Motor drive control circuit and dexterous hand

Abstract

The utility model provides a motor-driven control circuit and a dexterous hand, and relates to the technical field of robot control, and the motor-driven control circuit comprises a driving module, a sampling module, a fault module, a main control module and a motor, the sampling module is electrically connected with the driving module and the main control module and is used for collecting a target current value of the motor and sending the target current value to the main control module; the main control module is also electrically connected with the fault module and the driving module, and is used for judging whether the target current value is greater than a preset current threshold value or not, if so, limiting the current entering the motor, and controlling the fault module to send out fault indication information; and the driving module is also electrically connected with the motor. According to the motor drive control circuit provided by the utility model, the required hardware cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robot control, in particular to a motor drive control circuit and a dexterous hand. Background Art

[0002] The dexterous hands developed by some domestic research institutions and organizations integrate servo cylinders into the palm and then use connecting rods to achieve under-actuation of the fingers. This makes it difficult to miniaturize the entire hand and the dexterous hands have fewer degrees of freedom, making it impossible to perform some complex tasks.

[0003] In order for dexterous hands to perform multiple complex tasks, brushless DC motors and stepper motors need to be controlled synchronously. In the limited space of the palm, it is even necessary to control and drive more than a dozen motors, and the required hardware cost is relatively high. Utility Model Content

[0004] In view of this, the purpose of the present invention is to overcome the deficiencies in the prior art and provide a motor drive control circuit and a dexterous hand.

[0005] The utility model provides the following technical solutions:

[0006] In a first aspect, the present application provides a motor drive control circuit, comprising: a drive module, a sampling module, a fault module, a main control module, and a motor;

[0007] The sampling module is electrically connected to the driving module and the main control module respectively, and is used to collect the target current value of the motor and send the target current value to the main control module;

[0008] The main control module is also electrically connected to the fault module and the drive module, and is used to determine whether the target current value is greater than a preset current threshold. If so, the current entering the motor is limited, and the fault module is controlled to issue a fault indication message.

[0009] The driving module is also electrically connected to the motor.

[0010] In one embodiment, the driving module includes: a gate driver, a three-phase full-bridge inverter unit, a current sampling unit, and a fault detection unit;

[0011] The gate driver is electrically connected to the main control module and the three-phase full-bridge inverter unit respectively;

[0012] The three-phase full-bridge inverter unit is also electrically connected to the motor and the current sampling unit respectively;

[0013] The current sampling unit is electrically connected to the sampling module;

[0014] The fault detection unit is electrically connected to the fault module.

[0015] In one embodiment, the sampling module includes: an operational amplifier submodule and a detection submodule;

[0016] The operational amplifier submodule is electrically connected to the detection submodule and is used to provide a reference voltage source;

[0017] The detection submodule is also electrically connected to the driving module and the main control module, and is used to obtain the target current value of the AC power to be measured according to the reference voltage source.

[0018] In one embodiment, the operational amplifier submodule includes: a voltage dividing unit and an amplifying unit;

[0019] The amplification unit is electrically connected to the voltage dividing unit and the detection submodule respectively;

[0020] The voltage dividing unit includes: a first voltage dividing resistor, a second voltage dividing resistor and a first voltage stabilizing capacitor;

[0021] The amplifying unit includes: an operational amplifier, an energy storage capacitor, a second voltage stabilizing capacitor and a third voltage stabilizing capacitor;

[0022] The first end of the first voltage-dividing resistor is connected to a power supply;

[0023] The second end of the first voltage-dividing resistor is electrically connected to the non-inverting input terminal of the operational amplifier and the first end of the second voltage-dividing resistor respectively;

[0024] The first end of the second voltage-dividing resistor is also electrically connected to the first end of the first voltage-stabilizing capacitor and the non-inverting input end of the operational amplifier respectively;

[0025] The second end of the second voltage-dividing resistor and the second end of the first voltage-stabilizing capacitor are respectively grounded;

[0026] The inverting input terminal of the operational amplifier is electrically connected to the first terminal of the second voltage-stabilizing capacitor;

[0027] The positive power input terminal of the operational amplifier is connected to the first terminal of the energy storage capacitor and the power supply respectively;

[0028] The second end of the energy storage capacitor is grounded;

[0029] The negative power input terminal of the operational amplifier is grounded;

[0030] The output end of the operational amplifier is electrically connected to the first end of the second voltage-stabilizing capacitor and the first end of the third voltage-stabilizing capacitor respectively;

[0031] The second end of the second voltage-stabilizing capacitor and the second end of the third voltage-stabilizing capacitor are respectively grounded;

[0032] The first end of the third voltage-stabilizing capacitor is also electrically connected to the detection submodule.

