Brushless reduction motor system and solar photovoltaic panel intelligent cleaning robot

Abstract

This utility model relates to the field of geared motor technology, and discloses a brushless geared motor system and a solar photovoltaic panel intelligent cleaning robot. The brushless geared motor system includes a motor body, a Hall sensor, a magnetic encoder, and a motor controller. This system uses the Hall sensor and magnetic encoder to jointly detect the magnetic pole position and rotational speed of the rotor assembly, providing more accurate and real-time feedback information to the motor controller. This improves the performance, efficiency, and closed-loop control capability of the brushless geared motor system, achieving the requirements for regulating output speed and torque. The solar photovoltaic panel intelligent cleaning robot based on this brushless geared motor system can meet cleaning needs under different levels and types of pollution with low energy consumption, reducing ineffective power loss and ensuring cleaning effectiveness.

Description

Technical Field

[0001] This utility model relates to the field of geared motor technology, and in particular to a brushless geared motor system and a solar photovoltaic panel intelligent cleaning robot. Background Technology

[0002] With the rapid development of the solar photovoltaic industry, the cleaning of photovoltaic panels has received increasing attention. Traditional methods of cleaning photovoltaic panels mainly rely on manual labor or simple mechanical devices, which suffer from low efficiency, high cost, and poor adaptability. Currently, related automated cleaning systems mainly rely on motors to drive the motors and use sensors to control their movements. However, these systems have poor control over motor speed and torque, especially when faced with different types of contamination (such as dust, snow, and stubborn stains). The motors cannot accurately adjust their speed and torque to switch cleaning modes according to the degree of contamination, resulting in significant power loss and making it difficult to achieve efficient cleaning. Utility Model Content

[0003] Based on the above problems, one objective of this utility model is to provide a brushless geared motor system that achieves intelligent adaptive speed regulation and torque control, thereby reducing energy consumption.

[0004] Another objective of this invention is to provide a smart cleaning robot for solar photovoltaic panels that automatically matches the optimal cleaning mode to ensure cleaning effectiveness.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A brushless geared motor system includes a motor body, a Hall sensor, a magnetic encoder, and a motor controller, wherein:

[0007] The main body of the motor includes a housing and a stator assembly and a rotor assembly disposed within the housing;

[0008] Hall sensors are used to detect the magnetic pole position of the rotor assembly and convert the measured position signal into an electrical signal to feed back to the motor controller;

[0009] Magnetic encoders are used to detect the magnetic pole position and rotational speed of rotor components, and convert the measured position and speed signals into electrical signals to feed back to the motor controller;

[0010] The motor controller is used to perform closed-loop control based on feedback signals from Hall sensors and magnetic encoders, thereby regulating the output speed and output torque of the motor body.

[0011] As an alternative, the Hall sensor includes a sensor PCB, which is fixed on the winding insulation frame of the stator assembly and surrounds the outside of the rotor assembly shaft.

[0012] As an alternative, three Hall elements are set on the sensor PCB, and the three Hall elements are evenly distributed at an electrical angle of 120°.

[0013] As an alternative, the sensor PCB is located at one end of the stator assembly and inside the housing. Several positioning posts are provided on the winding insulation wire frame, and positioning holes that cooperate with the positioning posts are provided on the sensor PCB.

[0014] As an alternative, the magnetic encoder includes an induction magnet and an encoder PCB. A magnet mounting sleeve is provided at the tail end of the shaft, and the induction magnet is embedded in the magnet mounting sleeve. An encoder rear cover is provided at one end of the housing to cover the tail end of the shaft. The encoder PCB is installed in the encoder rear cover and is arranged opposite to the induction magnet with a gap.

[0015] As an optional solution, the brushless geared motor system also includes a reducer, which is located at the head end of the shaft. The reducer includes a first-stage planetary carrier and a second-stage planetary carrier. A first planetary gear that meshes with the shaft is provided on one side of the first-stage planetary carrier, and a reduction gear is provided on the other side of the first-stage planetary carrier. A second planetary gear that meshes with the reduction gear is provided on one side of the second-stage planetary carrier, and an output shaft is provided on the other side of the second-stage planetary carrier.

