Electric clamping jaw control system and mechanical arm system

Abstract

The utility model provides an electric clamping jaw control system and a mechanical arm system, and relates to the technical field of industrial robots, and the scheme is as follows: the rotation angle or linear displacement of a stepping motor is measured through an encoder and is fed back to a motor driving circuit board; the motor driving circuit board is used for controlling the control state of the stepping motor on the basis of the measurement result of the encoder, and the motor driving circuit board is used for controlling the control state of the stepping motor on the basis of the measurement result of the encoder. Therefore, according to the system, the number of the sensors and other detection elements in the electric clamping jaw control system is greatly reduced, and the complexity of the system and the size of equipment are reduced.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to an electric gripper control system and a robotic arm system. Background Technology

[0002] In modern industrial production, the application of automation technology has become a key driving force for efficiency and innovation. With the continuous development of intelligent manufacturing, automated control systems, as its core component, are gradually changing the face of industrial production. Among numerous automated devices, electric grippers, with their precision and efficiency, have become an indispensable component of modern industrial automation. Electric grippers are end effectors widely used in robots and other automated equipment for the precise control of object grasping and handling. Driven by a motor, electric grippers can operate quickly and stably, achieving precise control of objects, which is particularly important for applications in modern manufacturing environments that require high repeatability and high-speed operation.

[0003] Current electric gripper control systems typically employ a motor-driven architecture, with sensors monitoring the gripper's position, speed, and force. The controller then uses sensor feedback signals and preset controls to regulate the motor's speed and direction, thus achieving motion control of the gripper. This approach generally uses independent units for the motor drive and sensors. If multiple sensors are used, numerous additional fixtures and components are required in the structure and hardware circuitry, increasing system complexity and size, which hinders the miniaturization of the electric gripper and its control system. Utility Model Content

[0004] In view of this, the present invention provides an electric gripper control system and a robotic arm system, so as to provide an electric gripper control system with low complexity and small size.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] An electric gripper control system includes:

[0007] Stepper motor, motor drive circuit board and encoder;

[0008] The encoder's signal output terminal is connected to the feedback signal input terminal of the motor drive circuit board, and the encoder is used to measure the rotation angle or linear displacement of the stepper motor.

[0009] The stepper motor is used to control the opening and closing of the clamp of the electric gripper;

[0010] The motor drive circuit board is used to send drive signals to the stepper motor. The motor drive circuit board is a circuit board that integrates sensorless stall detection and mechanical load measurement technology.

[0011] Optionally, the above-mentioned electric gripper control system also includes: a control MCU;

[0012] The first signal input terminal of the control MCU is connected to the signal output terminal of the encoder, the second signal input interface of the control MCU is connected to the drive signal output terminal of the drive circuit board, and the signal output interface of the control MCU is connected to the correction signal input terminal of the motor drive circuit board.

[0013] The control MCU is used to provide a correction signal to the motor drive circuit board through its signal output interface. The correction signal is generated based on a comparison between the output signal of the encoder in the stepper motor and the output signal of the motor drive circuit board. The correction signal is used to make the output signal of the encoder consistent with the output signal of the motor drive circuit board.

[0014] Optionally, the above-mentioned electric gripper control system further includes a Z-axis drive circuit and a Z-axis drive motor. The Z-axis drive circuit is used to adjust the position of the electric gripper in the Z-axis direction by driving the Z-axis drive motor.

[0015] Optionally, the above-mentioned electric gripper control system also includes:

[0016] An X-axis drive motor, an X-axis motor drive circuit, a Y-axis drive motor, and a Y-axis motor drive circuit; the X-axis motor drive circuit is used to control the position of the electric gripper in the X-axis direction via the X-axis drive motor; the Y-axis motor drive circuit is used to control the position of the electric gripper in the Y-axis direction via the Y-axis drive motor.

[0017] Optionally, in the above-mentioned electric gripper control system, the encoder is mounted on the stepper motor, and the control MCU is mounted on the motor drive circuit board.

[0018] A robotic arm system, comprising:

[0019] Electric grippers and any of the above-mentioned electric gripper control systems.

[0020] Optionally, the robotic arm system further includes:

[0021] X-axis guide rail, Y-axis guide rail and Z-axis guide rail.

[0022] Optionally, in the robotic arm system, the X-axis guide rail and the Y-axis guide rail are telescopic guide rails.