[0033] In one embodiment, the detection submodule includes: a first detection resistor, a second detection resistor, and a third detection resistor;

[0034] The first end of the first detection resistor is electrically connected to the driving module;

[0035] The second end of the first detection resistor is electrically connected to the first end of the third voltage-stabilizing capacitor;

[0036] The first end of the second detection resistor is electrically connected to the driving module;

[0037] The second end of the second detection resistor is electrically connected to the second end of the first detection resistor;

[0038] The first end of the third detection resistor is electrically connected to the driving module;

[0039] The second end of the third detection resistor is electrically connected to the second end of the first detection resistor.

[0040] In one embodiment, the main control module further includes: a filtering unit;

[0041] The filtering unit is electrically connected to the driving module;

[0042] The filtering unit includes: a first filter capacitor, a second filter capacitor, a third filter capacitor, a fourth filter capacitor, a fifth filter capacitor, a sixth filter capacitor, a first filter resistor, a second filter resistor, a third filter resistor, a fourth filter resistor, a fifth filter resistor and a sixth filter resistor;

[0043] The first end of the first filter capacitor is electrically connected to the first end of the third filter resistor;

[0044] The first end of the second filter capacitor is electrically connected to the first end of the fourth filter resistor;

[0045] The first end of the third filter capacitor is electrically connected to the first end of the second filter resistor;

[0046] The first end of the fourth filter capacitor is electrically connected to the first end of the fifth filter resistor;

[0047] The first end of the fifth filter capacitor is electrically connected to the first end of the first filter resistor;

[0048] The first end of the sixth filter capacitor is electrically connected to the first end of the sixth filter resistor;

[0049] The second end of the first filter capacitor, the second end of the second filter capacitor, the second end of the third filter capacitor, the second end of the fourth filter capacitor, the second end of the fifth filter capacitor and the second end of the sixth filter capacitor are grounded respectively;

[0050] The second end of the first filter resistor, the second end of the second filter resistor, the second end of the third filter resistor, the second end of the fourth filter resistor, the second end of the fifth filter resistor and the second end of the sixth filter resistor are respectively electrically connected to the main control module.

[0051] In one embodiment, the fault module includes: a current limiting unit and a pull-up unit;

[0052] The current limiting unit is electrically connected to the pull-up unit and the driving module respectively;

[0053] The pull-up unit is electrically connected to the main control module;

[0054] The current limiting unit includes: a current limiting resistor; the pull-up unit includes: a pull-up resistor and a seventh energy storage capacitor;

[0055] The first end of the current limiting resistor is electrically connected to the main control module;

[0056] The second end of the current limiting resistor is electrically connected to the first end of the pull-up resistor;

[0057] The second end of the pull-up resistor is connected to the first end of the seventh energy storage capacitor and the power supply respectively;

[0058] The second end of the seventh energy storage capacitor is grounded.

[0059] In one embodiment, the voltage stabilizing module is electrically connected to the driving module;

[0060] The voltage stabilizing module includes: a voltage stabilizing unit;

[0061] The voltage stabilizing unit includes: a fourth voltage stabilizing capacitor, a fifth voltage stabilizing capacitor and a sixth voltage stabilizing capacitor;

[0062] The first end of the fourth voltage-stabilizing capacitor is electrically connected to the first end of the fifth voltage-stabilizing capacitor, the first end of the sixth voltage-stabilizing capacitor, and the driving module respectively;

[0063] The first end of the sixth voltage-stabilizing capacitor is also connected to the power supply;

[0064] The second end of the fourth voltage-stabilizing capacitor is electrically connected to the second end of the fifth voltage-stabilizing capacitor and the second end of the sixth voltage-stabilizing capacitor respectively;

[0065] The second end of the sixth voltage-stabilizing capacitor is grounded.

[0066] In one embodiment, the motor drive control circuit includes: a voltage adjustment module;

[0067] The voltage adjustment module is electrically connected to the main control module and the driving module respectively, and is used to receive a low-level signal provided by the main control module and limit the current entering the motor according to the low-level signal.

[0068] In a second aspect, the present invention provides a dexterous hand, which includes the motor drive control circuit provided in the first aspect.

[0069] The embodiments of the present utility model have the following advantages:

[0070] The embodiment of the present application provides a motor drive control circuit and a dexterous hand, comprising: a drive module, a sampling module, a fault module, a main control module, and a motor; the sampling module is electrically connected to the drive module and the main control module, respectively, for collecting the target current value of the motor and sending the target current value to the main control module; the main control module is also electrically connected to the fault module and the drive module, for determining whether the target current value is greater than a preset current threshold, and if so, limiting the current entering the motor and controlling the fault module to issue a fault indication message; the drive module is also electrically connected to the motor. The present application reduces hardware costs and improves the stability of the dexterous hand by improving the integration of the drive control circuit.

