end of the input air pipe 1; the No. 1 chamber 15 is connected to the output end of the No. 1 output air pipe 7;

[0061] The output end of the second output air pipe 8 is connected to the upper portion 17 of the gripper.

[0062] The output end of the No. 3 output air pipe 9 is connected to the lower section 18 of the gripper.

[0063] The bracket is embedded in the outer wall of the corresponding cavity, and forms a space for placing the corresponding trachea with the cavity; the bracket is a tuozhu pla.

[0064] like Figures 4-6 The gripper of the soft gripper robot is made of flexible material and includes an integrally formed upper gripper section 17 and a lower gripper section 18. The upper gripper section 17 is connected to the third output air pipe 9, and the lower gripper section 18 is connected to the second output air pipe 8.

[0065] like Figure 5 As shown, the upper gripper section 17 includes a plurality of cutouts to form multiple gripper layers, with the cutouts extending horizontally from the outer side surface of the upper gripper section 17 to the inner side surface A of the upper gripper section 17. The gripper layers are connected by a No. 1 flexible tube, which is connected to the No. 2 output air pipe 8.

[0066] The gripper lower section 18 is provided with a plurality of cutouts to form multiple gripper layers, the cutouts extending horizontally from the inner side of the gripper lower section 18 to the outer side B of the gripper lower section 18. The gripper layers are connected by a second flexible pipe, which is connected to the third output air pipe 9.

[0067] like Figures 1 to 3 , the working principle of the reverse comparator:

[0068] like Figure 1 As shown, the flexible chamber 5 is a part of the reverse comparator structure. The reverse comparator is based on a pneumatic NOT gate structure and is used to compare the input air pressure with the deformation pressure of the flexible diaphragm 6.

[0069] The initial state of the reverse comparator is that there is no air pressure in the chamber, and the flexible diaphragm 6 does not squeeze the trachea but is in contact with the trachea.

[0070] When the air pressure (pressure) output by the input air pipe 1 is greater than the deformation pressure of the flexible diaphragm 6, the flexible diaphragm 6 deflects and closes the output air pipe 2, and the air pressure output end 3 has no output air pressure (logic "0"); "the flexible diaphragm 6 deflects and closes the output air pipe 2" means: the air pressure in the chamber controls the flexible diaphragm 6 to squeeze the air pipe to achieve blockage of the output air pipe 2, thereby preventing the flow of gas in the output air pipe 2.

[0071] When the air pressure (pressure) output by the input air pipe 1 is less than the deformation pressure of the flexible diaphragm 6, the output air pipe 2 opens and the air pressure output end 3 outputs air pressure (logic "1"), thereby realizing reverse logic control.

[0072] This module does not require electronic components and can be stably used for critical judgment, state switching or logical interlocking in pneumatic systems. It is one of the core basic units of analog quantity identification and control of the present invention.

[0073] In summary, the inverting comparator is a device that compares the air pressure analog input signal with the flexible diaphragm deformation air pressure signal and generates an inverted digital output.

[0074] Its working method is based on the following principles:

[0075] When the air pressure input is greater than the flexible diaphragm deformation pressure value, the output is low level (i.e. "0");

[0076] When the air pressure input is less than the flexible diaphragm deformation pressure value, the output is high level (ie "1").

[0077] This digital output signal can directly drive a non-gated pneumatic valve, switching it open or closed under different pressure conditions. This method can achieve single-input, single-output control of complex pneumatic systems by identifying the air pressure signal.

[0078] When there is no air pressure in the chamber, the flexible diaphragm will automatically rebound due to the air leakage hole 4 left on the chamber.

[0079] like Figure 4 As shown, the working principle of the analog-to-digital converter 14 is:

[0080] When the air pressure (pressure) output by the input air pipe 1 is less than the deformation pressure (pressure) required by the flexible diaphragm of chamber I, the flexible diaphragms of chambers I, II and III do not deform, and the second and third output air pipes 8 and 9 both have air pressure output, and the deformation of the control gripper is as follows: Figure 4 (i).

