Driving control circuit and mechanical gripper

Abstract

The utility model relates to the technical field of driving control, and discloses a driving control circuit and a mechanical gripper, the driving control circuit comprises a controller, an isolation module, a motor driving module and a current sampling isolation module; the controller is used for outputting a pulse width modulation signal for braking the direct current motor; the isolation module is used for isolating an output port of the controller from an input port of the motor driving module; the motor driving module is used for controlling rotating speed and steering of the direct-current motor; the current sampling isolation module is used for collecting current signals of the direct current motor in real time, and isolating and feeding back the current signals to the controller; the controller is also used for obtaining the real-time output power of the DC motor according to the current feedback signal, and adjusting the duty ratio of the pulse width modulation signal according to the output power. The stability and reliability of the drive control circuit are improved, the drive control circuit can support large current to drive the direct current motor, the circuit structure is simple, and the design cost is low.

Description

Technical Field

[0001] The present application relates to the field of drive control technology, and in particular to a drive control circuit and a mechanical gripper. Background Art

[0002] The existing DC motor drive control circuit is usually composed of a control chip, a peripheral circuit and a drive bridge. It receives external control signals and converts them into corresponding drive signals to drive the DC motor to rotate. However, the existing DC motor drive control circuit has some problems to a certain extent. For example, the stability is poor, which will be affected by the components in the circuit, and it is easy to have control failure, interference and other problems, which affect the working efficiency and reliability of the DC motor; the existing DC motor drive control circuit has the problem of not supporting high current drive; the existing DC motor drive control circuit usually uses discrete components, and multiple components need to be combined and debugged, which also increases the difficulty and cost of circuit design and production. Utility Model Content

[0003] In view of this, the purpose of the present application is to provide a drive control circuit and a mechanical gripper, which drives the DC motor of the mechanical gripper with a simple drive control circuit to meet the requirements of large DC, high reliability and safety.

[0004] A drive control circuit provided in an embodiment of the present application is used to control the braking of a DC motor of a mechanical gripper, wherein the drive control circuit includes a controller, an isolation module, a motor drive module and a current sampling isolation module;

[0005] The controller is used to output a pulse width modulation signal for braking the DC motor;

[0006] The isolation module is used to isolate the output port of the controller and the input port of the motor driving module;

[0007] The motor driving module is used to control the speed and direction of the DC motor according to the pulse width modulation signal;

[0008] The current sampling isolation module is used to collect the current signal of the DC motor in real time, and isolate the current signal and feed it back to the controller;

[0009] The controller is also used to obtain the real-time output power of the DC motor according to the current signal, and adjust the duty cycle of the pulse width modulation signal according to the output power to change the rotation speed of the DC motor, thereby controlling the torque of the mechanical clamp.

[0010] In combination with the first aspect, an embodiment of the present application provides a first possible implementation of the first aspect, wherein the motor drive module includes an H-bridge drive circuit, a protection circuit, a voltage filter circuit, an on-off adjustment circuit, a signal conditioning circuit, and a conduction circuit;

[0011] The H-bridge driving circuit is used to drive the four-quadrant operation of the DC motor, and the four-quadrant operation includes forward rotation, forward braking, reverse rotation and reverse braking;

[0012] The protection circuit is used to provide reverse voltage protection for the switch tube in the H-bridge drive circuit;

[0013] The voltage filter circuit is used to filter the input voltage of the DC motor;

[0014] The on-off regulation circuit is used to facilitate the closing and opening of the switch tube in the H-bridge driving circuit;

[0015] The signal conditioning circuit is used to adjust the amplitude of the pulse width modulation signal;

[0016] The conduction circuit is used to control the blocking and conduction of different switch tubes in the H-bridge drive circuit.

[0017] In combination with the first aspect, an embodiment of the present application provides a second possible implementation of the first aspect, wherein the H-bridge drive circuit includes a first switch tube, a second switch tube, a third switch tube and a fourth switch tube, and the sources of the first switch tube, the second switch tube, the third switch tube and the fourth switch tube are respectively connected to the DC motor.

[0018] In combination with the first aspect, the embodiment of the present application provides a third possible implementation of the first aspect, which further includes: the protection circuit includes a first Zener diode, a second Zener diode, a third Zener diode and a fourth Zener diode;

[0019] The on-off regulating circuit includes a first capacitor and a second capacitor;

[0020] The first voltage zener diode and the first capacitor are connected in series and connected to the source and gate of the first switch tube; the second voltage zener diode and the second capacitor are connected in series and connected to the source and gate of the second switch tube; the third voltage zener diode is connected in parallel to the source and gate of the third switch tube; the fourth voltage zener diode is connected in parallel to the source and gate of the fourth switch tube.