[0071] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, 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 invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0073] Figure 1 A schematic structural diagram of a motor drive control circuit provided in an embodiment of the present application is shown;

[0074] Figure 2 Another structural diagram of the motor drive control circuit provided by an embodiment of the present application is shown;

[0075] Figure 3 A circuit diagram of a motor drive control circuit provided in an embodiment of the present application is shown.

[0076] Description of main component symbols:

[0077] 100-drive module; 200-sampling module; 300-motor; 400-fault module; 500-main control module; 600-voltage regulator module; 700-voltage adjustment module. DETAILED DESCRIPTION

[0078] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0079] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. Conversely, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0080] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0081] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0082] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used in the template description herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0083] Example 1

[0084] An embodiment of the present application provides a motor drive control circuit.

[0085] See also Figure 1 , Figure 1 A structural schematic diagram of a motor drive control circuit provided in an embodiment of the present application is shown, including: a drive module 100, a sampling module 200, a fault module 400, a main control module 500 and a motor 300; wherein, the motor 300 is electrically connected to the drive module 100, the sampling module 200 is electrically connected to the drive module 100 and the main control module 500, and the main control module 500 is electrically connected to the fault module 400 and the drive module 100, respectively.

[0086] It should be noted that the target current value of the motor 300 is obtained through the sampling module 200 and sent to the main control module 500. The main control module 500 determines whether the target current value is greater than the preset current threshold. If it is greater, the current entering the motor 300 is limited, and the fault module 400 is controlled to issue a fault indication message.

[0087] In one embodiment, if Figure 2 As shown, the motor drive control circuit further includes: a voltage adjustment module 700 and a voltage stabilizing module 600; wherein the voltage stabilizing module 600 is electrically connected to the driving module 100, and the voltage adjustment module 700 is electrically connected to the main control module 500 and the driving module 100 respectively.

[0088] In this embodiment, the present application obtains a stable voltage through the sampling module 200, receives a low-level signal provided by the main control module 500 through the voltage adjustment module 700, and controls the driving module 100 to enter the sleep mode according to the low-level signal. The voltage adjustment module 700 includes a current limiting resistor R3 and a pull-up resistor R4.

[0089] In one embodiment, the drive module 100 includes: a gate driver, a three-phase full-bridge inverter unit, a current sampling unit and a fault detection unit; the gate driver is electrically connected to the main control module and the three-phase full-bridge inverter unit respectively; the three-phase full-bridge inverter unit is also electrically connected to the motor 300 and the current sampling unit respectively; the current sampling unit is electrically connected to the sampling module 200; and the fault detection unit is electrically connected to the fault module 400.

[0090] It should be noted that this application uses a brushless DC motor driver chip U2, which integrates a gate driver, a three-phase full-bridge inverter unit, a current sampling unit, and a fault detection unit. This not only greatly optimizes the circuit and reduces the large number of components used, but also allows the limited layout space to accommodate more motor drive circuits. Among them, the three-phase full-bridge inverter unit is used to convert the received DC power to be tested from the motor 300 into the AC power to be tested. If the target current value is greater than the preset current threshold, its gate driver is disabled to limit the current passing through.

[0091] In this embodiment, the current value and temperature value are collected and judged by the current sampling unit inside the DC brushless motor driver chip U2. If the current value is greater than the preset current threshold or the temperature value is greater than the preset temperature threshold, a fault signal is sent to the main control module 500 through the fault detection unit, and a low-level signal is sent to disable the gate driver of the DC brushless motor driver chip U2 through pin 2 to limit the current passing through.

[0092] It should be noted that the motor 300 is connected to pins 9 and 26, pins 11 and 24, and pins 13 and 22 of the driver chip U2 respectively, and the driver chip U2 sends a driving signal to drive the motor 300 to perform corresponding actions.