[0023] Optionally, the robotic arm system further includes:

[0024] A support frame having longitudinal supports and transverse supports;

[0025] The longitudinal support includes at least one leg fixed to the side of the operating table;

[0026] The transverse support is fixed on the longitudinal support, and the X-axis guide rail and Y-axis guide rail are arranged on the transverse support.

[0027] Optionally, the robotic arm system further includes a backup power supply, which is used to supply power to the robotic arm system in the event of a power outage.

[0028] Based on the above technical solution, the solution provided by this utility model measure the rotation angle or linear displacement of the stepper motor through an encoder and feed it back to the motor drive circuit board. This allows the motor drive circuit board to control the stepper motor's control state based on the encoder's measurement results. Since the motor drive circuit board integrates sensorless stall detection and mechanical load measurement technology, it does not require sensors when detecting the motor load and the position of the electric gripper. Therefore, this system greatly reduces the number of sensors and other detection elements in the electric gripper control system, thereby reducing system complexity and equipment size. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of the electric gripper control system provided in the embodiments of this application;

[0031] Figure 2 A schematic diagram of the structure of an electric gripper control system in another direction provided in an embodiment of this application;

[0032] Figure 3 This is a schematic diagram of the overall structure of a robotic arm system provided in an embodiment of this application;

[0033] Figure 4 This is a schematic diagram illustrating the operation of the electric gripper provided in an embodiment of this application. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] Therefore, the purpose of this utility model is to provide a small, highly integrated electric gripper control system to solve the problems of system complexity and large size in the existing electric gripper control architecture.

[0036] See Figure 1 and Figure 2 The electric gripper control system disclosed in this application embodiment may include:

[0037] Stepper motor 10, motor drive circuit board 20 and encoder (not shown);

[0038] Regarding the stepper motor 10, a stepper motor is a type of electric motor that converts electrical pulse signals into corresponding angular or linear displacements. For each input pulse signal, the rotor rotates by an angle or moves forward one step. The output angular or linear displacement is proportional to the number of input pulses, and the rotational speed is proportional to the pulse frequency. Stepper motors operate based on electromagnetic principles, converting electrical energy into mechanical energy. They rely on changes in the air gap magnetic permeability to generate electromagnetic torque, thereby driving the rotor to rotate. The stepper motor receives digital control signals (electrical pulse signals) and converts them into corresponding angular or linear displacements. The stepper motor 10 is mounted on an electric gripper to control the gripper to perform set actions, such as opening and closing, or swinging.

[0039] Taking the control of an electric gripper by a stepper motor 10 as an example, the working process of a stepper motor is explained: A stepper motor is an open-loop control element that converts electrical pulse signals into angular or linear displacement. It controls its rotation angle and speed through pulse signals sent by a controller. Each pulse signal causes the stepper motor to rotate by a fixed angle, called the step angle. By controlling the frequency and number of pulse signals, the rotation angle and speed of the stepper motor can be precisely controlled. In this process, the output shaft of the stepper motor is connected to the electric gripper through a mechanical transmission device (such as gears, connecting rods, etc.), ensuring that the rotation of the stepper motor can be converted into angular or linear displacement. Figure 3The diagram illustrates the opening and closing action of the electric gripper. The controller in the motor drive circuit board 20 calculates the required number and frequency of stepper motor pulse signals based on the preset gripper opening angle or position, and sends this information to the control terminal of the motor drive circuit in the stepper motor drive circuit board 20. The motor drive circuit responds to the signal received by the control terminal and provides an output signal matching this signal. This output signal is applied to the stepper motor 10, controlling its movement. The encoder detects the operating state of the stepper motor 10 and sends the detection result to the controller. The controller corrects the number and frequency of its output motor pulse signals based on the encoder's acquisition results, thus forming a closed-loop control.

[0040] Regarding the encoder, its signal output terminal is connected to the feedback signal input terminal of the motor drive circuit board. The encoder is used to measure and output motion information of the electric gripper by measuring rotational angle or linear displacement. The encoder can be a high-precision encoder, and the encoder signal provided by the encoder can be connected to the motor drive circuit board, that is, the encoder signal is provided to the motor drive circuit board so that the motor drive circuit board can perform closed-loop control 10 on the stepper motor.