[0021] In combination with the first aspect, the embodiment of the present application provides a fourth possible implementation of the first aspect, wherein the signal conditioning circuit includes a first resistor, a second resistor, a third resistor, and a fourth resistor; the conduction circuit includes a first phase converter, a first inverter, a second phase converter, and a second inverter;

[0022] After the first phase regulator is connected in series with the first resistor, it is connected to the gate of the first switching tube. After the first phase regulator is connected in series with the second resistor, it is connected to the gate of the second switching tube. After the second phase regulator is connected in series with the third resistor, it is connected to the gate of the third switching tube. After the second phase regulator is connected in series with the fourth resistor, it is connected to the gate of the fourth switching tube.

[0023] In combination with the first aspect, an embodiment of the present application provides a fifth possible implementation of the first aspect, wherein the voltage filtering circuit includes a third capacitor and a fourth capacitor, and the third capacitor and the fourth capacitor are connected in series with a voltage source.

[0024] In combination with the first aspect, the embodiment of the present application provides a sixth possible implementation of the first aspect, wherein the isolation module includes a first isolation unit and a second isolation unit, and the first isolation unit and the second isolation unit are respectively connected to two input ends of the motor driving module;

[0025] The first isolation unit and the second isolation unit are used to provide two isolation channels to achieve isolation between the output port of the controller and the two input ports of the motor drive module.

[0026] In combination with the first aspect, the embodiment of the present application provides a seventh possible implementation of the first aspect, wherein the first isolation unit and the second isolation unit include a high-speed isolation optocoupler and a current-limiting resistor, respectively;

[0027] One end of the high-speed isolation optocoupler is connected to the current limiting resistor and an input end of the motor drive module respectively, and the other end of the high-speed isolation optocoupler is connected to the output end of the controller.

[0028] In combination with the first aspect, an embodiment of the present application provides an eighth possible implementation of the first aspect, wherein the current sampling isolation module includes a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a current transformer, a tenth resistor, an isolation amplifier, a fifth capacitor, and a sixth capacitor;

[0029] The output end of the isolation amplifier is connected to the fifth resistor, the same-direction end of the isolation amplifier is connected to the sixth resistor and the seventh resistor, the reverse end of the isolation amplifier is connected to the eighth resistor, the ninth resistor and the current transformer, the tenth resistor and the fifth capacitor are respectively connected to the output end and the reverse end of the isolation amplifier, the tenth resistor and the fifth capacitor are connected in parallel, and the sixth capacitor is connected in parallel with the seventh resistor, the ninth resistor and the current transformer.

[0030] In a second aspect, an embodiment of the present application further provides a mechanical gripper, comprising a DC motor and the aforementioned drive control circuit.

[0031] The embodiments of the present application have the following beneficial effects:

[0032] The drive control circuit and mechanical gripper of the embodiment of the present application, the drive control circuit includes a controller, an isolation module, a motor drive module and a current sampling isolation module; the controller is used to output a pulse width modulation signal for braking the DC motor; the isolation module is used to isolate the output port of the controller and the input port of the motor drive module; the motor drive module is used to control the speed and direction of the DC motor according to the pulse width modulation signal; the current sampling isolation module is used to collect the current signal of the DC motor in real time, isolate the current signal and feed it back to the controller; the controller is also used to obtain the real-time output power of the DC motor according to the current signal, and adjust the duty cycle of the pulse width modulation signal according to the output power to change the speed of the DC motor, thereby controlling the torque of the mechanical gripper. Based on the above scheme, the isolation module reduces the noise and interference level of the drive control circuit, thereby improving the stability and reliability of the drive control circuit. The drive control circuit can support large current driving of the DC motor, and the circuit structure is simple, reducing the circuit design cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present application and should not be regarded as limiting the scope of protection of the present application. In each of the drawings, similar components are numbered similarly.

[0034] Figure 1 A circuit block diagram of a drive control circuit provided in an embodiment of the present application is shown;

[0035] Figure 2 A circuit diagram of an isolation module in a drive control circuit provided in an embodiment of the present application is shown;

[0036] Figure 3 A circuit diagram of a motor drive module in a drive control circuit provided in an embodiment of the present application is shown;

[0037] Figure 4 A circuit diagram of a current sampling isolation module in a drive control circuit provided in an embodiment of the present application is shown;

[0038] Figure 5 A circuit diagram of a drive control circuit provided in an embodiment of the present application is shown.