[0093] In one embodiment, if Figure 3 As shown, the sampling module 200 includes: an operational amplifier submodule and a detection submodule; the operational amplifier submodule includes: a voltage divider unit and an amplifying unit; the amplifying unit is electrically connected to the voltage divider unit and the detection submodule respectively; the voltage divider unit includes: a first voltage divider resistor R1, a second voltage divider resistor R2 and a first voltage stabilizing capacitor C6; the amplifying unit includes: an operational amplifier U1, an energy storage capacitor, a second voltage stabilizing capacitor C4 and a third voltage stabilizing capacitor C5; the first end of the first voltage divider resistor R1 is connected to the power supply; the second end of the first voltage divider resistor R1 is electrically connected to the non-inverting input end of the operational amplifier U1 and the first end of the second voltage divider resistor R2; the first end of the second voltage divider resistor R2 is also electrically connected to the first end of the first stabilizing capacitor C6 and the operational amplifier U1 respectively. The non-inverting input terminal of the operational amplifier U1 is electrically connected; the second end of the second voltage-dividing resistor R2 is respectively grounded to the second end of the first voltage-stabilizing capacitor C6; the inverting input terminal of the operational amplifier U1 is electrically connected to the first end of the second voltage-stabilizing capacitor C4; the positive power supply input terminal of the operational amplifier U1 is respectively connected to the first end of the energy storage capacitor and the power supply; the second end of the energy storage capacitor is grounded; the negative power supply input terminal of the operational amplifier U1 is grounded; the output terminal of the operational amplifier U1 is respectively electrically connected to the first end of the second voltage-stabilizing capacitor C4 and the first end of the third voltage-stabilizing capacitor C5; the second end of the second voltage-stabilizing capacitor C4 is respectively grounded to the second end of the third voltage-stabilizing capacitor C5; the first end of the third voltage-stabilizing capacitor C5 is also electrically connected to the detection submodule.

[0094] It should be noted that this application divides the power supply 3_3VCC1 using first and second voltage-dividing resistors R1 and R2, and provides a stable reference voltage V2REF through voltage stabilization by first voltage-stabilizing capacitor C6. This voltage is then passed through a voltage follower consisting of an operational amplifier U1, which serves to enhance the voltage drive capability. The output signal from pin 1 of operational amplifier U1 is filtered and stabilized by second and third voltage-stabilizing capacitors C4 and C5, resulting in a stable reference voltage source V2REF1 with a drive capability of tens of mA.

[0095] Pins 15 to 17 of the brushless DC motor driver chip U2 are used to detect the three-phase current values ​​of the brushless DC motor and convert them into voltage values ​​to be transmitted to the main control module 500.

[0096] To further clarify, pins 20 and 21 of the brushless DC motor driver chip U2 connect to the two ends of the chip's external bootstrap capacitor. Pin 19 is the charge pump output pin, which is connected to VCC via an external capacitor. Pin 18 is grounded. Pin 14 is the low-side gate drive voltage regulator, which requires an external capacitor C2 to ground.

[0097] In one embodiment, the detection submodule includes: a first detection resistor R5, a second detection resistor R6 and a third detection resistor R7; the first end of the first detection resistor R5 is electrically connected to the driving module 100; the second end of the first detection resistor R5 is electrically connected to the first end of the third voltage-stabilizing capacitor; the first end of the second detection resistor R6 is electrically connected to the driving module 100; the second end of the second detection resistor R6 is electrically connected to the second end of the first detection resistor R5; the first end of the third detection resistor R7 is electrically connected to the driving module 100; and the second end of the third detection resistor R7 is electrically connected to the second end of the first detection resistor R5.

[0098] It should be noted that the first detection resistor R5, the second detection resistor R6 and the third detection resistor R7 can improve the accuracy of the sampling current and the maximum sampling current value identified by the main control module 500 by setting the resistance value, thereby enabling the main control module 500 to achieve effective and stable control of the DC brushless motor chip U2.

[0099] The target current value is obtained according to the acquired sampling resistance values ​​of the first detection resistor R5 , the second detection resistor R6 , and the third detection resistor R7 and the stable reference voltage source V2REF1 of the operational amplifier submodule.

[0100] In one embodiment, the main control module 500 includes: a filtering unit; the filtering unit is electrically connected to the driving module 100; the filtering unit includes: a first filter capacitor C10, a second filter capacitor C11, a third filter capacitor C13, a fourth filter capacitor C14, a fifth filter capacitor C15, a sixth filter capacitor C16, a first filter resistor R10, a second filter resistor R11, a third filter resistor R12, a fourth filter resistor R13, a fifth filter resistor R14 and a sixth filter resistor R15; a first end of the first filter capacitor C10 is electrically connected to a first end of the third filter resistor R12; a first end of the second filter capacitor C11 is electrically connected to a first end of the fourth filter resistor R13; a first end of the third filter capacitor C13 is electrically connected to a first end of the second filter resistor R11; a fourth filter capacitor C14 is electrically connected to a first end of the fourth filter resistor R15. The first end of the fifth filter capacitor C15 is electrically connected to the first end of the first filter resistor R10; the first end of the sixth filter capacitor C16 is electrically connected to the first end of the sixth filter resistor R15; the second end of the first filter capacitor C10, the second end of the second filter capacitor C11, the second end of the third filter capacitor C13, the second end of the fourth filter capacitor C14, the second end of the fifth filter capacitor C15 and the second end of the sixth filter capacitor C16 are respectively grounded; the second end of the first filter resistor R10, the second end of the second filter resistor R11, the second end of the third filter resistor R12, the second end of the fourth filter resistor R13, the second end of the fifth filter resistor R14 and the second end of the sixth filter resistor R15 are respectively electrically connected to the main control module 500.

