Flat warehouse robot with wraparound air duct

Abstract

This utility model discloses a leveling robot with a surrounding air duct, applicable to the field of leveling machines. The leveling robot with a surrounding air duct includes a shell assembly, a battery module, a motor drive assembly, a control motherboard assembly, and an airflow circulation device. The shell assembly forms a receiving cavity, and the battery module is placed in the receiving cavity. A heat dissipation air duct surrounding the battery is formed between the outer wall of the shell and the inner wall of the shell, and this heat dissipation air duct communicates with the receiving cavity. The motor drive assembly and the control motherboard assembly are spaced apart within the receiving cavity along a first direction and are both located on the extension path of the heat dissipation air duct. The motor drive assembly is closer to the first end of the shell, and the control motherboard assembly is closer to the second end. The airflow circulation device is located within the receiving cavity and opposite to the motor drive assembly, and can drive airflow sequentially through the motor drive assembly, the heat dissipation air duct, and the control motherboard assembly. This utility model aims to improve heat dissipation and extend service life.

Description

Technical Field

[0001] This utility model relates to the field of warehouse leveling machine technology, and in particular to a warehouse leveling robot with a surrounding air duct. Background Technology

[0002] Existing thermal management systems for mobile robots mostly employ a decentralized design, with each heat-generating component cooled independently. For example, batteries, motors, and main control boards are each equipped with fans or heat sinks, resulting in structural redundancy and low space utilization. While some solutions attempt airflow integration, they are often limited to handling a single heat source and lack coordinated management of heat sources across the entire system. This is especially problematic in compact devices like warehouse robots, where short heat dissipation paths and chaotic airflow can easily lead to localized hotspots. Utility Model Content

[0003] The main purpose of this invention is to propose a warehouse leveling robot with a surrounding air duct, which aims to improve heat dissipation and extend service life.

[0004] To achieve the above objectives, this utility model proposes a warehouse leveling robot with a surrounding air duct, comprising:

[0005] A housing assembly has a first end and a second end, the first end and the second end being disposed opposite each other along a first direction, and a receiving cavity is formed inside the housing assembly;

[0006] A battery module is disposed within the receiving cavity. A heat dissipation channel is formed between the outer wall of the battery module and the inner wall of the housing assembly. The heat dissipation channel extends circumferentially along the battery module and surrounds the battery module, and the heat dissipation channel communicates with the receiving cavity.

[0007] The motor drive assembly and the control motherboard assembly are spaced apart in the receiving cavity along the first direction, and are both located within the extension path of the heat dissipation air duct.

[0008] The motor drive assembly is located at the first end, and the control motherboard assembly is located at the second end;

[0009] An airflow circulation device is disposed within the receiving cavity and is positioned opposite to the motor drive assembly, for driving airflow through the motor drive assembly, the heat dissipation duct, and the control motherboard assembly.

[0010] In one embodiment, the motor drive assembly includes an electronic speed control board (ESC) main board and a first mounting bracket, the first mounting bracket being mounted on the housing assembly, and the ESC main board being sandwiched between the first mounting bracket and the inner wall of the housing assembly; the airflow circulation device is mounted on the first mounting bracket and located on the opposite side of the ESC main board.

[0011] The first mounting bracket is provided with a first heat dissipation opening, which connects the heat dissipation duct and the airflow circulation device, so that the airflow driven by the airflow circulation device can pass through the first heat dissipation opening and flow through the ESC board motherboard.

[0012] In one embodiment, the first mounting bracket includes a first support plate and first mounting brackets spaced apart on both sides of the first support plate. The two first mounting brackets are connected to the inner wall of the housing assembly. The airflow circulation device is installed on the side of the first support plate away from the main board of the electronic control board. The main board of the electronic control board is sandwiched between the two first mounting brackets and the inner wall of the housing assembly. The two first mounting brackets are oppositely arranged to define the first heat dissipation opening.

[0013] In one embodiment, the robot further includes thermal grease, which is filled between the main board of the ESC and the inner wall of the housing assembly to conduct heat generated by the main board of the ESC to the housing assembly for heat dissipation.

[0014] In one embodiment, the control motherboard assembly includes a control motherboard and a second mounting bracket, the control motherboard being mounted on the second mounting bracket, and the second mounting bracket being connected to the housing assembly;

[0015] The second mounting bracket is provided with a second heat dissipation opening, which is connected to the heat dissipation duct so that airflow can flow over the surface of the control motherboard.