[0081] When the air pressure output by the input air pipe 1 is greater than the deformation pressure required by the flexible diaphragm of chamber I and less than the deformation pressure required by the flexible diaphragm of chamber II, the flexible diaphragm of chamber I is deformed, and the flexible diaphragms of chambers II and III are not deformed. Therefore, the No. 2 output air pipe 8 has no air pressure output, and the No. 3 output air pipe 9 has air pressure output. The deformation of the control gripper (soft gripper robot) is as follows: Figure 4 (iv).

[0082] When the air pressure output by the input air pipe 1 is greater than the deformation pressure required by the flexible diaphragm 6 of chamber II and less than the deformation pressure required by the flexible diaphragm of chamber III, the flexible diaphragms of chambers I and II are deformed, and the flexible diaphragm of chamber III is not deformed. There is no air pressure output from the No. 2 output air pipe 8 and the No. 3 output air pipe 9, and the deformation of the control gripper is as follows: Figure 4 (iii).

[0083] When the air pressure output by the input air pipe 1 is greater than the deformation pressure required by the flexible diaphragm of chamber III, the flexible diaphragms of chambers II and III are deformed. Since the No. 1 output air pipe 7 does not input air pressure to chamber I, the flexible diaphragm of chamber I does not deform. The No. 2 output air pipe 8 has air pressure output, and the No. 3 output air pipe 9 has no air pressure output. The deformation of the control gripper is as follows: Figure 4 (ii).

[0084] In the process of switching to the next state at the end of a state, the air vent automatically evacuates the gas in all chambers in the previous state in real time, so that the flexible diaphragm of the chamber automatically rebounds to form the initial state.

[0085] In summary, the analog-digital converter (ADC) module is used to convert the air pressure analog signal into a corresponding digital encoded output, thereby realizing interval recognition and multi-level control output of the input air pressure signal.

[0086] A plurality of groups of parallel pneumatic reverse comparator units are used, and the deformation air pressure of each group of reverse comparators is adjusted according to the thickness of the flexible diaphragm 6.

[0087] Through the combination of the diaphragm and the NOT gate, when the air pressure output by the input air pipe 1 exceeds a certain threshold, the group outputs the air pressure signal, otherwise no air pressure is output.

[0088] The output of each level of comparator is encoded by pneumatic logic to form a corresponding binary digital signal, thereby dividing the continuous input air pressure analog quantity into a plurality of discrete intervals, realizing analog quantity recognition and output air pressure control in a purely pneumatic manner.

[0089] When the output air pressure is connected to the double-cavity gripper, four different forms of hand gripping can be realized.

[0090] Further, the analog-digital converter is used to divide the air pressure analog signal into a plurality of discrete digital levels, realize multi-bit encoded output, and facilitate subsequent multi-mode control.

[0091] According to the size of the analog quantity air pressure, four different binary codes of "00", "01", "10", and "11" are output. Each group of codes can be combined with a plurality of NOT gates through a pneumatic logic circuit to realize corresponding valve combination control, thereby activating different output actions.

[0092] This method can map the size of the air pressure analog quantity to the multi-mode motion of the pneumatic driver, and can realize single-input multi-output complex pneumatic system control.

[0093] In summary, a method for air pressure analog quantity recognition and multi-mode output control includes the following steps:

[0094] Step 1, introduce an air pressure analog quantity signal into the input air pipe 1, and the gas pressure p1 falls into any one of the pressure intervals to obtain the output mode.

[0095] As can be seen from the above, the "air pressure analog quantity signal" refers to the air pressure in the input air pipe 1; the "output mode" refers to the deformation mode of the soft gripper robot.

[0096] Step 2: Deflate the three chambers in real time through the vent holes to restore the initial state; exhaust the gas through the surface gap of the gripper actuator. Surface gap refers to the gap inherent in the flexible material.

[0097] Step 3: A pressure analog signal is introduced into the input air pipe 1, and the gas pressure p2 falls into another pressure range to obtain an output mode.

[0098] This method is suitable for full pneumatic logic control scenarios without the need for electronic control devices, and is particularly suitable for vibration control, mode selection, and fluid logic execution tasks in soft robotic systems.

[0099] Example 2

[0100] In this embodiment, three pressure intervals are formed when P1<P2=P3.