[0039] Description of main component symbols:

[0040] 100 - drive control circuit; 110 - controller; 120 - isolation module; 130 - motor drive module; 140 - current sampling isolation module. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0042] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0043] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present application, are intended only to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing items.

[0044] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0045] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present application belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present application.

[0046] Example 1

[0047] Please refer to Figure 1 , is a circuit block diagram of a drive control circuit 100 provided in an embodiment of the present application. The drive control circuit 100 includes a controller 110, an isolation module 120, a motor drive module 130 and a current sampling isolation module 140.

[0048] Exemplarily, the output end of the controller 110 is connected to the input end of the isolation module 120, the output end of the isolation module 120 is connected to the input end of the motor drive module 130, the output end of the motor drive module 130 is connected to the input end of the DC motor, the output end of the motor drive module 130 is also connected to the input end of the current sampling isolation module 140, and the output end of the current sampling isolation module 140 is connected to the input end of the controller 110.

[0049] In this embodiment, the controller 110 is used to output a pulse width modulation signal for braking the DC motor. The controller 110 is also used to obtain the real-time output power of the DC motor according to the current signal, and adjust the duty cycle of the pulse width modulation signal according to the output power to change the speed of the DC motor, thereby controlling the torque of the mechanical clamp.

[0050] Exemplarily, the controller 110 is specifically a DC brush electric push rod torque controller, which is used to realize the complementary pulse width modulation signal output of the DC motor, thereby realizing the forward and reverse rotation of the DC motor. The DC brush electric push rod torque controller of the same specification can control the speed through the pulse width modulation signal, and the implementation principle is to change the output power through the pulse width modulation signal. The current feedback signal received by the DC brush electric push rod torque controller 110 is the real-time feedback of the output power of the DC motor, and then the DC brush electric push rod torque controller 110 adjusts the pulse width modulation signal according to the real-time output power of the DC motor to better control the torque of the mechanical gripper.

[0051] The isolation module 120 is used to isolate the output port of the controller 110 and the input port of the motor driving module 130 .

[0052] Exemplarily, the isolation module 120 has two isolation channels, so that the controller 110 can transmit the pulse width modulation signal to the two input ports of the motor drive module 130 through the two isolation channels. The isolation module 120 is used to provide a pulse width modulation signal input interface and a pulse width modulation signal isolation protection function. At the same time, the isolation module 120 has a high anti-interference ability and can effectively resist environmental noise and electromagnetic waves.

[0053] For example, in one embodiment, the isolation module 120 includes a first isolation unit and a second isolation unit, and the first isolation unit and the second isolation unit are respectively connected to the two input ends of the motor driving module 130; the first isolation unit and the second isolation unit are used to provide two isolation channels to achieve isolation between the output port of the controller 110 and the two input ports of the motor driving module 130.

[0054] like Figure 2As shown, in one embodiment, the first isolation unit and the second isolation unit respectively include a high-speed isolation optocoupler U1 and a current limiting resistor R11; one end of the high-speed isolation optocoupler U1 is respectively connected to the current limiting resistor R11 and an input end of the motor drive module 130, and the other end of the high-speed isolation optocoupler U1 is connected to the output end of the controller 110.

[0055] The motor driving module 130 is used to control the speed and direction of the DC motor according to the pulse width modulation signal.

[0056] like Figure 3 As shown, in one embodiment, the motor driving module 130 includes an H-bridge driving circuit, a protection circuit, a voltage filtering circuit, an on-off regulating circuit, a signal conditioning circuit and a conduction circuit;

[0057] The H-bridge drive circuit is used to drive the four-quadrant operation of the DC motor, which includes forward rotation, forward braking, reverse rotation and reverse braking; the signal conditioning circuit is used to adjust the amplitude of the pulse width modulation signal by changing the impedance of the pulse width modulation signal path; the conduction circuit is used to control the blocking and conduction of different switching tubes in the H-bridge drive circuit.