[0016] The beneficial effects of this utility model are:

[0017] This brushless geared motor system uses Hall sensors and magnetic encoders to detect the magnetic pole position and speed of the rotor assembly, so as to provide more accurate and real-time feedback information to the motor controller. This improves the performance, efficiency and dynamic response closed-loop control capability of the brushless geared motor system, and meets the requirements for regulating output speed and output torque.

[0018] On the other hand, the present invention adopts the following technical solution:

[0019] A solar photovoltaic panel intelligent cleaning robot includes a cleaning robot body, an environmental perception module, and an intelligent control module, wherein:

[0020] The main body of the cleaning robot includes a cleaning actuator and the aforementioned brushless geared motor system, which is used to drive the cleaning actuator.

[0021] An environmental sensing module is installed at the front of the main body of the cleaning robot to detect the degree and type of pollution on the surface of the solar photovoltaic panel in real time, and convert the measured pollution signal into an electrical signal and transmit it to the intelligent control module.

[0022] The intelligent control module is used to analyze and process the signals transmitted by the environmental sensing module, and formulate a cleaning mode according to the degree and type of pollution. The intelligent control module is connected to the motor controller of the brushless geared motor system to adjust the output speed and output torque of the brushless geared motor system.

[0023] As an optional solution, the intelligent control module includes a cleaning mode library, which stores a variety of cleaning modes, including dust cleaning mode and snow removal mode. The dust cleaning mode corresponds to the brushless geared motor system being in a medium speed and medium torque state, while the snow removal mode corresponds to the brushless geared motor system being in a low speed and high torque state.

[0024] As an optional solution, the intelligent control module includes an AI algorithm model that can identify the degree and type of pollution on the surface of the solar photovoltaic panel based on different pollution signals, and match a suitable cleaning mode from the cleaning mode library.

[0025] The beneficial effects of this utility model are:

[0026] This intelligent cleaning robot for solar photovoltaic panels detects the degree and type of pollution on the surface of solar photovoltaic panels through an environmental perception module, and matches an appropriate cleaning mode through an intelligent control module. This enables the brushless geared motor system to drive the cleaning actuator to move at the set output speed and torque, meeting the cleaning needs under different pollution levels and types with low energy consumption, reducing ineffective power loss and ensuring cleaning effect. Attached Figure Description

[0027] Figure 1 This is an exploded view of the brushless geared motor system provided in this embodiment of the utility model;

[0028] Figure 2 This is a cross-sectional view of the brushless geared motor system provided in this embodiment of the utility model;

[0029] Figure 3 This is an exploded view of the motor body in the brushless geared motor system provided in this embodiment of the utility model;

[0030] Figure 4 This is a system schematic diagram of the intelligent cleaning robot for solar photovoltaic panels provided in this embodiment of the utility model.

[0031] In the attached image:

[0032] 1. Housing; 2. Stator assembly; 3. Rotor assembly; 4. Sensor PCB; 5. Winding insulation frame; 6. Shaft; 7. Positioning post; 8. Induction magnet; 9. Encoder PCB; 10. Magnet mounting sleeve; 11. Encoder back cover; 12. First-stage planetary carrier; 13. Second-stage planetary carrier; 14. First planetary gear; 15. Reduction gear; 16. Second planetary gear; 17. Output shaft;

[0033] 100. Main body of the cleaning robot; 110. Cleaning actuator; 120. Brushless geared motor system; 200. Environmental perception module; 300. Intelligent control module; 310. Cleaning mode library; 320. AI algorithm model. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0035] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0036] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of description and simplification of operation, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0038] Furthermore, the terms "first" and "second" are merely used to distinguish between different terms in description and do not have any special meaning.