[0016] In one embodiment, the second mounting bracket includes a second support plate and two second mounting brackets spaced apart on both sides of the second support plate. The two second mounting brackets are connected to the housing assembly. The second support plate is provided with a third heat dissipation opening. The control motherboard is mounted on the second support plate and is disposed opposite to the third heat dissipation opening.

[0017] The two second mounting brackets are positioned opposite each other and define the second heat dissipation opening, which communicates with the third heat dissipation opening.

[0018] In one embodiment, the housing assembly is made of thermally conductive metal.

[0019] In one embodiment, the outer surface of the bottom wall of the housing assembly is provided with a plurality of spaced ribs, and the plurality of ribs extend along the first direction.

[0020] In one embodiment, the robot further includes a fixing bracket assembly and fasteners. The fixing bracket assembly includes at least a first fixing frame and a second fixing frame, which are disposed opposite to each other along a second direction and respectively abut against opposite sides of the battery module.

[0021] The fasteners lock the first fixing frame and the second fixing frame to clamp and fix the battery module in the receiving cavity;

[0022] The first direction and the second direction are arranged to intersect.

[0023] In one embodiment, the housing assembly has a central axis extending along the first direction, the battery module extends along the first direction, and the extension direction of the battery module coincides with the central axis.

[0024] This invention relates to a racking robot with a surrounding air duct. The racking robot includes a shell assembly defining an internal cavity, within which a battery module is placed. A circumferentially extending heat dissipation duct surrounds the battery and is positioned between the outer wall of the shell and the inner wall of the shell. This duct serves not only as a cooling channel for the battery module but also as an airflow channel connecting other heat sources. The motor drive assembly and the control motherboard assembly, serving as the main heat sources, are arranged at intervals along a first direction, located at the first and second ends of the shell, respectively, and are both positioned along the extension path of the heat dissipation duct, forming a series heat source structure. In conjunction with an airflow circulation device located within the cavity and opposite the motor drive assembly, the system can drive airflow to form a directional circulation, allowing it to flow sequentially through the high-power motor drive assembly, the surrounding heat dissipation duct, and the control motherboard assembly. This achieves an efficient and orderly heat dissipation circulation for the battery, power system, and control system within a compact, enclosed space, ensuring the robot's thermal stability under high-load operation, improving heat dissipation efficiency, and extending its service life. Attached Figure Description

[0025] 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0026] Figure 1 A schematic diagram of the structure of an embodiment of the flattening robot with a surrounding air duct provided by this utility model;

[0027] Figure 2 A schematic diagram of another embodiment of the warehouse clearing robot with a surrounding air duct provided by this utility model;

[0028] Figure 3 A schematic diagram of another embodiment of the flattening robot with a surrounding air duct provided by this utility model;

[0029] Figure 4 A schematic diagram of another embodiment of the flattening robot with a surrounding air duct provided by this utility model;

[0030] Figure 5 A schematic diagram of another embodiment of the warehouse balancing robot with a surrounding air duct provided by this utility model;

[0031] Figure 6 A schematic diagram of an embodiment of the second mounting bracket provided by this utility model.

[0032] 10. Housing assembly; 11. First end; 12. Second end; 13. Receiving cavity; 14. Rib; 20. Battery module; 30. Motor drive assembly; 31. ESC board mainboard; 32. First mounting bracket; 321. First heat dissipation opening; 322. First support plate; 323. First mounting bracket; 40. Control mainboard assembly; 41. Control mainboard; 42. Second mounting bracket; 421. Second heat dissipation opening; 422. Second support plate; 423. Second mounting bracket; 424. Third heat dissipation opening; 50. Airflow circulation device; 60. Fixing bracket assembly; 61. First fixing bracket; 62. Second fixing bracket.

[0033] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. 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 scope of protection of the present utility model.

[0035] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0036] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0037] This invention proposes a warehouse leveling robot with a surrounding air duct.

