hand controller

Abstract

This utility model discloses a hand controller, including a motor drive module, a current detection module, a main control module, and an anti-pinch module. The current detection module is connected to both the main control module and the motor. The main control module responds to the drive current of the motor collected by the current detection module to obtain a drive control signal. The anti-pinch module is connected to the main control module, and the motor drive module is connected to both the motor and the main control module. The anti-pinch module responds to the drive control signal and outputs an anti-pinch signal to control the motor drive module to control the motor's operating state. The technical solution provided in this embodiment integrates the anti-pinch module into the hand controller, eliminating the need for an external control box and improving the overall product integration.

Description

Technical Field

[0001] This utility model relates to the field of electric furniture technology, and in particular to a hand controller. Background Technology

[0002] With the development of electronic technology, more and more furniture is moving towards electrification.

[0003] Typically, electric furniture includes the furniture body, a actuator that moves the furniture to change its posture, and a controller that controls the actuator. In related technologies, sensors and a control box are usually placed in the vulnerable areas of the furniture body. The control box stops the motor after sensing an anti-pinch signal. However, this technical solution requires additional control boxes and components, resulting in low overall integration of the furniture. Utility Model Content

[0004] This utility model embodiment provides a hand controller that improves integration by integrating an anti-pinch function into the hand controller.

[0005] According to one aspect of the present invention, a hand controller is provided, comprising: a motor drive module, a current detection module, a main control module, and an anti-pinch module;

[0006] The current detection module is connected to the main control module and the motor respectively. The main control module is used to respond to the drive current of the motor collected by the current detection module to obtain the drive control signal.

[0007] The anti-pinch module is connected to the main control module, and the motor drive module is connected to both the motor and the main control module. The anti-pinch module is used to output an anti-pinch signal in response to the drive control signal, so as to control the motor drive module to control the operating state of the motor.

[0008] Optionally, the anti-pinch module is integrated into the main control module.

[0009] Optionally, it also includes an input module, which is connected to the main control module and is used to input motor drive signals;

[0010] The input module includes a knob and / or buttons;

[0011] And / or, it also includes a power module, which is connected to the main control module;

[0012] And / or, it also includes a light strip and a light strip driver module, the light strip driver module being connected to the main control module and the light strip;

[0013] And / or, it also includes a standby wake-up module, which is connected to the main control module;

[0014] And / or, it also includes a USB charging module, which is connected to the main control module.

[0015] According to another aspect of the present invention, a hand controller is provided, the hand controller being connected to a driver, the hand controller comprising:

[0016] The housing has a first fixing position and a second fixing position inside it;

[0017] A first circuit board and a second circuit board are mounted at the first fixed position and at the second fixed position. The first circuit board is connected to the second circuit board and the second circuit board is connected to the driver. An anti-pinch module is provided on the second circuit board, which is used to output an anti-pinch signal for controlling the operating state of the motor.

[0018] Optionally, the first circuit board and the second circuit board are arranged opposite to each other.

[0019] Optionally, the second circuit board is further provided with a motor drive module, a current detection module and a main control module;

[0020] The current detection module is connected to the main control module and the motor respectively. The main control module is used to respond to the drive current of the motor collected by the current detection module to obtain the drive control signal.

[0021] The anti-pinch module is connected to the main control module and the motor drive module respectively. The motor drive module is connected to the motor and the main control module respectively. The anti-pinch module is used to output the anti-pinch signal in response to the drive control signal, so as to control the motor drive module to control the operating state of the motor.

[0022] Optionally, it further includes an input module, which is disposed on the housing and connected to the first circuit board. The input module is used to input motor drive signals; wherein, the input module includes a knob and / or a button.

[0023] And / or, the first circuit board is further provided with one or more of the following: a light strip driver module, a standby wake-up module, and a USB charging module.

[0024] The second circuit board is connected to at least one of the drivers;

[0025] The input module includes the knob.