[0041] Taking the stepper motor controlling the opening and closing angle of the electric gripper as an example, the data acquisition process of the encoder is explained as follows: The process of the encoder acquiring the opening and closing angle of the electric gripper is actually a complex system combining mechanical transmission, electronic control, and sensor feedback. The following is a detailed explanation of this process: The stepper motor, as the actuator, precisely controls the opening and closing of the electric gripper by controlling its rotation angle. The encoder, as the feedback device, monitors the rotation angle of the stepper motor in real time and then calculates the opening and closing angle of the gripper. The output shaft of the stepper motor is connected to the electric gripper through a mechanical transmission device (such as gears, lead screws, etc.) to ensure that the rotation of the stepper motor can be converted into the opening and closing action of the gripper. The encoder is usually mounted on the output shaft of the stepper motor, or on a transmission component directly connected to the output shaft. In this way, the encoder can measure the rotation angle of the stepper motor in real time. When the controller sends a control signal to the stepper motor, the stepper motor starts to rotate, driving the electric gripper to open and close. At the same time, the encoder monitors the rotation angle of the stepper motor in real time and feeds this information back to the controller in the form of a digital signal. The controller calculates the actual opening and closing angle of the gripper based on the information fed back from the encoder and compares it with the target opening and closing angle. If there is a deviation, the controller adjusts the number and frequency of the motor pulse signals to correct the rotation angle of the stepper motor, thereby ensuring that the gripper can accurately reach the target opening and closing angle.

[0042] Regarding the stepper motor drive circuit board, this circuit board integrates sensorless stall detection and mechanical load measurement technologies. It can detect motor load and the clamping position of the electric gripper through these technologies, eliminating the need for sensors such as optocouplers. Specifically, sensorless stall detection technology is a technique that can monitor the motor's operating status in real time without relying on traditional mechanical sensors. It indirectly determines the motor's speed and whether stall has occurred by monitoring the motor's electrical parameters (such as current and voltage) or utilizing its physical characteristics (such as magnetic reluctance and inductance). Mechanical load measurement technology indirectly measures the load on the motor by monitoring its electrical parameters or mechanical characteristics. Integrating sensorless stall detection and mechanical load measurement technologies onto the motor drive circuit board eliminates the need for additional sensors and complex signal processing circuits, simplifying system design. By monitoring the motor's operating status and load in real time, control strategies can be optimized, improving system response speed and stability. It also reduces hardware and maintenance costs, improving the system's cost-effectiveness.

[0043] In this solution, sensorless motor load detection is performed by utilizing the sensorless stall detection and mechanical load measurement technology integrated inside the motor drive circuit board. When the electric gripper is performing a gripping action, this load detection function can accurately determine whether the target object has been gripped, thereby controlling the motor gripper to stop moving. This avoids problems such as insufficient gripping distance that cannot grip the target object due to a fixed stroke, or damage to the gripped target object caused by over-gripping.

[0044] The drive circuit board is equipped with a controller and a stepper motor drive circuit. The main function of the stepper motor drive circuit is to receive control signals from the controller and convert these signals into the drive current required by the stepper motor, thereby driving the stepper motor to rotate precisely. Specifically, the controller typically outputs weak electrical signals (such as pulse signals and direction signals). These signals need to be converted and amplified by the drive circuit to generate a sufficiently large current to drive the stepper motor. The power amplifier in the stepper motor drive circuit is responsible for amplifying the weak electrical signals into strong electrical signals to meet the driving requirements of the stepper motor. During operation, the stepper motor rotates at a certain step angle. The stepper motor drive circuit achieves the stepping motion of the stepper motor by controlling the on / off state and direction of the current. The logic control section in the stepper motor drive circuit is responsible for parsing the control signals from the control system and controlling the rotation angle, speed, and direction of the stepper motor according to the signal content (such as pulse count, pulse frequency, and direction signal).

[0045] The electric gripper control system disclosed in the above embodiments of this application measures the rotation angle or linear displacement of the stepper motor through an encoder and feeds it back to the motor drive circuit board. The motor drive circuit board then controls the stepper motor's control state based on the encoder's measurement results. Since the motor drive circuit board integrates sensorless stall detection and mechanical load measurement technology, it does not require sensors when detecting the motor load and the position of the electric gripper. Therefore, this system greatly reduces the number of sensors and other detection elements in the electric gripper control system, thereby reducing system complexity and equipment size.