[0038] Reference Figures 1-6 In this embodiment of the utility model, a warehouse leveling robot with a surrounding air duct includes:

[0039] The housing assembly 10 has a first end 11 and a second end 12, the first end 11 and the second end 12 are disposed opposite to each other along a first direction, and a receiving cavity 13 is formed inside the housing assembly 10;

[0040] The battery module 20 is disposed in the receiving cavity 13. A heat dissipation channel is formed between the outer wall of the battery module 20 and the inner wall of the housing assembly 10. The heat dissipation channel extends along the circumference of the battery module 20 and surrounds the battery module 20, and the heat dissipation channel is connected to the receiving cavity 13.

[0041] The motor drive assembly 30 and the control motherboard assembly 40 are spaced apart in the receiving cavity 13 along the first direction, and are both located within the extension path of the heat dissipation air duct.

[0042] Among them, the motor drive assembly 30 is located at the first end 11, and the control motherboard assembly 40 is located at the second end 12;

[0043] An airflow circulation device 50 is disposed in the receiving cavity 13 and is positioned opposite to the motor drive assembly 30. It is used to drive airflow through the motor drive assembly 30, the heat dissipation duct and the control main board assembly 40.

[0044] This application proposes a warehouse robot with a highly efficient heat dissipation structure and a surrounding airflow channel. The core of this design lies in constructing a surrounding airflow circulation path within the internal space of the shell assembly 10, capable of covering all major heat-generating components. Specifically, the robot includes a shell assembly 10, which has a first end 11 and a second end 12 arranged opposite each other along a first direction, and forms a receiving cavity 13 within it, serving as a mounting carrier for all core components. A battery module 20 is disposed within the receiving cavity 13, with a certain gap maintained between the outer wall of the battery module 20 and the inner wall of the shell assembly 10. This gap forms a heat dissipation airflow channel extending circumferentially around the battery module 20, which simultaneously communicates with the internal space of the receiving cavity 13, providing clear guidance for airflow. This design not only saves space but also allows the outer shell of the battery module 20 to directly participate in the heat dissipation process, increasing the heat dissipation area. Based on this, the two main heat sources, the motor drive assembly 30 and the control motherboard assembly 40, are spaced apart within the receiving cavity 13 along the first direction, and their positions are both located along the extension path of the aforementioned heat dissipation airflow duct. More specifically, the motor drive assembly 30 is arranged near the first end 11 of the housing assembly 10, while the control motherboard assembly 40 is arranged near the second end 12 of the housing assembly 10. This arrangement ensures that any airflow passing through this annular airflow duct will inevitably pass through these two components sequentially. To achieve active heat dissipation, an airflow circulation device 50 is installed within the receiving cavity 13, opposite to the motor drive assembly 30. After activation, the airflow circulation device 50 drives the airflow to first flow through the motor drive assembly 30, which generates significant heat, for initial cooling. Subsequently, the airflow enters and flows along the heat dissipation airflow duct surrounding the battery module 20, carrying away the heat generated during battery operation. Finally, the airflow continues forward, flowing through the control motherboard assembly 40, completing the series cooling of all critical components, thereby forming an efficient and orderly heat dissipation cycle to ensure the thermal stability of the robot under high-load operation. Therefore, this application's solution drives an airflow in a predetermined sequence to sequentially cool the motor drive assembly 30, battery module 20, and control motherboard assembly 40 in a series manner. This avoids short-circuiting and ineffective circulation of the airflow, ensuring that every heat source is effectively covered. This maximizes the efficiency of the entire system's thermal management with minimal space and energy consumption, fundamentally guaranteeing the robot's stable performance and operational safety under high-intensity, long-term operation. Further understanding is that the first direction refers to the direction of the robot's head-to-tail connection. The motor drive assembly 30 and control motherboard assembly 40 are respectively placed at both ends of the robot, leaving space in the middle for the battery module 20 and the cooling air duct. This achieves an efficient heat dissipation layout within a limited volume by extending the distance. The airflow circulation device 50 can be an active wind-driven assembly. Specifically, the airflow circulation device 50 includes, but is not limited to, an axial fan or a centrifugal fan (blower).The airflow circulation device 50 includes a drive motor, a rotating impeller, and a guide shroud or frame for guiding the airflow direction.

[0045] Reference Figures 1-6 In this embodiment of the present invention, the motor drive assembly 30 includes an electronic speed control board 31 and a first mounting bracket 32. The first mounting bracket 32 ​​is mounted on the housing assembly 10, and the electronic speed control board 31 is sandwiched between the first mounting bracket 32 ​​and the inner wall of the housing assembly 10. The airflow circulation device 50 is mounted on the first mounting bracket 32 ​​and is located on the opposite side of the electronic speed control board 31.