[0026] The hand controller also includes an encoder, which is disposed on the first circuit board and connected to the knob;

[0027] The encoder is a pressable and rotatable encoder.

[0028] The knob includes a knob shell and a base plate. The base plate is snapped into the shell. The knob shell is provided with an extension structure. The extension structure is provided with a first hole. An abutment rib is provided on the inner wall of the first hole. The encoder passes through the first hole and abuts against the abutment rib. The encoder is snapped into the extension structure by a pin.

[0029] The base plate includes a second hole, the extension structure is located inside the second hole, a first guide structure is formed between the base plate and the knob housing at the location of the second hole, and a second guide structure is formed between the base plate and the knob housing on the side of the base plate away from the second hole.

[0030] Optionally, the hand controller further includes a wire clip structure, which is fixedly connected to the housing.

[0031] The technical solution provided in this embodiment integrates the anti-pinch module for implementing the anti-pinch function into the hand controller, eliminating the need for an external control box and enabling the hand controller itself to have the anti-pinch function, thus improving the overall product integration. Furthermore, since the anti-pinch function is integrated inside the hand controller, when the hand controller is connected to multiple motors, the movement of multiple motors can be controlled simultaneously through a single hand controller, which helps simplify the system structure and further improves the product integration.

[0032] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this utility model, nor is it intended to limit the scope of this utility model. Other features of this utility model will become readily apparent from the following description. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 A schematic diagram of the structure of a hand controller provided in an embodiment of this utility model;

[0035] Figure 2 A schematic diagram of another hand controller provided in an embodiment of this utility model;

[0036] Figure 3 A schematic diagram of another hand controller provided in an embodiment of this utility model;

[0037] Figure 4 A schematic diagram of another hand controller provided in an embodiment of this utility model;

[0038] Figure 5 A schematic diagram of another hand controller provided in an embodiment of this utility model;

[0039] Figure 6 A flowchart of a hand controller control method provided for an embodiment of this utility model. Detailed Implementation

[0040] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention 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 invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0041] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the utility model described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0042] Figure 1 This is a schematic diagram of the structure of a hand controller provided in an embodiment of the present utility model, with reference to... Figure 1 The hand controller provided in this embodiment includes a motor drive module 120, a current detection module 130, a main control module 110, and an anti-pinch module 140. The current detection module 130 is connected to both the main control module 110 and the motor 20. The main control module 110 is used to respond to the drive current of the motor 20 collected by the current detection module 130 to obtain a drive control signal. The anti-pinch module 140 is connected to the main control module 110. The motor drive module 120 is connected to both the motor 20 and the main control module 110. The anti-pinch module 140 is used to respond to the drive control signal and output an anti-pinch signal to control the motor drive module 120 to control the operating state of the motor 20.

[0043] The anti-pinch module 140 can be connected only to the main control module 110. Through information exchange between the anti-pinch module 140 and the main control module 110, the main control module 110 receives the anti-pinch signal output by the anti-pinch module 140 and controls the motor drive module 120 to change the operating state of the motor 20 according to the anti-pinch signal. Alternatively, the anti-pinch module 140 can be connected to both the main control module 110 and the motor drive module 120 simultaneously. The anti-pinch module 140 can respond to the drive control signal output by the main control module 110 by outputting an anti-pinch signal to the motor drive module 120, and the motor drive module 120 responds to the anti-pinch signal by changing the operating state of the motor 20.

[0044] In this embodiment, the motor 20 can be used to drive the changing shape of the furniture body. During the operation of the motor 20, the current of the motor 20 can be detected by the current detection module 130, and the main control module 110 collects the current information output by the current detection module 130 to obtain the drive control signal. Here, the drive control signal can be the rotational speed of the motor 20 (the speed of the motor 20 itself). The main control module 110 calculates the rotational speed of the motor 20 based on the collected current signal to form a curve that reflects the actual speed of the motor 20. During the detection process, whenever the rotational speed of the motor 20 decreases relative to the previous sampled value, it is determined that the motor 20 is decelerating. At this time, the anti-pinch module 140 responds to the rotational speed of the motor 20 to evaluate the parameters of the deceleration of the motor 20, thereby determining whether there is a real obstacle. If the anti-pinch module 140 determines that there is a real obstacle, it outputs an anti-pinch signal to control the motor drive module 120 to change the operating state of the motor 20, such as controlling the motor 20 to stop running or controlling the motor 20 to run in the opposite direction to achieve the anti-pinch function.