[0046] In the technical solution disclosed in this embodiment, the electric gripper control system may further include: a control MCU, wherein a first signal input terminal of the control MCU is connected to the signal output terminal of the encoder, a second signal input interface of the control MCU is connected to the drive signal output terminal of the drive circuit board, and a signal output interface of the control MCU is connected to the correction signal input terminal of the motor drive circuit board; the control MCU is used to provide a correction signal to the motor drive circuit board through its signal output interface, wherein the correction signal is generated based on the comparison result of the output signal of the encoder in the stepper motor and the output signal of the motor drive circuit board, and the correction signal is used to ensure that the output signal of the encoder is consistent with the output signal of the motor drive circuit board. In this embodiment, the signal output by the encoder is denoted as the encoder signal. The encoder signal is synchronously connected to the motor drive circuit board and the control MCU. When the motor drive circuit board drives the stepper motor in a closed loop, the MCU simultaneously detects the encoder signal and the stepper motor drive signal output by the drive circuit in the motor drive circuit, determines whether the two match, and provides a corresponding correction signal if they do not match, so as to ensure the accuracy of the gripping position of the electric gripper and the reliability of the movement process. Specifically, the encoder signal can be used to characterize the actual position of the stepper motor, and the drive signal output by the stepper motor drive circuit can be used to characterize the target position information of the stepper motor. The control MCU can determine whether the target position and the actual position are the same. If they are the same, it indicates that they are matched and the stepper motor has moved to the correct position. If they are different, it can be determined that the stepper motor has not moved to the correct position, and a correction signal can be output to the controller in the motor drive circuit board. This allows the controller to correct the position of the stepper motor based on the correction signal until the stepper motor reaches the target position. Therefore, the stepper motor operation process requires a two-stage closed-loop feedback control design. The first stage is a closed-loop feedback based on the presence or absence of sensor stall detection and mechanical load measurement technology built into the motor drive circuit board. The second stage is a closed-loop feedback linked between the control MCU and the motor drive circuit board. In this two-stage closed-loop feedback control process, if the target objects being gripped are closely arranged and the distance between each pair is small, the electric gripper cannot open to the maximum angle. At this time, the no-load detection function of the motor drive circuit board is less effective. By connecting the encoder signal to the motor drive circuit board, no external optocoupler or sensor is needed for limit control when the electric gripper opens. The motor drive circuit board can drive the motor to move a fixed number of steps, and the encoder provides closed-loop feedback, thereby achieving accurate control of the opening position of the electric gripper. During this process, the encoder signal is also simultaneously connected to the control MCU. If the internal feedback of the motor drive circuit board fails to achieve the desired result, the control MCU will intervene forcefully, re-outputting the drive signal to drive the motor and control the electric gripper to open to the accurate position, which is equivalent to providing double protection.

[0047] In this embodiment, the electric gripper of the electric gripper control system can move back and forth along the Z-axis. The Z-axis can refer to the axis perpendicular to the ground in the world coordinate system. When the electric gripper needs to grasp an object, it can be controlled to move downward in the Z-axis direction. After releasing the object, it can be controlled to move in the Z-axis direction. For this situation, the electric gripper control system may further include: a Z-axis drive circuit and a Z-axis drive motor. The Z-axis drive circuit is used to adjust the position of the electric gripper in the Z-axis direction by driving the Z-axis drive motor.

[0048] In this embodiment, the electric gripper can move not only in the Z-axis direction, but also in the X-axis and Y-axis directions. The X-axis and Y-axis refer to two coordinate axes in the world coordinate system that are perpendicular to the Z-axis and lie on the same plane. The X-axis and Y-axis are perpendicular to each other. In this case, the electric gripper control system may further include an X-axis drive motor, an X-axis motor drive circuit, a Y-axis drive motor, and a Y-axis motor drive circuit. The X-axis motor drive circuit is used to control the position of the electric gripper in the X-axis direction through the X-axis drive motor. The Y-axis motor drive circuit is used to control the position of the electric gripper in the Y-axis direction through the Y-axis drive motor.

[0049] In this embodiment, the encoder can be mounted on the stepper motor, and the control MCU is mounted on the motor drive circuit board. See also... Figure 1 The stepper motor and encoder are connected to the motor drive circuit board via motor wires / encoder wires and exchange data.