[0101] The analog-to-digital converter 14 includes three flexible chambers with different thicknesses, namely chamber 15 (chamber II), chamber 2 (chamber III), and chamber 3 (chamber III).

[0102] The deformation air pressure required for the deformation of the flexible diaphragm of chamber No. 15 is relatively small, and the deformation air pressure required for the deformation of the flexible diaphragms of chamber No. 3 19 and chamber No. 2 16 is the same and the largest.

[0103] The structure of soft crawling robots, such as Figure 7 As shown, it includes: two flexible cavities arranged in parallel and independently, the flexible cavities connecting the head and the tail, one of the flexible cavities is connected to the No. 2 output air pipe 8, and the other flexible cavity is connected to the No. 3 output air pipe 9.

[0104] The working principle of the analog-to-digital converter 14 is as follows:

[0105] When the air pressure output by the input air pipe 1 is less than the deformation pressure of the flexible diaphragm of the first chamber 15 (chamber II), the second output air pipe 8 and the third output air pipe 9 both have air pressure output, and the deformation of the soft crawling robot is as follows: Figure 7 (ii).

[0106] When the air pressure output by the input air pipe 1 is greater than the deformation pressure required by the flexible diaphragm of chamber 15 (chamber II) and less than the deformation pressure required by the flexible diaphragm of chamber III, the flexible diaphragm of chamber II is deformed, and the flexible diaphragms of the two chambers III are not deformed, the output air pipe 8 of No. 2 has no air pressure output, and the output air pipe 9 of No. 3 has air pressure output; the deformation of the soft crawling robot is as follows Figure 7 (i) shown.

[0107] When the air pressure output by the input air pipe 1 is greater than the deformation pressure required by the flexible diaphragm of chamber III, the flexible diaphragms of chamber II and the two chambers III are deformed. Since the No. 1 output air pipe 7 has no air pressure input to chamber II, the flexible diaphragm of chamber II is not deformed. The No. 2 output air pipe 8 has air pressure output, and the No. 3 output air pipe 9 has no air pressure output. The deformation of the soft crawling robot is as follows: Figure 7 (iii) shown.

[0108] In summary, a method for air pressure analog identification and multi-mode output control includes the following steps:

[0109] Step 1: Introduce an air pressure analog signal into the input air pipe 1, and its gas pressure p1 falls into any pressure interval, and obtain the air pressure analog value and output mode.

[0110] As can be seen from the above, the “air pressure analog value” refers to the air pressure output by the No. 2 output air pipe 8 and the No. 3 output air pipe 9; and the “output mode” refers to the deformation mode of the soft crawling robot.

[0111] Step 2: Deflate the three chambers through the vent holes to restore the initial state; and exhaust the gas in the flexible cavity through the gaps in the flexible material of the soft crawling machine.

[0112] Step 3: Introduce an air pressure analog signal into the input air pipe 1, and its gas pressure p2 falls into another pressure range, and obtain the air pressure analog value and output mode.

[0113] Example 3

[0114] On the basis of Example 2, a soft oscillator 13 is additionally provided to enable the crawling robot to swing cyclically in place under the same gas pressure.

[0115] A method for air pressure analog identification and multi-mode output control is implemented based on an adjustable software oscillator.

[0116] like Figure 9 As shown, the adjustable soft oscillator includes:

[0117] The software oscillator 13 is used to generate and output a periodic air pressure signal to the analog-to-digital converter 14 according to the air pressure analog quantity.

[0118] The adjustable soft oscillator achieves flexible control of the oscillation output signal by adjusting the pneumatic analog input. An inverse comparator unit compares the pneumatic analog input signal with the flexible diaphragm deformation pressure signal to control the oscillation output, thus achieving a graded oscillation function.

[0119] The adjustable oscillator module adds an analog-to-digital conversion and regulation mechanism to the oscillator. By changing the input air pressure, the frequency or duty cycle of the oscillation signal is adjusted to achieve graded oscillation control.