[0045] The technical solution provided in this embodiment integrates the anti-pinch module for implementing the anti-pinch function into the hand controller, eliminating the need for an external control box and enabling the hand controller itself to have the anti-pinch function, thus improving the overall product integration. Furthermore, since the anti-pinch function is integrated inside the hand controller, when the hand controller is connected to multiple motors, the movement of multiple motors can be controlled simultaneously through a single hand controller, which helps simplify the system structure and further improves the product integration.

[0046] In other embodiments, the drive control signal can also be a back electromotive force, torque, pressure value, or other signals. For example, during the detection process, whenever the torque of the motor 20 increases relative to the previous sampled value, the anti-pinch module 140 responds to this torque to evaluate the parameters of the increased transmission torque of the motor 20, thereby determining whether a real obstacle exists. If the anti-pinch module 140 determines that a real obstacle exists (e.g., the torque is greater than a preset value), it outputs an anti-pinch signal to control the motor drive module 120 to change the operating state of the motor 20, such as controlling the motor 20 to stop running or controlling the motor 20 to run in the opposite direction, thereby achieving the anti-pinch function.

[0047] Optionally, in this embodiment, the anti-pinch module 140 can be integrated into the main control module 110. The main control module 110 can be an MCU. By integrating the anti-pinch module 140 into the main control module 110, the anti-pinch function can be implemented without relying on Hall effect elements, which helps reduce the number of components.

[0048] Figure 2 This is a schematic diagram of another hand controller provided in an embodiment of the present invention, with reference to... Figure 2 Optionally, based on the above embodiments, the hand controller further includes an input module 150, which is connected to the main control module 110 and can be used to input motor drive signals.

[0049] Specifically, the input module 150 is an input tool for users to transmit instructions to the device (e.g., electric furniture). For example, the input module 150 transmits motor drive signals to the device to drive the motor 20. After the motor drive signals are received and processed by modules such as the main control module 110 and the motor drive module 120, the purpose of controlling the movement of the motor 20 of the device is achieved.

[0050] In this embodiment, the input module 150 may include a knob and / or a button. That is, the input module 150 may include only one of the knobs or buttons, or it may include both knobs and buttons. The knobs and buttons are physical components that the user can directly operate, and they can convert the user's physical operations into electrical signals for the main control module 110 or the motor drive module 120 to recognize and collect, thereby achieving precise control of the motor 20.

[0051] Continue to refer to Figure 2 The hand controller provided in this embodiment may also include a power module 160, which is connected to the main control module 110 and is used to provide power voltage to the main control module 110.

[0052] Of course, in other embodiments, the power module 160 can also provide power voltage to other modules, and can be set according to actual needs.

[0053] Continue to refer to Figure 2 The hand controller provided in this embodiment may also include a light strip 30 and a light strip driving module 170. The light strip driving module 170 is connected to the main control module 110 and the light strip 30. The light strip driving module 170 can drive the light strip 30 to emit light according to the received control signal, so as to serve as an indicator light. For example, when the hand controller controls the motor 20 to move, it can control the light strip 30 to emit light to indicate the operating status of the motor 20, which helps to remind the user to pay attention to safety.

[0054] Continue to refer to Figure 2 The hand controller provided in this embodiment also includes a standby wake-up module 180. The standby wake-up module 180 is used to control the device to switch between standby state and working state. It can enable the device to enter a low-power standby mode when it is not working, so as to save power consumption and battery. When the user needs to operate, it can quickly wake up the device to enter the normal working mode through a specific trigger signal, which is beneficial to improving the service life of power supply devices such as batteries and reducing unnecessary power consumption.

