The aim of this study was to simplify the driving system of pneumatic soft robots by developing a lightweight, small, and highly integrated multiple-output logic control valve. In addition, it could be embedded into the robot body as a component, thereby replacing the traditional large and heavy control valves and reducing the number of driving pipes as well as the volume and weight of external driving systems. The relationship be-tween the pre-tightening force of the elastic band and the critical conduction air pressure of the valve was derived, and the model was verified experimentally. Through an application experiment on a typical pneumatic software pipeline robot, the performance advantages of the proposed lightweight multi-output logic control valve for simplifying the driving system of the robot were demonstrated.