[0058] Exemplarily, the H-bridge driving circuit is composed of 4 NMOS switch tubes. For example, in one embodiment, the H-bridge driving circuit includes a first switch tube Q1, a second switch tube Q2, a third switch tube Q3 and a fourth switch tube Q4, and the sources of the first switch tube Q1, the second switch tube Q2, the third switch tube Q3 and the fourth switch tube Q4 are respectively connected to the DC motor. The conduction circuit is composed of 2 phase converters and 2 inverters.

[0059] In the motor drive module 130, the first switch tube Q1 and the second switch tube Q2 form the left half of the bridge arm, the third switch tube Q3 and the fourth switch tube Q4 form the right half of the bridge arm, the first phase detector and the first inverter are respectively connected to the left half of the bridge arm, the second phase detector and the second inverter are respectively connected to the right half of the bridge arm, and the DC motor is connected between the two bridge arms. When the first switch tube Q1 and the fourth switch tube Q4 are turned on, and the second switch tube Q2 and the third switch tube Q3 are blocked, the current of the DC motor will flow from the voltage source into the first switch tube Q1, and then flow back to the ground from the fourth switch tube Q4 after passing through the DC motor. At this time, the rotation direction of the DC motor is forward. When the second switch tube Q2 and the third switch tube Q3 are turned on, and the first switch tube Q1 and the fourth switch tube Q4 are blocked, the current of the DC motor will flow from the voltage source into the third switch tube Q3, and then flow back to the ground from the second switch tube Q2 after passing through the motor. At this time, the rotation direction of the DC motor is reverse.

[0060] Among them, the introduction of the phase comparator and the phase inverter is mainly to generate a phase difference, thereby changing the waveform of the pulse width modulation signal. The phase comparator and the phase inverter are different logic gate circuits. The output of the phase comparator is in the same direction as the input, while the output of the phase inverter is opposite to the input. When the phase comparator and the phase inverter are connected in parallel, their input pulse width modulation signals are the same, while the output pulse width modulation signals are 180 degrees different. The phase comparator is used to convert the sine wave of the positive half cycle of the pulse width modulation signal into a high level output; the phase inverter is used to convert the sine wave of the negative half cycle of the pulse width modulation signal into a high level output. The phase comparator and the phase inverter respectively output the voltage signals of the positive half cycle and the negative half cycle in opposite phases to generate a phase difference, and finally obtain a voltage signal similar to a square wave, thereby forming a rotating magnetic field.

[0061] For example, in one embodiment, the signal conditioning circuit includes a first resistor R1, a second resistor R2, a third resistor R3 and a fourth resistor R4; the conduction circuit includes a first collimator, a first inverter, a second collimator and a second inverter; the first collimator is connected in series with the first resistor R1 and then connected to the gate of the first switch tube Q1; the first inverter is connected in series with the second resistor R2 and then connected to the gate of the second switch tube Q2; the second collimator is connected in series with the third resistor R3 and then connected to the gate of the third switch tube Q3; the second inverter is connected in series with the fourth resistor R4 and then connected to the gate of the fourth switch tube Q4.

[0062] The protection circuit is used to provide reverse voltage protection for the switch tube in the H-bridge drive circuit; the voltage filter circuit is used to filter the input voltage of the DC motor; the on-off regulation circuit is used to promote the closing and opening of the switch tube in the H-bridge drive circuit.

[0063] Exemplarily, the protection module includes four voltage-stabilizing diodes, which can be used to provide reverse voltage protection for the switch tube. When the switch tube is turned on or off under high voltage and high current, a reverse voltage shock may be generated, causing damage to components. In order to prevent this from happening, voltage-stabilizing diodes can be used to provide reverse voltage protection. Specifically, the voltage-stabilizing diode is connected in parallel with the switch tube, making it a protection circuit. When the switch tube is turned off, the voltage-stabilizing diode will withstand the ensuing reverse voltage, thereby protecting the switch tube.

[0064] Exemplarily, the on-off regulation circuit includes two capacitors, which can promote the rapid on-off of the switch tube to a certain extent and reduce the Miller platform effect. In the H-bridge drive circuit used by the switch tube, when the switch tube is switched quickly, there is a very short charge transition process, which may form a transient capacitance between the gate and the source / drain of the switch tube. This capacitor is called Miller capacitance, and its existence may cause the rapid rise or fall of the current to be limited, thereby reducing the switching speed and forming the so-called Miller platform effect. This is one of the main factors affecting the response speed and stability of the switching circuit. In this case, if a capacitor is added to the H-bridge drive circuit of the switch tube to limit the influence of the Miller capacitor, the Miller platform effect can be reduced and the rapid on-off of the switch tube can be promoted. When the switch tube is turned on, the capacitor can guide its current to form a gate-source / gate-drain voltage peak, thereby making the power-on state of the switch reach a stable state more quickly. Similarly, when the switch tube is turned off, the capacitor can absorb the excessive voltage and discharge it quickly.