[0055] The hand controller provided in this embodiment also includes a USB charging module 190, which can be used to convert electrical energy from an external USB power source into the charging current or charging voltage required by the device's internal battery via a USB interface, thereby enabling safe and stable charging of the device's internal battery. Of course, in other embodiments, a wireless charging module can also be included inside the hand controller to achieve wireless charging.

[0056] Figure 3 This is a schematic diagram of another hand controller provided in an embodiment of the present invention, specifically showing the overall appearance and structure of the hand controller. Figure 4 A schematic diagram of another hand controller provided in an embodiment of this utility model is shown, and specific details are illustrated. Figure 3 The cross-sectional structure of the hand controller shown is for reference. Figure 2 , Figure 3 and Figure 4 The hand controller provided in this embodiment includes:

[0057] The housing 10 has a first fixing position and a second fixing position inside it;

[0058] A first circuit board 11 and a second circuit board 12 are mounted at a first fixed position and at a second fixed position. The first circuit board 11 and the second circuit board 12 are connected, and the second circuit board 12 is connected to the driver. An anti-pinch module 140 is provided on the second circuit board 12. The anti-pinch module 140 is used to respond to the rotational speed of the motor 20 in the driver and output an anti-pinch signal to control the operating state of the motor 20.

[0059] Specifically, the hand controller is connected to the driver, which is a power actuator that receives commands from the hand controller and provides power to the device. The driver may include a drive lever and a motor 20. The driver can be a linear driver, using the rotating shaft of the motor 20 to drive the drive lever in a linear motion, such as using the forward and reverse rotation of the motor 20 to achieve operations like "forward," "backward," "upward," and "downward." The driver can also be a rotary driver, using the rotating shaft of the motor 20 to drive the drive lever in a rotational motion, such as using the forward and reverse rotation of the motor 20 to achieve angle adjustment.

[0060] The housing 10 serves to fix and support its internal components, securing them in their respective positions and ensuring stable and reliable connections between components. Simultaneously, the housing 10 provides overall support to the controller, giving it a certain degree of strength and stability. The housing 10 can be made of plastic, metal, rubber, or a combination of these materials. Its design conforms to ergonomic principles.

[0061] The housing 10 has a first fixing position and a second fixing position inside. The first fixing position is used to fix the first circuit board 11, and the second fixing position is used to fix the second circuit board 12. The first circuit board 11 is used to implement the conventional functions of the hand controller, such as user command input and signal feedback. The second circuit board 12 is used to implement the control function of the driver. The second circuit board 12 integrates an anti-pinch module 140. The anti-pinch module 140 is used to output an anti-pinch signal in response to the rotational speed of the motor 20, so as to control the motor drive module 120 to control the operation of the motor 20. The specific working process of the anti-pinch module 140 can be referred to the relevant description in the above embodiments, and will not be repeated here.

[0062] The technical solution provided in this embodiment integrates the anti-pinch module for implementing the anti-pinch function into the hand controller, thereby eliminating the need for an external control box and enabling the hand controller itself to have the anti-pinch function, thus improving the overall integration of the product.

[0063] Optionally, continue to refer to Figure 4 The first circuit board 11 and the second circuit board 12 are arranged opposite to each other, that is, the first circuit board 11 and the second circuit board 12 can be stacked in the thickness direction of the controller, which helps to reduce the size of the controller. For example, the back of the first circuit board 11 and the back of the second circuit board 12 are arranged opposite to each other, so that large components on the first circuit board 11 and the second circuit board 12 can be placed in the space formed between them, making the internal structure of the controller more compact.