[0120] like Figure 8 As shown, the software oscillator 13 includes:

[0121] Three identical oscillation chambers, each comprising a flexible diaphragm, and having the same volume, no deformation of the flexible diaphragm, and zero pressure in the three chambers in an initial state;

[0122] The thickness of the flexible diaphragm of the oscillation chamber is less than that of chamber 15 in the analog-to-digital converter 14 of this embodiment. The oscillation chamber also includes a chamber body and a flexible diaphragm to form an enclosed space. The chamber body is provided with a vent hole. The chamber body and flexible diaphragm are integrally formed using 3D printing.

[0123] The materials of the flexible diaphragm and the cavity body are both Tuozhu TPU85A, and the thickness of the cavity body is greater than that of the flexible diaphragm.

[0124] The flexible diaphragm of each oscillation chamber is in contact with an output air pipe; the input end of each output air pipe is connected to the input air pipe 1, and the output end is connected to the next oscillation chamber;

[0125] And the bracket is embedded in the corresponding cavity, and it and the cavity form a space for placing the corresponding output air pipe; the bracket is Tuozhu pla.

[0126] The oscillation chamber is a flexible chamber, and its switching principle is the same as Figures 1 to 3 same.

[0127] The analog-to-digital converter 14 is different from that in Example 2 in that the No. 2 output air pipe 8 is connected to the No. 4 output air pipe 10 of the software oscillator 13 , and the input end of the No. 3 output air pipe 9 is connected to the No. 5 output air pipe 11 of the software oscillator 13 .

[0128] Working principle of software oscillator 13:

[0129] When the air pressure output by the input air pipe 1 is greater than the deformation pressure of the flexible diaphragm of the oscillation chamber (chamber I), the principle is to use three NOT gates in series, and the signal is unstable, so a self-oscillation signal will be generated.

[0130] like Figure 8 As shown, in the first cycle, the fourth output pipe 10 generates a signal to supply the chamber, the fifth output pipe 11 has no pressure output, and the sixth output pipe 12 has pressure output. In the first cycle, the sixth output pipe 12 is supplied to the chamber through the fourth output pipe 10 as input, generating the second cycle.

[0131] That is, in the first cycle, there is gas in the chamber corresponding to the No. 5 output gas pipe 11, and there is no gas in the chambers corresponding to the No. 4 output gas pipe 10 and the No. 6 output gas pipe 12.

[0132] In the second cycle, the No. 4 output air pipe 10 has no air pressure signal supplying to the chamber, the No. 5 output air pipe 11 has air pressure output, and the No. 6 output air pipe 12 has no air pressure output. In the second cycle, the No. 6 output air pipe 12 has no output, and the first cycle state is entered again.

[0133] That is, in the second cycle, there is no gas in the chamber corresponding to the No. 5 output gas pipe 11, and there is gas in the chambers corresponding to the No. 4 output gas pipe 10 and the No. 6 output gas pipe 12.

[0134] When one cycle ends and the next cycle begins, the air vents automatically and instantly evacuate the gas from all chambers.

[0135] Therefore, three oscillation signals are generated from the fourth output pipe 10, the fifth output pipe 11, and the sixth output pipe 12. The oscillation signals include two types of signals: air pressure signal and 0.

[0136] The software oscillator 13 constructs a pneumatic feedback closed loop based on an inverse comparator, and forms a self-excited oscillation process through the input of the air pipe 1, inverse logic judgment and feedback delay.

[0137] When the air pressure in input pipe 1 reaches a certain value, the module periodically outputs a pneumatic pulse signal with a fixed frequency. This module requires no electronic components and is suitable for pneumatic systems that require stable timing signals, such as periodic drives or pneumatic logic triggers.

[0138] The software oscillator 13 is used to generate a periodic pulse gas signal after the air pressure reaches a set threshold value, thereby realizing intermittent drive or periodic motion control of the valve.

[0139] This module builds a pressure feedback loop based on a pneumatic NOT gate structure. When the input pressure meets the excitation conditions, the loop forms a stable oscillation, controlling the valve to alternate between on and off states. This method is suitable for repeated agitation and vibration-based grasping control scenarios involving soft actuators, enabling pneumatic sequential logic control without the need for an electronic control system.