[0065] For example, in one embodiment, the protection circuit includes a first voltage zener diode D1, a second voltage zener diode D2, a third voltage zener diode D3 and a fourth voltage zener diode D4; the on-off regulation circuit includes a first capacitor C1 and a second capacitor C2; the first voltage zener diode D1 and the first capacitor C1 are connected in series, and then connected to the source and gate of the first switch tube Q1; the second voltage zener diode D2 and the second capacitor C2 are connected in series, and then connected to the source and gate of the second switch tube Q2; the third voltage zener diode D3 is connected in parallel to the source and gate of the third switch tube Q3; the fourth voltage zener diode D4 is connected in parallel to the source and gate of the fourth switch tube Q4.

[0066] For example, in one implementation, the voltage filter circuit includes a third capacitor C3 and a fourth capacitor C4, and the third capacitor C3 and the fourth capacitor C4 are connected in series with a voltage source.

[0067] The current sampling isolation module 140 is used to collect the current signal of the DC motor in real time, and isolate the current signal and feed it back to the controller 110 .

[0068] Exemplarily, the current sampling isolation module 140 includes an isolation amplifier, which consists of two parts, including a front-stage differential amplifier and a rear-stage amplifier. The isolation amplifier is used to convert the input current into a corresponding voltage, and at the same time provide isolation protection to protect the downstream circuit from interference from factors such as high voltage, high interference, and high noise. The isolation amplifier is also used to improve the accuracy and stability of the current signal and provide adjustable gain and offset functions.

[0069] Exemplarily, the current sampling isolation module 140 includes an RSA type current transformer, which is used to measure the current signal of the DC motor. When the current passes through the primary side of the RSA current transformer, a corresponding voltage will be induced in the secondary side of the RSA current transformer. Since the secondary side circuit of the RSA current transformer is completely isolated from the DC motor, the voltage can be used to measure the current signal of the DC motor.

[0070] like Figure 4 As shown, in one embodiment, the current sampling isolation module 140 includes a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, an RSA type current transformer, a tenth resistor R10, an isolation amplifier, a fifth capacitor C5 and a sixth capacitor C6; the output end of the isolation amplifier is connected to the fifth resistor R5, the same direction end of the isolation amplifier is connected to the sixth resistor R6 and the seventh resistor R7, the reverse end of the isolation amplifier is connected to the eighth resistor R8, the ninth resistor R9 and the RSA type current transformer, the tenth resistor R10 and the fifth capacitor C5 are respectively connected to the output end and the reverse end of the isolation amplifier, the tenth resistor R10 and the fifth capacitor C5 are connected in parallel, and the sixth capacitor C6 is connected in parallel with the seventh resistor R7, the ninth resistor R9 and the RSA type current transformer.

[0071] like Figure 5 As shown, in the embodiment of the present application, the drive control circuit 100 controls the speed of the DC motor by adjusting the output voltage or current of the DC motor. Controlling the speed of the DC motor is used to realize operations such as fast grasping or slow releasing of the mechanical gripper, and is also used to realize dynamic control and adjustment of the clamping force of the mechanical gripper. The drive control circuit 100 also controls the direction of the DC motor to realize the forward and reverse rotation and braking control of the DC motor, and controls the opening and closing state of the mechanical gripper, thereby realizing the clamping and releasing operations of the mechanical gripper with appropriate force.

[0072] Example 2

[0073] The present application also relates to a mechanical gripper, comprising a DC motor and the drive control circuit of the above-mentioned embodiment 1.

[0074] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow diagram, and the combination of boxes in the structure diagram and / or the flow diagram, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0075] In addition, the functional modules or units in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0076] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0077] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A drive control circuit, characterized in that: Used to control the DC motor braking of the mechanical gripper, the drive control circuit includes a controller, an isolation module, a motor drive module and a current sampling isolation module; The controller is used to output a pulse width modulation signal for braking the DC motor; The isolation module is used to isolate the output port of the controller and the input port of the motor driving module; The motor driving module is used to control the speed and direction of the DC motor according to the pulse width modulation signal; The current sampling isolation module is used to collect the current signal of the DC motor in real time, and isolate the current signal and feed it back to the controller; The controller is also used to obtain the real-time output power of the DC motor according to the current signal, and adjust the duty cycle of the pulse width modulation signal according to the output power to change the rotation speed of the DC motor, thereby controlling the torque of the mechanical clamp.