[0064] Optionally, the second circuit board 12 is further provided with a motor drive module 120, a current detection module 130 and a main control module 110. The current detection module 130 is connected to the main control module 110 and the motor 20 respectively. The main control module 110 is used to respond to the drive current of the motor 20 collected by the current detection module 130 to obtain the speed of the motor 20. The anti-pinch module 140 is connected to the main control module 110 and the motor drive module 120 respectively. The motor drive module 120 is connected to the motor 20 and the main control module 110 respectively.

[0065] In this embodiment, the main control module 110 can be an MCU, and the anti-pinch module 140 can be integrated inside the MCU. Exemplarily, the anti-pinch module 140 and the main control module 110 determine whether the motor 20 is decelerating by detecting changes in the current of the motor 20, thereby determining the presence of a foreign object. Since the current is typically an analog signal, it needs to be converted into a digital signal by an analog-to-digital converter for processing by the main control module 110. Therefore, the anti-pinch module 140 can be categorized as an analog-to-digital converter.

[0066] In other embodiments, time parameters related to the anti-pinch function, such as the detection cycle, can also be set via a timer.

[0067] Optionally, the hand controller further includes an input module 150, which is disposed on the housing 10 and connected to the first circuit board 11. The input module 150 is used to input motor drive signals; wherein, the input module 150 includes a knob 13 and / or a button 14.

[0068] The first circuit board 11 also includes one or more of the following: a light strip driver module 170, a standby wake-up module 180, and a USB charging module 190. The light strip 30 is mounted on the housing 10.

[0069] The power module 160 can be mounted on the first circuit board 11 or on the second circuit board 12.

[0070] It should be noted that when the hand controller only includes the first circuit board 11 and does not include the second circuit board 12, the hand controller needs to be connected to an external control box to control the driver. However, when the hand controller includes both the first circuit board 11 and the second circuit board 12, there is no need to set up a control box, and the driver can be controlled through the second circuit board 12.

[0071] In this embodiment, the second circuit board 12 is connected to at least one driver. Since the anti-pinch function is integrated into the hand controller, each driver can have its current measured by the hand controller; therefore, the hand controller can be applied to multiple drivers. When the hand controller is connected to multiple drivers, the movement of multiple drivers can be controlled simultaneously by a single hand controller, which simplifies the system structure and further improves the product's integration.

[0072] In one optional embodiment provided in this example, the input module 150 includes a knob 13 and a button 14. The second circuit board 12 is located on the side of the first circuit board 11 away from the input module 150, and the knob 13 and button 14 are located on the same side of the first circuit board 11. The hand controller also includes an encoder 15, which is disposed on the first circuit board 11 and connected to the knob 13. A guide structure is provided between the encoder 15 and the knob. The guide structure specifically includes an internal guide structure and an external guide structure. Through dual guiding action, the stability and accuracy of the knob 13 during rotation, pressing, or assembly can be ensured, avoiding shaking, misalignment, or jamming. The button 14 is connected to the first circuit board 11 and can be used to input corresponding commands to realize auxiliary functions, such as ventilation, heating, and massage. The auxiliary functions implemented vary depending on the type of device.

[0073] The encoder 15 is a rotary encoder, featuring both rotational adjustment and press-triggered operation, offering good flexibility and high operational efficiency. For example, the hand controller connects to three drivers, and different drivers are controlled via knob 13: pressing knob 13 once controls one driver, pressing it again controls two drivers, pressing it again controls all three drivers, and pressing it again activates the child lock. Rotating knob 13 selects to turn the drivers on or off (multiple controlled drivers can be turned off or on simultaneously).

[0074] Continue to refer to Figure 3 and Figure 4 Optionally, the hand controller also includes a wire clip structure 16, which is fixedly connected to the housing 10. The wire clip structure 16 can be used to fix the connection line (e.g., signal transmission line) between the hand controller and the driver.

[0075] Of course, in other embodiments, the hand controller may not have the line card structure 16, and the hand controller and the driver may communicate wirelessly.