[0039] Please see Figures 1 to 3 As shown, this embodiment provides a brushless geared motor system, including a motor body, a Hall sensor, a magnetic encoder, and a motor controller, wherein:

[0040] The motor body includes a housing 1 and a stator assembly 2 and a rotor assembly 3 disposed in the housing 1;

[0041] The Hall sensor is used to detect the magnetic pole position of the rotor assembly 3 and converts the measured position signal into an electrical signal to feed back to the motor controller;

[0042] The magnetic encoder is used to detect the magnetic pole position and rotational speed of the rotor assembly 3, and converts the measured position and speed signals into electrical signals to feed back to the motor controller;

[0043] The motor controller is used to perform closed-loop control based on feedback signals from Hall sensors and magnetic encoders, thereby regulating the output speed and output torque of the motor body.

[0044] Therefore, by using Hall effect sensors and magnetic encoders to detect the magnetic pole position and speed of rotor assembly 3, more accurate and real-time feedback information is provided to the motor controller, thereby improving the performance, efficiency and dynamic response closed-loop control capability of the brushless geared motor system, and achieving the requirements for regulating output speed and output torque.

[0045] Optionally, the Hall sensor includes a sensor PCB4, which is fixed on the winding insulation frame 5 of the stator assembly 2 and surrounds the rotating shaft 6 of the rotor assembly 3.

[0046] Specifically, three Hall elements are provided on the sensor PCB4, and the three Hall elements are evenly distributed at an electrical angle of 120°.

[0047] Furthermore, the sensor PCB4 is located at one end of the stator assembly 2 and inside the housing 1. Several positioning posts 7 are provided on the winding insulation frame 5, and the sensor PCB4 is provided with positioning holes that cooperate with the positioning posts 7 to ensure reliable fixation of the sensor PCB4.

[0048] Therefore, the Hall sensor enables precise control of the winding commutation and speed of rotor assembly 3, and allows the motor body to start smoothly at the moment of power-on and operate smoothly.

[0049] Optionally, the magnetic encoder includes an induction magnet 8 and an encoder PCB9. A magnet mounting sleeve 10 is provided at the tail end of the rotating shaft 6, and the induction magnet 8 is embedded in the magnet mounting sleeve 10. An encoder rear cover 11 is provided at one end of the housing 1 to cover the tail end of the rotating shaft 6. The encoder PCB9 is installed in the encoder rear cover 11 and is arranged opposite to the induction magnet 8 with a gap.

[0050] In particular, the induction magnet 8 is made of rare earth material and senses each other with the encoder PCB9 to detect the magnetic pole position and speed of the rotor assembly 3 with higher precision, providing more accurate and real-time feedback information.

[0051] The brushless geared motor system also includes a reducer, which is located at the head end of the rotating shaft 6. The reducer includes a first-stage planetary carrier 12 and a second-stage planetary carrier 13. A first planetary gear 14 that meshes with the rotating shaft 6 is provided on one side of the first-stage planetary carrier 12. A reduction gear 15 is provided on the other side of the first-stage planetary carrier 12. A second planetary gear 16 that meshes with the reduction gear 15 is provided on one side of the second-stage planetary carrier 13. An output shaft 17 is provided on the other side of the second-stage planetary carrier 13.

[0052] Thus, through the transmission between the first planetary gear 14 of the reducer and the high-speed rotating shaft 6, and the transmission between the second planetary gear 16 and the reduction gear 15, the output shaft 17 is reduced in speed step by step to form a low-speed, stable torque rotation.

[0053] Furthermore, the principle by which the motor controller regulates the motor body is a conventional technology and will not be elaborated here.

[0054] Based on this, see details Figure 4 This embodiment also provides a solar photovoltaic panel intelligent cleaning robot, including a cleaning robot body 100, an environmental perception module 200, and an intelligent control module 300, wherein:

[0055] The main body 100 of the cleaning robot includes a cleaning actuator 110 and the brushless geared motor system 120 mentioned above. The brushless geared motor system 120 is used to drive the cleaning actuator 110 to move.