2. The drive control circuit according to claim 1, characterized in that: The motor drive module includes an H-bridge drive circuit, a protection circuit, a voltage filter circuit, an on-off adjustment circuit, a signal conditioning circuit and a conduction circuit; The H-bridge driving circuit is used to drive the four-quadrant operation of the DC motor, and the four-quadrant operation includes forward rotation, forward braking, reverse rotation and reverse braking; The protection circuit is used to provide reverse voltage protection for the switch tube in the H-bridge drive circuit; The voltage filter circuit is used to filter the input voltage of the DC motor; The on-off regulation circuit is used to facilitate the closing and opening of the switch tube in the H-bridge driving circuit; The signal conditioning circuit is used to adjust the amplitude of the pulse width modulation signal; The conduction circuit is used to control the blocking and conduction of different switch tubes in the H-bridge drive circuit.

3. The drive control circuit according to claim 2, characterized in that: The H-bridge driving circuit includes a first switch tube, a second switch tube, a third switch tube and a fourth switch tube, and sources of the first switch tube, the second switch tube, the third switch tube and the fourth switch tube are respectively connected to the DC motor.

4. The drive control circuit according to claim 3, characterized in that: The protection circuit includes a first voltage stabilizing diode, a second voltage stabilizing diode, a third voltage stabilizing diode and a fourth voltage stabilizing diode; The on-off regulating circuit includes a first capacitor and a second capacitor; The first voltage zener diode and the first capacitor are connected in series and connected to the source and gate of the first switch tube; the second voltage zener diode and the second capacitor are connected in series and connected to the source and gate of the second switch tube; the third voltage zener diode is connected in parallel to the source and gate of the third switch tube; the fourth voltage zener diode is connected in parallel to the source and gate of the fourth switch tube.

5. The drive control circuit according to claim 3, characterized in that: The signal conditioning circuit includes a first resistor, a second resistor, a third resistor and a fourth resistor; the conduction circuit includes a first phase converter, a first inverter, a second phase converter and a second inverter; After the first phase regulator is connected in series with the first resistor, it is connected to the gate of the first switching tube. After the first phase regulator is connected in series with the second resistor, it is connected to the gate of the second switching tube. After the second phase regulator is connected in series with the third resistor, it is connected to the gate of the third switching tube. After the second phase regulator is connected in series with the fourth resistor, it is connected to the gate of the fourth switching tube.

6. The drive control circuit according to claim 3, characterized in that: The voltage filter circuit includes a third capacitor and a fourth capacitor, and the third capacitor and the fourth capacitor are connected in series with a voltage source.

7. The drive control circuit according to claim 1, characterized in that: The isolation module comprises a first isolation unit and a second isolation unit, wherein the first isolation unit and the second isolation unit are respectively connected to two input terminals of the motor driving module; The first isolation unit and the second isolation unit are used to provide two isolation channels to achieve isolation between the output port of the controller and the two input ports of the motor drive module.

8. The drive control circuit according to claim 7, characterized in that: The first isolation unit and the second isolation unit respectively include a high-speed isolation optocoupler and a current-limiting resistor; One end of the high-speed isolation optocoupler is connected to the current limiting resistor and an input end of the motor drive module respectively, and the other end of the high-speed isolation optocoupler is connected to the output end of the controller.

9. The drive control circuit according to claim 1, characterized in that: The current sampling isolation module includes a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a current transformer, a tenth resistor, an isolation amplifier, a fifth capacitor and a sixth capacitor; The output end of the isolation amplifier is connected to the fifth resistor, the same-direction end of the isolation amplifier is connected to the sixth resistor and the seventh resistor, the reverse end of the isolation amplifier is connected to the eighth resistor, the ninth resistor and the current transformer, the tenth resistor and the fifth capacitor are respectively connected to the output end and the reverse end of the isolation amplifier, the tenth resistor and the fifth capacitor are connected in parallel, and the sixth capacitor is connected in parallel with the seventh resistor, the ninth resistor and the current transformer.

10. A mechanical gripper, characterized in that: It comprises a DC motor and a drive control circuit as claimed in any one of claims 1 to 9.

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