[0050] The type of motor drive circuit board can be selected according to user needs. For example, in this embodiment, the motor drive circuit board can be a high-performance stepper motor controller and driver chip of model TMC5240. The TMC5240 chip is an intelligent high-performance stepper motor controller and driver chip. The TMC5240 chip adopts stepper motor drive technology, based on a 256 microstep subdivision built-in indexer, to provide high-precision stepper control. The TMC5240 chip integrates two fully integrated 36V, 2.1A (IRMS), 3.0A peak H-bridges, each with a maximum output current of up to 5.0A (protection is activated if it exceeds 5A), providing a stable drive current for the stepper motor. The TMC5240 chip also integrates a non-dissipative integrated current sensor (ICS) for accurately detecting motor current and achieving finer current control. Furthermore, the TMC5240 chip also integrates sensorless stall detection and mechanical load measurement technology (STALLGUARD) functions. Through the STALLGUARD function, sensorless motor load detection can be performed, eliminating the need for external sensors such as optocouplers for clamping position detection.

[0051] Corresponding to the aforementioned electric gripper control system, this application also discloses a robotic arm system, which includes: an electric gripper and any of the aforementioned electric gripper control systems. The electric gripper can perform actions such as grasping and releasing under the control of the electric gripper control system.

[0052] Corresponding to the above-mentioned electric gripper control system, see [link to relevant documentation]. Figure 4In this embodiment, the robotic arm system integrates X-axis, Y-axis, and Z-axis guide rails, which together form a gantry structure. Within this structure, the electric gripper is mounted on the guide rail system via a precision transmission assembly. Thanks to the precise control of the X-axis, Y-axis, and Z-axis drive motors, the electric gripper can move flexibly in the three dimensions of the X, Y, and Z axes. This design allows the electric gripper to reach and grasp any target object within the coverage area of ​​the gantry structure, greatly improving the system's operational flexibility and working range. When controlling the electric gripper to grasp a target object, the position of the target object is first determined. Based on the target object's position, the electric gripper's position in the X-axis and Y-axis directions is adjusted using the X-axis and Y-axis drive motors, ensuring the gripper is directly facing the target object. Then, the electric gripper is controlled to move towards the target object along the Z-axis using the Z-axis drive motor. During or before moving towards the target object, the electric gripper opens. When the gripper reaches the target object's position, it retracts. The motor drive circuit board outputs a drive signal to the stepper motor to control the electric gripper to close. During the closing process, an encoder... The output encoder signal and motor drive circuit board integrate sensorless stall detection and mechanical load measurement technology to perform closed-loop control of the opening and closing state of the electric gripper. After gripping the target object, the electric gripper can be controlled to move in the opposite direction of the Z-axis by the Z-axis drive motor, and the electric gripper can be controlled to move in the plane by the X-axis drive motor and the Y-axis drive motor. When the electric gripper moves to the target position, the electric gripper is controlled to move downward along the Z-axis by the Z-axis drive motor to place the target object in the target position, and then the electric gripper opens. Thus, one gripping and releasing of the target object is completed.

[0053] In the technical solution disclosed in this embodiment, considering that the working range of the electric gripper is limited by the coverage area of ​​the gantry structure, when faced with a large number of widely distributed target objects that exceed the original coverage area of ​​the gantry, the electric gripper control system will not be able to automatically grasp all the objects, thus requiring manual adjustment of the object positions, which undoubtedly reduces work efficiency. To overcome this limitation, this embodiment innovatively adopts a retractable X-axis guide rail and Y-axis guide rail design.

[0054] When the existing coverage area of ​​the gantry structure is insufficient to encompass all objects to be grasped, the operator can flexibly extend the X-axis and Y-axis guide rails to expand the operating range of the electric gripper, enabling it to reach and grasp objects at greater distances. This design not only significantly improves the system's operating range but also ensures that the electric gripper can efficiently and accurately complete the grasping of multiple objects without human intervention, thereby greatly improving overall operational efficiency and automation levels.