[0056] An environmental perception module 200 is installed at the front end of the main body 100 of the cleaning robot. It is used to detect the degree and type of pollution on the surface of the solar photovoltaic panel in real time, and convert the measured pollution signal into an electrical signal and transmit it to the intelligent control module 300.

[0057] The intelligent control module 300 is used to analyze and process the signals transmitted by the environmental sensing module 200, and formulate a cleaning mode according to the degree and type of pollution. The intelligent control module 300 is connected to the motor controller of the brushless geared motor system 120, thereby adjusting the output speed and output torque of the brushless geared motor system 120.

[0058] The cleaning actuator 110 includes a cleaning roller, a traveling mechanism, etc., which will not be detailed here.

[0059] Therefore, the environmental sensing module 200 detects the degree and type of pollution on the surface of the solar photovoltaic panel, and the intelligent control module 300 matches a suitable cleaning mode, so that the brushless geared motor system 120 drives the cleaning actuator 110 to operate at the set output speed and output torque, which meets the cleaning needs under different pollution levels and types with low energy consumption, reduces ineffective power loss, and ensures cleaning effect.

[0060] Optionally, the environmental sensing module 200 may also employ sensors such as Hall effect sensors, which convert the degree of pollution into an electrical signal by sensing changes in the magnetic field. For example, when snow covers a solar photovoltaic panel, the sensor detects a change in the magnetic field strength, thereby determining the presence of snow.

[0061] Optionally, the intelligent control module 300 includes a cleaning mode library 310, which stores a variety of cleaning modes, including a dust cleaning mode and a snow removal mode. The dust cleaning mode corresponds to the brushless geared motor system 120 being in a medium speed and medium torque state, while the snow removal mode corresponds to the brushless geared motor system 120 being in a low speed and high torque state.

[0062] For example, when the environmental sensing module 200 detects a large area of ​​dust covering the solar photovoltaic panel, the intelligent control module 300 determines the type and area of ​​pollution, selects the dust cleaning mode, and controls the brushless geared motor system 120 to output medium speed and medium torque, thus successfully completing the cleaning task. As another example, when the environmental sensing module 200 detects snow covering the solar photovoltaic panel, snow is different from dust; in this case, the snow removal mode is selected, controlling the brushless geared motor system 120 to output low speed and high torque, effectively removing the snow. Furthermore, not limited to dust cleaning and snow removal modes, the cleaning mode library 310 continuously updates and optimizes based on actual cleaning results to improve cleaning efficiency and adaptability.

[0063] Optionally, the intelligent control module 300 includes an AI algorithm model 320, which can identify the degree and type of pollution on the surface of the solar photovoltaic panel based on different pollution signals, and match a suitable cleaning mode from the cleaning mode library 310.

[0064] The AI ​​algorithm model 320 is based on a deep learning neural network model. It is trained with a large amount of training data (including samples of different types and levels of pollution) and can accurately identify the type of pollution (such as dust, snow, etc.). Based on the preset cleaning mode library 310, it automatically matches the best cleaning mode, thereby realizing remote monitoring and automatic scheduling functions.

[0065] In addition, the driving performance of the brushless geared motor system 120 can be improved by optimizing the transmission method. The motor body reduces the speed and increases the torque through the reducer to meet the needs of different cleaning modes.

[0066] Optimizing the transmission method includes optimizing the gear structure design, improving the meshing accuracy between gears in the reducer, reducing energy loss during transmission, employing high-precision machining processes to ensure gear tooth profile and pitch accuracy reaches over 98%, and special surface treatment to improve wear resistance and fatigue resistance. Low-friction coefficient lubricating materials can also be used to reduce frictional resistance between gears, further improving transmission efficiency. These lubricating materials possess excellent high and low temperature resistance, maintaining stable lubrication under various environmental conditions. The lubrication system also features a sealed design to prevent dust and dirt from entering, extending gear lifespan. This significantly reduces ineffective power loss and improves motor efficiency to over 90%.