[0101] It should be noted that the RC filter circuit composed of the first filter resistor R10, the fifth filter capacitor C15, the second filter resistor R11, the third filter capacitor C13, the third filter resistor R12, the first filter capacitor C10, the fourth filter resistor R13, the second filter capacitor C11, the fifth filter resistor R14, the fourth filter capacitor C14, the sixth filter resistor R15, and the sixth filter capacitor C16 respectively filters the upper and lower tube control signals from the main control module 500 to stabilize the control signals. At the same time, each filter resistor also plays a role in current limiting.

[0102] It is further explained that after receiving the signal from the main control module 500, the signal is filtered by the filtering unit and then sent to the gate drive inside the driving module 100. Among them, pins 3 to 5 of the DC brushless motor driver chip U2 are used to control the low-end field effect transistors of phase A, phase B, and phase C, respectively, and pins 6 to 8 are used to control the high-end field effect transistors of phase A, phase B, and phase C, respectively.

[0103] In one embodiment, the fault module 400 includes: a current limiting unit and a pull-up unit; the current limiting unit is electrically connected to the pull-up unit and the driving module 100 respectively; the pull-up unit is electrically connected to the main control module 500; the current limiting unit includes: a current limiting resistor; the pull-up unit includes: a pull-up resistor R3 and a seventh energy storage capacitor; the first end of the current limiting resistor R8 is electrically connected to the main control module 500; the second end of the current limiting resistor R8 is electrically connected to the first end of the pull-up resistor R3; the second end of the pull-up resistor R3 is respectively connected to the first end of the seventh energy storage capacitor and the power supply; the second end of the seventh energy storage capacitor is grounded.

[0104] It should be noted that pin 1 of the brushless DC motor driver chip U2 is the fault output pin, an open-drain output. Pull-up resistor R3 is added to maintain a fixed state for pin 1 under normal conditions. R8 is a current-limiting resistor. Pin 2 of the brushless DC motor driver chip U2 is the chip's sleep mode input control. When the main control module 500 provides a low-level signal, it limits the current entering the motor 300. Pull-up resistor R4 is added to ensure that the chip does not operate in sleep mode.

[0105] In one embodiment, the voltage stabilizing module 600 includes: a voltage stabilizing unit; the voltage stabilizing unit includes: a fourth voltage stabilizing capacitor C7, a fifth voltage stabilizing capacitor C8 and a sixth voltage stabilizing capacitor C9; the first end of the fourth voltage stabilizing capacitor C7 is electrically connected to the first end of the fifth voltage stabilizing capacitor C8, the first end of the sixth voltage stabilizing capacitor C9 and the driving module 100 respectively; the first end of the sixth voltage stabilizing capacitor C9 is also connected to the power supply; the second end of the fourth voltage stabilizing capacitor C7 is electrically connected to the second end of the fifth voltage stabilizing capacitor C8 and the second end of the sixth voltage stabilizing capacitor C9 respectively; the second end of the sixth voltage stabilizing capacitor C9 is grounded.

[0106] It should be noted that pins 3 and 25, and pins 10 and 12 of the DC brushless motor driver chip U2 are connected to the positive and negative terminals of the power supply respectively. The voltage of VCC is the same as the power supply voltage of the motor. The fourth voltage stabilizing capacitor C7, the fifth voltage stabilizing capacitor C8, and the sixth voltage stabilizing capacitor C9 are energy storage filter capacitors, which make the power signal clean and the power supply stable.

[0107] The embodiment of the present application provides a motor drive control circuit and a dexterous hand, comprising: a drive module, a sampling module, a fault module, a main control module, and a motor; the sampling module is electrically connected to the drive module and the main control module, respectively, for collecting the target current value of the motor and sending the target current value to the main control module; the main control module is also electrically connected to the fault module and the drive module, for determining whether the target current value is greater than a preset current threshold, and if so, limiting the current entering the motor and controlling the fault module to issue a fault indication message; the drive module is also electrically connected to the motor. The present application reduces hardware costs and improves the stability of the dexterous hand by improving the integration of the drive control circuit.

[0108] Example 2

[0109] This embodiment provides a dexterous hand, including the motor drive control circuit provided by the first embodiment.