[0076] Figure 5 This is a schematic diagram of another hand controller provided in an embodiment of the present invention, specifically an enlarged schematic diagram of the knob part of the hand controller, for reference. Figure 4 and Figure 5 The knob 13 includes a knob housing 1301 and a base plate 1305. The base plate 1305 is snapped into the housing 10. The knob housing 1301 is provided with an extension structure. The extension structure is provided with a first hole. The inner wall of the first hole is provided with an abutment rib 1304. The encoder 15 passes through the first hole and abuts against the abutment rib 1304. The encoder 15 is snapped into the extension structure through a pin 1303.

[0077] The base plate 1305 includes a second hole, and an extension structure is located inside the second hole. At the location of the second hole, a first guide structure 17 (i.e., an internal guide structure) is formed between the base plate 1305 and the knob housing 1301. On the side of the base plate 1305 away from the second hole, a second guide structure 18 (i.e., an external guide structure) is formed between the base plate 1305 and the knob housing 1301.

[0078] Specifically, the extension structure is a portion of the knob housing 1301 that protrudes along the thickness direction of the hand controller. The extension structure can be configured as a columnar structure or a quasi-column structure. A first hole is provided in the middle of the extension structure, through which the encoder 15 passes. Here, the encoder 15 can have an L-shaped structure, and the L-shaped sidewalls of the L-shaped structure respectively connect with the abutment rib 1304 (e.g., Figure 5 The sidewalls and bottom wall (in the indicated direction) abut against each other to better support the abutment rib 1304 and achieve good contact with the abutment rib 1304. The end of the encoder 15 protrudes from this extended structure. A through hole is provided at the end of the encoder 15 so that the pin 1303 can be inserted, and the pin 1303 can be used to fix the encoder 15 to the knob housing 1301 to prevent the encoder 15 from falling off. A knob cover 1302 is also provided on the side of the knob housing 1301 away from the base plate 1305 to protect the internal encoder 15. Pressing the knob cover 1302 enables the encoder 15 to be pressed. Rotating the knob housing 1301 enables the encoder 15 to be rotated.

[0079] Furthermore, a second hole is formed on the base plate 1305, the size of which is larger than that of the first hole, so that the extension structure can be embedded in the second hole. At the location of the second hole, the extension structure can slide up and down along the second hole, thereby forming an internal guide structure. On the side of the base plate 1305 away from the second hole, the knob housing 1301 has a protrusion structure, and the sidewall of the base plate 1305 and the protrusion structure of the knob housing 1301 can slide up and down, thereby forming an external guide structure. Through this dual internal and external guide structure, the stability and accuracy of the knob 13 during rotation, pressing, or assembly can be ensured.

[0080] Optionally, the "connection" mentioned in the above embodiments can be an electrical connection or a mechanical connection, depending on the specific structure.

[0081] Figure 6 A flowchart of a hand controller control method provided for an embodiment of this utility model is shown below. Figure 6 The control logic for detecting obstruction in the hand controller is as follows:

[0082] When the driver's motor 20 starts, the anti-pinch module 140 starts simultaneously.

[0083] Step 1: Detect the motor drive current and calculate the motor speed.

[0084] Step 2: Determine if motor deceleration is detected.

[0085] Step 3: If motor deceleration is detected, evaluate the motor deceleration parameters.

[0086] Step 4: If the motor is not slowed down, continue with step 1.

[0087] Step 5: Confirm whether an obstacle has been detected.

[0088] Step 6: If an obstacle is detected, control the motor to stop immediately and move in the opposite direction for a short time.

[0089] Step 7: If no obstacle is detected, continue with step 1.

[0090] Here, whenever the detected rotational speed decreases relative to the previous sampled value, it indicates motor deceleration. The anti-pinch module 140 then begins to calculate relevant information about the deceleration parameters to determine if an obstacle exists.