[0067] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A brushless geared motor system, characterized in that, It includes the motor body, Hall sensor, magnetic encoder and motor controller, among which: The motor body includes a housing (1) and a stator assembly (2) and a rotor assembly (3) disposed in the housing (1); The Hall sensor is used to detect the magnetic pole position of the rotor assembly (3) and convert the measured position signal into an electrical signal to feed back to the motor controller; The magnetic encoder is used to detect the magnetic pole position and rotational speed of the rotor assembly (3), and converts the measured position signal and speed signal into an electrical signal to feed back to the motor controller; The motor controller is used to perform closed-loop control based on the feedback signals from the Hall sensor and the magnetic encoder, thereby regulating the output speed and output torque of the motor body.

2. The brushless geared motor system according to claim 1, characterized in that, The Hall sensor includes a sensor PCB (4), which is fixed on the winding insulation frame (5) of the stator assembly (2) and surrounds the shaft (6) of the rotor assembly (3).

3. The brushless geared motor system according to claim 2, characterized in that, The sensor PCB (4) is provided with three Hall elements, which are evenly distributed at an electrical angle of 120°.

4. The brushless geared motor system according to claim 2, characterized in that, The sensor PCB (4) is located at one end of the stator assembly (2) and inside the housing (1). The winding insulation frame (5) is provided with a plurality of positioning posts (7), and the sensor PCB (4) is provided with positioning holes that cooperate with the positioning posts (7).

5. The brushless geared motor system according to claim 2, characterized in that, The magnetic encoder includes an induction magnet (8) and an encoder PCB (9). A magnet mounting sleeve (10) is provided at the tail end of the rotating shaft (6). The induction magnet (8) is embedded in the magnet mounting sleeve (10). One end of the housing (1) is provided with an encoder rear cover (11) that covers the tail end of the rotating shaft (6). The encoder PCB (9) is installed in the encoder rear cover (11) and is arranged opposite to the induction magnet (8) with a gap.

6. The brushless geared motor system according to claim 2, characterized in that, It also includes a speed reducer, which is located at the head end of the rotating shaft (6). The speed reducer includes a first-stage planetary carrier (12) and a second-stage planetary carrier (13). A first planetary gear (14) that meshes with the rotating shaft (6) is provided on one side of the first-stage planetary carrier (12). A reduction gear (15) is provided on the other side of the first-stage planetary carrier (12). A second planetary gear (16) that meshes with the reduction gear (15) is provided on one side of the second-stage planetary carrier (13). An output shaft (17) is provided on the other side of the second-stage planetary carrier (13).

7. A solar photovoltaic panel intelligent cleaning robot, characterized in that, It includes a cleaning robot body (100), an environmental perception module (200), and an intelligent control module (300), wherein: The main body (100) of the cleaning robot includes a cleaning actuator (110) and a brushless geared motor system (120) as described in any one of claims 1-6, wherein the brushless geared motor system (120) is used to drive the cleaning actuator (110) to move; The environmental perception module (200) is installed at the front end of the cleaning robot body (100) to detect the degree and type of pollution on the surface of the solar photovoltaic panel in real time, and convert the measured pollution signal into an electrical signal and transmit it to the intelligent control module (300). The intelligent control module (300) is used to analyze and process the signals transmitted by the environmental sensing module (200) and formulate a cleaning mode according to the degree and type of pollution. The intelligent control module (300) is connected to the motor controller of the brushless geared motor system (120) to adjust the output speed and output torque of the brushless geared motor system (120).

8. The intelligent cleaning robot for solar photovoltaic panels according to claim 7, characterized in that, The intelligent control module (300) includes a cleaning mode library (310), which stores a variety of cleaning modes, including a dust cleaning mode and a snow removal mode. The dust cleaning mode corresponds to the brushless geared motor system (120) being in a medium speed and medium torque state, and the snow removal mode corresponds to the brushless geared motor system (120) being in a low speed and high torque state.

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