[0110] The present application provides a motor drive control circuit, comprising: a drive module, a sampling module, a fault module, a main control module and a motor; the sampling module is electrically connected to the drive module and the main control module, respectively, and is used to collect the target current value of the motor and send the target current value to the main control module; the main control module is also electrically connected to the fault module and the drive module, and is used to determine whether the target current value is greater than a preset current threshold. If so, the current entering the motor is limited, and the fault module is controlled to issue a fault indication message; the drive module is also electrically connected to the motor.

[0111] In one embodiment, the driving module includes: a gate driver, a three-phase full-bridge inverter unit, a current sampling unit and a fault detection unit; the gate driver is electrically connected to the main control module and the three-phase full-bridge inverter unit respectively; the three-phase full-bridge inverter unit is also electrically connected to the motor and the current sampling unit respectively; the current sampling unit is electrically connected to the sampling module; and the fault detection unit is electrically connected to the fault module.

[0112] In one embodiment, the sampling module includes: an operational amplifier submodule and a detection submodule; the operational amplifier submodule is electrically connected to the detection submodule and is used to provide a reference voltage source; the detection submodule is also electrically connected to the driving module and the main control module and is used to obtain the target current value of the AC power to be measured based on the reference voltage source.

[0113] In one embodiment, the operational amplifier submodule includes: a voltage divider unit and an amplifying unit; the amplifying unit is electrically connected to the voltage divider unit and the detection submodule respectively; the voltage divider unit includes: a first voltage divider resistor, a second voltage divider resistor and a first voltage stabilizing capacitor; the amplifying unit includes: an operational amplifier, a storage capacitor, a second voltage stabilizing capacitor and a third voltage stabilizing capacitor; the first end of the first voltage divider resistor is connected to a power supply; the second end of the first voltage divider resistor is electrically connected to the non-inverting input terminal of the operational amplifier and the first end of the second voltage divider resistor respectively; the first end of the second voltage divider resistor is also electrically connected to the first end of the first voltage stabilizing capacitor and the non-inverting input terminal of the operational amplifier respectively. The first terminal of the operational amplifier is electrically connected to the first end of the second voltage-stabilizing capacitor; the second end of the second voltage-dividing resistor is respectively grounded to the second end of the first voltage-stabilizing capacitor; the inverting input terminal of the operational amplifier is electrically connected to the first end of the second voltage-stabilizing capacitor; the positive power input terminal of the operational amplifier is respectively connected to the first end of the energy storage capacitor and the power supply; the second end of the energy storage capacitor is grounded; the negative power input terminal of the operational amplifier is grounded; the output terminal of the operational amplifier is respectively electrically connected to the first end of the second voltage-stabilizing capacitor and the first end of the third voltage-stabilizing capacitor; the second end of the second voltage-stabilizing capacitor is respectively grounded to the second end of the third voltage-stabilizing capacitor; the first end of the third voltage-stabilizing capacitor is also electrically connected to the detection submodule.

[0114] In one embodiment, the detection submodule includes: a first detection resistor, a second detection resistor and a third detection resistor; the first end of the first detection resistor is electrically connected to the driving module; the second end of the first detection resistor is electrically connected to the first end of the third voltage-stabilizing capacitor; the first end of the second detection resistor is electrically connected to the driving module; the second end of the second detection resistor is electrically connected to the second end of the first detection resistor; the first end of the third detection resistor is electrically connected to the driving module; and the second end of the third detection resistor is electrically connected to the second end of the first detection resistor.

[0115] In one embodiment, the main control module includes: a filter unit; the filter unit is electrically connected to the driving module; the filter unit includes: a first filter capacitor, a second filter capacitor, a third filter capacitor, a fourth filter capacitor, a fifth filter capacitor, a sixth filter capacitor, a first filter resistor, a second filter resistor, a third filter resistor, a fourth filter resistor, a fifth filter resistor and a sixth filter resistor; the first end of the first filter capacitor is electrically connected to the first end of the third filter resistor; the first end of the second filter capacitor is electrically connected to the first end of the fourth filter resistor; the first end of the third filter capacitor is electrically connected to the first end of the second filter resistor; the first end of the fourth filter capacitor is electrically connected to the fifth filter resistor The first end of the fifth filter capacitor is electrically connected to the first end of the first filter resistor; the first end of the sixth filter capacitor is electrically connected to the first end of the sixth filter resistor; the second end of the first filter capacitor, the second end of the second filter capacitor, the second end of the third filter capacitor, the second end of the fourth filter capacitor, the second end of the fifth filter capacitor and the second end of the sixth filter capacitor are grounded respectively; the second end of the first filter resistor, the second end of the second filter resistor, the second end of the third filter resistor, the second end of the fourth filter resistor, the second end of the fifth filter resistor and the second end of the sixth filter resistor are electrically connected to the main control module respectively.