[0091] In this embodiment, once the anti-pinch module 140 is activated, it operates continuously until the driver is shut down, and performs self-update within each calculation cycle. A calculation cycle refers to the cycle in which the rotational speed is calculated once, i.e., the cycle in which the rotational speed is evaluated once. Self-update refers to carrying the rotational speed from the previous calculation cycle into the next calculation for comparison (approximately 82 times per second, i.e., the frequency at which the motor speed is evaluated for resistance; 82 speed calculations are performed per second, with current detection performed every millisecond, and the latest current value is selected for calculation at the start of the calculation).

[0092] It should be understood that the various forms of the process shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this utility model can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this utility model can be achieved, and this is not limited herein.

[0093] The specific embodiments described above do not constitute a limitation on the scope of protection of this utility model. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A hand controller, characterized in that, include: Motor drive module, current detection module, main control module, and anti-pinch module; The current detection module is connected to the main control module and the motor respectively. The main control module is used to respond to the drive current of the motor collected by the current detection module to obtain the drive control signal. The anti-pinch module is connected to the main control module, and the motor drive module is connected to both the motor and the main control module. The anti-pinch module is used to output an anti-pinch signal in response to the drive control signal, so as to control the motor drive module to control the operating state of the motor.

2. The hand controller according to claim 1, characterized in that, The anti-pinch module is integrated into the main control module.

3. The hand controller according to claim 1, characterized in that, It also includes an input module, which is connected to the main control module and is used to input motor drive signals; The input module includes a knob and / or buttons; And / or, it also includes a power module, which is connected to the main control module; And / or, it also includes a light strip and a light strip driver module, the light strip driver module being connected to the main control module and the light strip; And / or, it also includes a standby wake-up module, which is connected to the main control module; And / or, it also includes a USB charging module, which is connected to the main control module.

4. A hand controller, characterized in that, The hand controller is connected to the driver, and the hand controller includes: The housing has a first fixing position and a second fixing position inside it; A first circuit board and a second circuit board are mounted at the first fixed position and at the second fixed position. The first circuit board is connected to the second circuit board and the second circuit board is connected to the driver. An anti-pinch module is provided on the second circuit board, which is used to output an anti-pinch signal for controlling the motor's operating status.

5. The hand controller according to claim 4, characterized in that, The first circuit board and the second circuit board are arranged opposite to each other.

6. The hand controller according to claim 4, characterized in that, The second circuit board is also equipped with a motor drive module, a current detection module and a main control module; The current detection module is connected to the main control module and the motor respectively. The main control module is used to respond to the drive current of the motor collected by the current detection module to obtain the drive control signal. The anti-pinch module is connected to the main control module and the motor drive module respectively. The motor drive module is connected to the motor and the main control module respectively. The anti-pinch module is used to output the anti-pinch signal in response to the drive control signal, so as to control the motor drive module to control the operating state of the motor.

7. The hand controller according to claim 4, characterized in that, It also includes an input module, which is disposed on the housing and connected to the first circuit board. The input module is used to input motor drive signals; wherein, the input module includes a knob and / or a button. And / or, the first circuit board is further provided with one or more of the following: a light strip driver module, a standby wake-up module, and a USB charging module.

8. The hand controller according to claim 7, characterized in that, The second circuit board is connected to at least one of the drivers; The input module includes the knob. The hand controller also includes an encoder, which is disposed on the first circuit board and connected to the knob; The encoder is a pressable and rotatable encoder.

9. The hand controller according to claim 8, characterized in that, The knob includes a knob shell and a base plate. The base plate is snapped into the shell. The knob shell is provided with an extension structure. The extension structure is provided with a first hole. An abutment rib is provided on the inner wall of the first hole. The encoder passes through the first hole and abuts against the abutment rib. The encoder is snapped into the extension structure by a pin. The base plate includes a second hole, the extension structure is located inside the second hole, a first guide structure is formed between the base plate and the knob housing at the location of the second hole, and a second guide structure is formed between the base plate and the knob housing on the side of the base plate away from the second hole.

10. The hand controller according to claim 8, characterized in that, The hand controller also includes a wire clip structure, which is fixedly connected to the housing.

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