[0140] like Figure 9 As shown, the working principle of the adjustable software oscillator is:

[0141] (1) When the air pressure output by the input air pipe 1 is greater than the flexible diaphragm deformation pressure of the oscillation chamber (chamber I) and less than the flexible diaphragm deformation pressure of the first chamber 15 (chamber II), the fourth output air pipe 10 and the fifth output air pipe 11 will generate an oscillation signal.

[0142] The flexible membranes of chamber 15 (chamber II) and chamber III are not deformed, that is, the output pipe 8 and the output pipe 9 are both in the open state, so the output pipe 8 and the output pipe 9 will also generate oscillation signals, and the crawling robot will Figure 9 (i) Figure 9 (ii) and Figure 9 (iii) Cycling among the three states produces linear motion.

[0143] Specifically: In the first cycle, the output signal of the second output air pipe 8 is the air pressure signal, and the output signal of the third output air pipe 9 is 0. At this time, the flexible cavity connected to the second output air pipe 8 becomes longer, and the crawling robot turns left. Figure 9 (iii);

[0144] In the second cycle, the output oscillation signal of the No. 2 output air pipe 8 is 0, and the output oscillation signal of the No. 3 output air pipe 9 is a pressure signal. The flexible cavity connected to the No. 3 output air pipe 9 becomes longer, and the crawling robot turns right. Figure 9 (i).

[0145] When there is no air pressure output in the input air pipe 1, Figure 9 (i).

[0146] During the switching process from the first cycle to the second cycle, the gas in the flexible cavity is discharged through the surface gaps of the flexible material actuator.

[0147] (2) When the air pressure output from the input air pipe 1 is greater than the deformation pressure of the flexible diaphragm of chamber II and less than the deformation pressure of the flexible diaphragm of chamber III, the flexible diaphragm of chamber II is deformed, and the flexible diaphragm of chamber III is not deformed. The second output air pipe 8 is in a closed state, and the third output air pipe 9 is in an open state. Therefore, the second output air pipe 8 has no signal output, and the third output air pipe 9 outputs an oscillation signal. The crawling robot will Figure 9 (i) and Figure 9 (ii) Cycling between the two states produces a right turn motion.

[0148] (3) When the air pressure output by the input air pipe 1 is greater than the deformation pressure of the flexible diaphragm of chamber III, the flexible diaphragms of chambers II and III are deformed, but there is no air pressure supply to chamber II, and the flexible diaphragm of chamber II is not deformed. The second output air pipe 8 is in the open state, and the third output air pipe 9 is in the closed state. Therefore, the second output air pipe 8 has an oscillation signal output, and the third output air pipe 9 has no signal output. The crawling robot will Figure 9 (ii) and Figure 9 (iii) Cycling between the two states produces a left turn.

[0149] The software oscillator continuously outputs an oscillation signal, and the analog-to-digital converter determines whether to output an oscillation signal according to the size of the analog value of the air pressure in the input trachea 1, thereby achieving adjustable oscillation signal.

[0150] When the output air pressure is connected to a pneumatic bionic crawler, it enables continuous movement in different drive modes. This module has a simple structure and requires no electronic control. It is suitable for scenarios such as analog quantity recognition and dynamic control in pneumatic systems. It is a key component for achieving continuous air pressure sensing and multi-mode logic control.

[0151] This paper implements a technical solution that can perform high-precision identification of air pressure analog signals and realize multi-mode output control based on this, so as to improve the intelligence, response speed and control accuracy of the air pressure drive system and meet the diverse and complex practical application needs.

[0152] The above description is merely a preferred embodiment of the present invention and does not limit the present invention in any way. Any person skilled in the art who, without departing from the scope of the present invention, makes any equivalent substitution, modification, or other changes to the technical solution and technical content disclosed in the present invention shall be deemed to be within the scope of the present invention and still fall within the scope of protection of the present invention.