[0116] In one embodiment, the fault module includes: a current limiting unit and a pull-up unit; the current limiting unit is electrically connected to the pull-up unit and the driving module respectively; the pull-up unit is electrically connected to the main control module; the current limiting unit includes: a current limiting resistor; the pull-up unit includes: a pull-up resistor and a seventh energy storage capacitor; the first end of the current limiting resistor is electrically connected to the main control module; the second end of the current limiting resistor is electrically connected to the first end of the pull-up resistor; the second end of the pull-up resistor is respectively connected to the first end of the seventh energy storage capacitor and the power supply; the second end of the seventh energy storage capacitor is grounded.

[0117] In one embodiment, the voltage stabilizing module is electrically connected to the driving module; the voltage stabilizing module includes: a voltage stabilizing unit; the voltage stabilizing unit includes: a fourth voltage stabilizing capacitor, a fifth voltage stabilizing capacitor and a sixth voltage stabilizing capacitor; the first end of the fourth voltage stabilizing capacitor is electrically connected to the first end of the fifth voltage stabilizing capacitor, the first end of the sixth voltage stabilizing capacitor and the driving module respectively; the first end of the sixth voltage stabilizing capacitor is also connected to a power supply; the second end of the fourth voltage stabilizing capacitor is electrically connected to the second end of the fifth voltage stabilizing capacitor and the second end of the sixth voltage stabilizing capacitor respectively; the second end of the sixth voltage stabilizing capacitor is grounded.

[0118] In one embodiment, the motor drive control circuit includes: a voltage adjustment module; the voltage adjustment module is electrically connected to the main control module and the drive module, respectively, and is used to receive a low-level signal provided by the main control module and limit the current entering the motor according to the low-level signal.

[0119] The embodiment of the present application provides a motor drive control circuit and a dexterous hand, comprising: a drive module, a sampling module, a fault module, a main control module, and a motor; the sampling module is electrically connected to the drive module and the main control module, respectively, for collecting the target current value of the motor and sending the target current value to the main control module; the main control module is also electrically connected to the fault module and the drive module, for determining whether the target current value is greater than a preset current threshold, and if so, limiting the current entering the motor and controlling the fault module to issue a fault indication message; the drive module is also electrically connected to the motor. The present application reduces hardware costs and improves the stability of the dexterous hand by improving the integration of the drive control circuit.

[0120] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not limiting, and thus other examples of the exemplary embodiments may have different values.

[0121] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0122] The above-described embodiments merely represent several implementation methods of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the scope of the present invention, all of which fall within the scope of protection of the present invention.

Claims

1. A motor drive control circuit, characterized in that: include: Drive module, sampling module, fault module, main control module and motor; The sampling module is electrically connected to the driving module and the main control module respectively, and is used to collect the target current value of the motor and send the target current value to the main control module; The main control module is also electrically connected to the fault module and the drive module, and is used to determine whether the target current value is greater than a preset current threshold. If so, the current entering the motor is limited, and the fault module is controlled to issue a fault indication message. The driving module is also electrically connected to the motor.

2. The motor drive control circuit according to claim 1, wherein: The driving module includes: a gate driver, a three-phase full-bridge inverter unit, a current sampling unit and a fault detection unit; The gate driver is electrically connected to the main control module and the three-phase full-bridge inverter unit respectively; The three-phase full-bridge inverter unit is also electrically connected to the motor and the current sampling unit respectively; The current sampling unit is electrically connected to the sampling module; The fault detection unit is electrically connected to the fault module.

3. The motor drive control circuit according to claim 1, wherein: The sampling module includes: an operational amplifier submodule and a detection submodule; The operational amplifier submodule is electrically connected to the detection submodule and is used to provide a reference voltage source; The detection submodule is also electrically connected to the driving module and the main control module, and is used to obtain the target current value of the motor according to the reference voltage source.

4. The motor drive control circuit according to claim 3, wherein: The operational amplifier submodule includes: a voltage dividing unit and an amplifying unit; The amplification unit is electrically connected to the voltage dividing unit and the detection submodule respectively; The voltage dividing unit includes: a first voltage dividing resistor, a second voltage dividing resistor and a first voltage stabilizing capacitor; The amplifying unit includes: an operational amplifier, an energy storage capacitor, a second voltage stabilizing capacitor and a third voltage stabilizing capacitor; The first end of the first voltage-dividing resistor is connected to a power supply; The second end of the first voltage-dividing resistor is electrically connected to the non-inverting input terminal of the operational amplifier and the first end of the second voltage-dividing resistor respectively; The first end of the second voltage-dividing resistor is also electrically connected to the first end of the first voltage-stabilizing capacitor and the non-inverting input end of the operational amplifier respectively; The second end of the second voltage-dividing resistor and the second end of the first voltage-stabilizing capacitor are respectively grounded; The inverting input terminal of the operational amplifier is electrically connected to the first terminal of the second voltage-stabilizing capacitor; The positive power input terminal of the operational amplifier is connected to the first terminal of the energy storage capacitor and the power supply respectively; The second end of the energy storage capacitor is grounded; The negative power input terminal of the operational amplifier is grounded; The output end of the operational amplifier is electrically connected to the first end of the second voltage-stabilizing capacitor and the first end of the third voltage-stabilizing capacitor respectively; The second end of the second voltage-stabilizing capacitor and the second end of the third voltage-stabilizing capacitor are respectively grounded; The first end of the third voltage-stabilizing capacitor is also electrically connected to the detection submodule.