[0046] The first mounting bracket 32 ​​is provided with a first heat dissipation opening 321, which connects the heat dissipation duct and the airflow circulation device 50, so that the airflow driven by the airflow circulation device 50 can pass through the first heat dissipation opening 321 and flow through the ESC board main board 31.

[0047] Specifically, the motor drive assembly 30 is not directly exposed or simply stacked inside the housing assembly 10, but rather includes a first mounting bracket 32 ​​and an electronic control board main board 31. The first mounting bracket 32 ​​is fixed to the housing assembly 10 as a supporting frame, while the electronic control board main board 31 is clamped and fixed between the first mounting bracket 32 ​​and the inner wall of the housing assembly 10. In this case, the first mounting bracket 32 ​​acts as an outer pressure plate, the inner wall of the housing assembly 10 acts as an inner abutment, and the electronic control board main board 31 is tightly confined between the two like a sandwich layer. This structure not only saves additional installation space by utilizing the rigidity of the housing assembly 10, but also allows the electronic control board main board 31 to be in close contact with the inner wall of the housing assembly 10 for auxiliary heat conduction. At the same time, in conjunction with the airflow circulation device 50, it ensures that the airflow can smoothly flow over the surface of the electronic control board main board 31 to remove heat. This clamping structure not only ensures the stable installation of the electronic control board main board 31, but also utilizes the inner wall of the housing assembly 10 as an auxiliary surface for heat conduction. The airflow circulation device 50 (including but not limited to a fan) is not randomly placed, but directly mounted on the first mounting bracket 32 ​​and located on the opposite side of the ESC main board 31 (i.e., upstream or downstream of the airflow), forming a compact stacked layout of the first mounting bracket 32, the ESC main board 31, and the airflow circulation device 50. The function of the airflow circulation device 50 is to generate negative pressure suction or positive pressure thrust, driving airflow through high-speed rotation, forcing the airflow through the first heat dissipation opening 321, flowing over the surface of the ESC main board 31 and the heat dissipation duct, thereby completing the heat transfer and exchange. Furthermore, in order to open up the heat dissipation path, the first mounting bracket 32 ​​is specially designed with a first heat dissipation opening 321. One end of this first heat dissipation opening 321 is connected to the heat dissipation duct surrounding the battery, and the other end is directly connected to the airflow circulation device 50. When the airflow circulation device 50 is activated, it drives the airflow through the first heat dissipation opening 321, forcing the airflow to blow directly onto or be drawn into the ESC board 31, which is sandwiched between the first mounting bracket 32 ​​and the inner wall of the housing assembly 10, thereby rapidly removing the heat generated by the motor drive assembly 30. This design utilizes the first mounting bracket 32 ​​itself to construct a local airflow channel, avoiding disordered airflow diffusion, ensuring that the cooling air can better reduce high heat sources, and greatly improving heat dissipation efficiency and space utilization.

[0048] Reference Figures 1-6 In this embodiment of the present invention, the first mounting bracket 32 ​​includes a first support plate 322 and first mounting brackets 323 spaced apart on both sides of the first support plate 322. The two first mounting brackets 323 are connected to the inner wall of the housing assembly 10. The airflow circulation device 50 is installed on the side of the first support plate 322 away from the main board 31 of the electronic control board. The main board 31 of the electronic control board is sandwiched between the two first mounting brackets 323 and the inner wall of the housing assembly 10. The two first mounting brackets 323 are provided with first heat dissipation openings 321.