Claims

1. A method for air pressure analog identification and multi-mode output control, characterized in that: The method is implemented based on an analog-to-digital converter (14), comprising: The first chamber (15), the second chamber (16) and the third chamber (19) all include flexible diaphragms. In an initial state, the volumes of the cavities are the same, the flexible diaphragms are not deformed, and the pressures in the three chambers are zero. The deformation pressures corresponding to the flexible diaphragms of the first chamber (15), the second chamber (16) and the third chamber (19) are P1, P2 and P3, respectively; wherein P1<P2≤P3 to form different pressure ranges. The flexible diaphragm of the third chamber (19) contacts the first output air pipe (7), the flexible diaphragm of the first chamber (15) contacts the second output air pipe (8), and the flexible diaphragm of the second chamber (16) contacts the third output air pipe (9); The input ends of the No. 1 output air pipe (7), the No. 2 output air pipe (8), and the No. 3 output air pipe (9), as well as the No. 2 chamber (16) and the No. 3 chamber (19) are all connected to the output end of the input air pipe (1); the No. 1 chamber (15) is connected to the output end of the No. 1 output air pipe (7); The output end of the second output air pipe (8) and the output end of the third output air pipe (9) are respectively connected to different cavities of the soft robot, and the soft robot presents an output mode corresponding to the air pressure analog value; and a bracket, which is disposed in the corresponding cavity and forms a space with the cavity for accommodating the corresponding trachea; The following steps are involved: Step 1: A pressure analog signal is introduced into the input air pipe (1), and the gas pressure p1 falls into any pressure interval, and an output mode is obtained; Step 2: Release the pressure through the pressure relief holes on the three chambers to restore the initial state; Step 3: A pressure analog signal is introduced into the input air pipe (1), and its pressure p2 falls into another pressure range, and an output mode is obtained.

2. The air pressure analog quantity identification and multi-mode output control method according to claim 1, characterized in that: When P1<P2<P3, the gripper of the soft robot is made of a flexible material, and the gripper comprises: an integrally formed upper gripper section (17) and a lower gripper section (18); The upper gripper section (17) includes a plurality of cutting openings to form a plurality of gripper layers, wherein the cutting openings extend horizontally from the outer side surface of the upper gripper section (17) to the inner side surface A of the upper gripper section (17); the gripper layers are connected by a No. 1 flexible tube, which is connected to a No. 2 output air pipe (8); The gripper lower section (18) is provided with a plurality of cutting openings to form a plurality of gripper layers, wherein the cutting openings extend horizontally from the inner side surface of the gripper lower section (18) to the outer side surface B of the gripper lower section (18); the gripper layers are connected by a No. 2 flexible tube, which is connected to a No. 3 output air pipe (9).

3. The air pressure analog quantity identification and multi-mode output control method according to claim 1, characterized in that: When P1<P2=P3, the soft robot is a soft crawling robot, comprising: two flexible cavities arranged in parallel and independently, the flexible cavities connecting the head and the tail, one of the flexible cavities being connected to the second output air pipe (8), and the other flexible cavity being connected to the third output air pipe (9).

4. The air pressure analog quantity identification and multi-mode output control method according to claim 1, characterized in that: When P1<P2=P3, the output mode is cyclically generated by the software oscillator (13) and the analog-to-digital converter (14); The software oscillator (13) comprises: Three identical oscillation chambers, each comprising a flexible diaphragm and having no deformation of the flexible diaphragm and zero pressure in the chamber in an initial state; The thickness of the flexible diaphragm of the oscillation chamber, the corresponding deformation pressure P0 of the flexible diaphragm; P0<P1<P2=P3 to form several pressure intervals; The flexible diaphragm of each oscillation chamber is in contact with an output air pipe; the input end of each output air pipe is connected to the input air pipe (1), and the output end thereof is connected to the next oscillation chamber; and a bracket, which is disposed in the corresponding chamber and forms a space with the chamber for accommodating the corresponding output air pipe; The following steps are involved: Step A: Change the second output air pipe (8) of the analog-to-digital converter (14) to be connected to the fourth output air pipe (10) of the software oscillator 13, and change the input end of the third output air pipe (9) to be connected to the fifth output air pipe (11) of the software oscillator 13; Step B: introducing an air pressure analog signal into the input air pipe (1), wherein the gas pressure p0 falls into any pressure interval greater than the pressure P0, and periodically obtaining an output mode.

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