5. The motor drive control circuit according to claim 4, characterized in that: The detection submodule includes: a first detection resistor, a second detection resistor and a third detection resistor; The first end of the first detection resistor is electrically connected to the driving module; The second end of the first detection resistor is electrically connected to the first end of the third voltage-stabilizing capacitor; The first end of the second detection resistor is electrically connected to the driving module; The second end of the second detection resistor is electrically connected to the second end of the first detection resistor; The first end of the third detection resistor is electrically connected to the driving module; The second end of the third detection resistor is electrically connected to the second end of the first detection resistor.

6. The motor drive control circuit according to claim 1, wherein: The main control module further includes: a filtering unit; The filtering unit is electrically connected to the driving module; The filtering unit includes: a first filter capacitor, a second filter capacitor, a third filter capacitor, a fourth filter capacitor, a fifth filter capacitor, a sixth filter capacitor, a first filter resistor, a second filter resistor, a third filter resistor, a fourth filter resistor, a fifth filter resistor and a sixth filter resistor; The first end of the first filter capacitor is electrically connected to the first end of the third filter resistor; The first end of the second filter capacitor is electrically connected to the first end of the fourth filter resistor; The first end of the third filter capacitor is electrically connected to the first end of the second filter resistor; The first end of the fourth filter capacitor is electrically connected to the first end of the fifth filter resistor; The first end of the fifth filter capacitor is electrically connected to the first end of the first filter resistor; The first end of the sixth filter capacitor is electrically connected to the first end of the sixth filter resistor; The second end of the first filter capacitor, the second end of the second filter capacitor, the second end of the third filter capacitor, the second end of the fourth filter capacitor, the second end of the fifth filter capacitor and the second end of the sixth filter capacitor are grounded respectively; The second end of the first filter resistor, the second end of the second filter resistor, the second end of the third filter resistor, the second end of the fourth filter resistor, the second end of the fifth filter resistor and the second end of the sixth filter resistor are respectively electrically connected to the main control module.

7. The motor drive control circuit according to claim 1, wherein: The fault module includes: a current limiting unit and a pull-up unit; The current limiting unit is electrically connected to the pull-up unit and the driving module respectively; The pull-up unit is electrically connected to the main control module; The current limiting unit includes: a current limiting resistor; the pull-up unit includes: a pull-up resistor and a seventh energy storage capacitor; The first end of the current limiting resistor is electrically connected to the main control module; The second end of the current limiting resistor is electrically connected to the first end of the pull-up resistor; The second end of the pull-up resistor is connected to the first end of the seventh energy storage capacitor and the power supply respectively; The second end of the seventh energy storage capacitor is grounded.

8. The motor drive control circuit according to claim 1, wherein: Also includes: Voltage regulator module; The voltage stabilizing module is electrically connected to the driving module; The voltage stabilizing module includes: a voltage stabilizing unit; The voltage stabilizing unit includes: a fourth voltage stabilizing capacitor, a fifth voltage stabilizing capacitor and a sixth voltage stabilizing capacitor; The first end of the fourth voltage-stabilizing capacitor is electrically connected to the first end of the fifth voltage-stabilizing capacitor, the first end of the sixth voltage-stabilizing capacitor, and the driving module respectively; The first end of the sixth voltage-stabilizing capacitor is also connected to the power supply; The second end of the fourth voltage-stabilizing capacitor is electrically connected to the second end of the fifth voltage-stabilizing capacitor and the second end of the sixth voltage-stabilizing capacitor respectively; The second end of the sixth voltage-stabilizing capacitor is grounded.

9. The motor drive control circuit according to claim 1, wherein: Also includes: Voltage adjustment module; The voltage adjustment module is electrically connected to the main control module and the driving module respectively, and is used to receive a low-level signal provided by the main control module and limit the current entering the motor according to the low-level signal.

10. A dexterous hand, characterized in that: The motor drive control circuit comprises the motor drive control circuit according to any one of claims 1 to 9.

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