[0049] The first mounting bracket 32 ​​is specifically constructed by extending first mounting brackets 323 on both sides and connecting them to the housing assembly 10, thereby forming a stable support platform in the middle and defining the airflow channel. Specifically, the first mounting bracket 32 ​​is not a simple flat plate, but consists of a first support plate 322 and two first mounting brackets 323 located on its two sides. These two first mounting brackets 323 extend to both sides and are firmly connected to the inner wall of the housing assembly 10. This connection method not only provides strong support for the entire assembly, but also divides the space between the first mounting bracket 32 ​​and the housing assembly 10. Compared with single-point or planar fixation, this layout can more effectively resist the vibration and impact generated during robot operation, ensuring that the ESC mainboard 31 mounted on both sides will not loosen or be damaged due to shaking, greatly improving the mechanical reliability of the core electronic components. At the same time, through the obstruction of the first support plate 322, the airflow circulation device 50 is located on one side, and the ESC mainboard 31 is located on the other side, ensuring airflow continuity while preventing direct heat transfer from the motor to the temperature-sensitive ESC mainboard 31, reflecting a better thermal management design. In this structure, the main board 31 is sandwiched between the two first mounting brackets 323 and the inner wall of the housing assembly 10. The main board 31 is mounted along the two side edges of the two first mounting brackets 323, while the first support plate 322 spans across the main board 31, spatially isolating the main board 31 from the airflow circulation device 50. The airflow circulation device 50 is mounted on the side of the first support plate 322 away from the main board 31 (i.e., the back), making the first support plate 322 a physical partition between the airflow circulation device 50 and the main board 31. The two opposing first mounting brackets 323 cooperate with the housing assembly 10 to naturally define the first heat dissipation opening 321. This first heat dissipation opening 321 is no longer a simple hole on the first mounting bracket 32, but a channel formed by the side wall structure of the two first mounting brackets 323, which connects the heat dissipation duct and the airflow circulation device 50. When the airflow circulation device 50 is working, it is located on one side of the first support plate 322 and performs suction or blowing, driving the airflow through the first heat dissipation opening 321 defined by the first mounting brackets 323 on both sides, and then flowing through the main board 31 of the electronic control board sandwiched between the first mounting bracket 32 ​​and the housing assembly 10. The first heat dissipation opening 321 no longer requires additional pipes or complex air guides to guide the airflow, but directly uses the side wall of the first mounting bracket 32 ​​itself as the boundary of the heat dissipation airflow channel. This not only saves the number of parts and assembly steps and reduces costs, but also ensures that the airflow can be constrained within a specific path, that is, the airflow must pass through the opening defined by the first mounting bracket 32 ​​and flow through the surface of the main board 31 of the electronic control board, avoiding short-circuiting or ineffective diffusion of the airflow, thereby achieving the most efficient heat dissipation with minimal energy consumption. Furthermore, the connection between the first mounting brackets 323 on both sides and the inner wall of the housing assembly 10 can be a detachable connection or a fixed installation.The detachable connection means that the first mounting brackets 323 on both sides are not permanently fixed to the inner wall of the housing assembly 10 by welding or gluing, but are connected to the inner wall of the housing assembly 10 by fasteners such as screws, clips, or positioning pins. When the ESC board mainboard 31 needs to be repaired or replaced, or the internal circuitry needs to be checked, maintenance personnel do not need to forcibly disassemble the entire robot housing or damage the internal structure. They only need to disconnect the connection points to remove the entire first mounting bracket 32 ​​along with the airflow circulation device 50 it carries. This not only avoids the difficulties of operation in confined spaces, but also effectively reduces the risk of damage to precision electronic components due to violent disassembly.

[0050] Reference Figures 1-6 In this embodiment of the invention, the robot also includes thermal grease, which is filled between the main board 31 of the ESC board and the inner wall of the housing assembly 10 to conduct the heat generated by the main board 31 of the ESC board to the housing assembly 10 for heat dissipation.

[0051] Specifically, although the ESC motherboard 31 is tightly clamped between the first mounting bracket 32 ​​and the inner wall of the housing assembly 10, tiny processing gaps and air gaps inevitably exist between the surface of the ESC motherboard 31 (made of metal or composite material) and the inner wall of the housing assembly 10. Since air is a poor conductor of heat, these gaps create thermal resistance, hindering heat transfer from the ESC motherboard 31 to the housing assembly 10. To address this, thermally conductive silicone grease is applied to the contact surface between the ESC motherboard 31 and the inner wall of the housing assembly 10. This paste-like material with high thermal conductivity perfectly fills the microscopic gaps, expelling air and establishing a low-thermal-resistance heat conduction channel. Through this design, the heat generated by the ESC motherboard 31 during operation is not only carried away by surface airflow but also efficiently conducted to the housing assembly 10 via the thermally conductive silicone grease. The housing assembly 10 then utilizes its large surface area to naturally dissipate the heat to the external environment. This design not only effectively reduces the peak temperature of the ESC board 31, preventing it from throttling or being damaged due to overheating, but also makes full use of the robot's overall structure for passive heat dissipation, significantly improving the system's thermal stability and reliability under long-term high-load operation.