[0055] In this embodiment, the robotic arm system may further include a support frame, which consists of a longitudinal support and a transverse support, providing a solid and stable foundation for the entire system. The longitudinal support, as the main structure of the support frame, extends vertically (i.e., perpendicular to the ground) and consists of at least one robust leg, which is firmly fixed to the side of the operating table, ensuring the system's vertical stability. The transverse support intersects with the longitudinal support and extends horizontally (i.e., at a right angle to the longitudinal direction), and is securely mounted on the longitudinal support. Together, they form a robust frame system, providing additional rigidity and support for the robotic arm system's operation. Crucially, the transverse support is equipped with X-axis and Y-axis guide rails. These two rails can guide and support the moving parts in the robotic arm system to achieve precise and smooth movement in a two-dimensional plane. With this design, the robotic arm system's electric gripper will closely follow the movement of these moving parts. As they move flexibly in the X and Y axes, the electric gripper can easily reach and accurately grasp target objects within the working area, greatly improving the system's operational efficiency and flexibility.

[0056] Furthermore, since the robotic arm system is typically used in assembly line operations, it needs to maintain a high-intensity working state. To prevent the robotic arm system from ceasing operation due to unexpected power outages, it can also include a backup power supply. This backup power supply provides power to the robotic arm system in the event of a power failure. The backup power supply can be implemented using a modular UPS (Uninterruptible Power Supply) group, achieving millisecond-level power switching through a parallel dual-circuit design. The backup power supply can be mounted on a rail-mounted side, with a DIN standard rail pre-installed on the side of the control cabinet corresponding to the robotic arm system. The backup power supply is fixed using a snap-on mounting bracket. The outputs of the main power supply (220V AC) and the backup power supply use dual redundant inputs, integrating an ATS (Automatic Bypass Switch) that meets the switching speed requirements, and featuring an independent heat dissipation duct to isolate heat sources.

[0057] For ease of description, the above system is described by dividing it into various modules based on their functions. Of course, in implementing this utility model, the functions of each module can be implemented in one or more software and / or hardware components.

[0058] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. Components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0059] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0060] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An electrically powered jaw control system, characterized in that, include: Stepper motor, motor drive circuit board and encoder; The encoder's signal output terminal is connected to the feedback signal input terminal of the motor drive circuit board, and the encoder is used to measure the rotation angle or linear displacement of the stepper motor. The stepper motor is used to control the opening and closing of the clamp of the electric gripper; The motor drive circuit board is used to send drive signals to the stepper motor. The motor drive circuit board is a circuit board that integrates sensorless stall detection and mechanical load measurement technology.

2. The electrically powered jaw control system of claim 1, wherein, Also includes: Control MCU; The first signal input terminal of the control MCU is connected to the signal output terminal of the encoder, the second signal input interface of the control MCU is connected to the drive signal output terminal of the drive circuit board, and the signal output interface of the control MCU is connected to the correction signal input terminal of the motor drive circuit board. The control MCU is used to provide a correction signal to the motor drive circuit board through its signal output interface. The correction signal is generated based on a comparison between the output signal of the encoder in the stepper motor and the output signal of the motor drive circuit board. The correction signal is used to make the output signal of the encoder consistent with the output signal of the motor drive circuit board.

3. The electrically powered jaw control system of claim 1, wherein, It also includes a Z-axis drive circuit and a Z-axis drive motor. The Z-axis drive circuit is used to adjust the position of the electric gripper in the Z-axis direction by driving the Z-axis drive motor.

4. The electrically powered jaw control system of claim 1, wherein, Also includes: X-axis drive motor, X-axis motor drive circuit, Y-axis drive motor and Y-axis motor drive circuit; The X-axis motor drive circuit is used to control the position of the electric gripper in the X-axis direction via the X-axis drive motor; the Y-axis motor drive circuit is used to control the position of the electric gripper in the Y-axis direction via the Y-axis drive motor.

5. The electrically powered jaw control system of claim 2, wherein, The encoder is mounted on the stepper motor, and the control MCU is mounted on the motor drive circuit board.

6. A robotic arm system, comprising: include: An electric gripper and an electric gripper control system according to any one of claims 1-5.

7. The robotic arm system of claim 6, wherein, Also includes: X-axis guide rail, Y-axis guide rail and Z-axis guide rail.

8. The robotic arm system of claim 7, wherein, The X-axis and Y-axis guide rails are telescopic guide rails.

9. The robotic arm system of claim 7, wherein, Also includes: A support frame having longitudinal supports and transverse supports; The longitudinal support includes at least one leg fixed to the side of the operating table; The transverse support is fixed on the longitudinal support, and the X-axis guide rail and Y-axis guide rail are arranged on the transverse support.

10. The robotic arm system of claim 6, wherein, Also includes: A backup power supply is provided to power the robotic arm system in the event of a power outage.

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