[0052] Reference Figures 1-6 In this embodiment of the present invention, the control motherboard assembly 40 includes a control motherboard 41 and a second mounting bracket 42. The control motherboard 41 is mounted on the second mounting bracket 42, and the second mounting bracket 42 is connected to the housing assembly 10.

[0053] The second mounting bracket 42 is provided with a second heat dissipation opening 421, which is connected to the heat dissipation duct so that airflow can flow over the surface of the control motherboard 41.

[0054] Specifically, the control motherboard assembly 40 is not directly fixed to the inner wall of the housing assembly 10, but is supported and positioned by the second mounting bracket 42. This second mounting bracket 42, as the carrier of the control motherboard 41, is firmly connected to the housing assembly 10, thereby suspending or fixing the control motherboard 41 in a specific area inside the housing assembly 10. This installation method not only ensures the stability of the control motherboard 41, but also reserves the necessary airflow space around the control motherboard 41. The second mounting bracket 42 is designed with a second heat dissipation opening 421. The second heat dissipation opening 421 is directly connected to the heat dissipation duct surrounding the battery module 20, which is equivalent to connecting the control motherboard 41 area to the robot's main heat dissipation circulation system. As the robot's computing center, the control motherboard 41 is extremely sensitive to temperature and generates a lot of heat. If it is mixed with high heat sources such as the motor drive assembly 30 or shares an air duct, it is very easy for heat to accumulate, causing a crash or calculation error. By introducing an independent second mounting bracket 42, the control motherboard 41 is physically isolated, keeping it away from other high-temperature components. The structure of the second mounting bracket 42 also establishes a dedicated heat dissipation area. The design of the second heat dissipation opening 421 breaks down the barrier between the heat dissipation duct and the control motherboard 41, essentially creating a dedicated heat dissipation channel for the control motherboard 41. This not only avoids energy waste caused by disordered airflow diffusion within the housing assembly 10 but also forces the cooling airflow to cover the high-heat-generating chips on the surface of the control motherboard 41, greatly improving heat exchange efficiency. When the airflow circulation device 50 drives the airflow along the heat dissipation duct, a portion of the airflow is diverted or directly passed through this second heat dissipation opening 421, blowing directly onto or flowing over the surface of the control motherboard 41 mounted on the second mounting bracket 42. This design ensures that the control motherboard 41 can effectively dissipate heat using the circulating cool air within the system, avoiding heat accumulation due to remote location or airflow dead zones, thereby guaranteeing the robot's thermal stability and operational reliability under high-load operation. This bracket design, combined with the opening structure, ensures efficient heat dissipation while also balancing modular assembly and ease of maintenance. This allows the control motherboard component 40 to be pre-assembled or quickly replaced as an independent unit, thereby improving system reliability while optimizing production and maintenance costs.

[0055] Reference Figures 1-6 In this embodiment of the present invention, the second mounting bracket 42 includes a second support plate 422 and a second mounting bracket 423 spaced apart on both sides of the second support plate 422. The two second mounting brackets 423 are connected to the housing assembly 10. The second support plate 422 is provided with a third heat dissipation opening 424. The control main board 41 is mounted on the second support plate 422 and is arranged opposite to the third heat dissipation opening 424.

[0056] Two second mounting brackets 423 are positioned opposite each other and have a second heat dissipation opening 421, which is connected to a third heat dissipation opening 424.

[0057] Specifically, the second mounting bracket 42 is no longer a simple flat support, but a three-dimensional frame composed of the second support plate 422 and the second mounting brackets 423 on both sides. The second mounting brackets 423 on both sides act as connecting arms, responsible for firmly supporting the entire component inside the housing component 10, and defining the second heat dissipation opening 421 between them, making it an inlet channel for airflow into this area. The second support plate 422, as the core carrier, spans between the second mounting brackets 423 on both sides. It supports the control motherboard 41 and has a specially designed third heat dissipation opening 424, which not only ensures the flatness and stability of the control motherboard 41 installation, but also utilizes the gaps in the second mounting bracket 42 itself as an air duct wall, achieving airflow guidance without the need for additional air ducts, greatly improving space utilization. The control motherboard 41 is mounted on the second support plate 422 and opposite to the third heat dissipation opening 424 (for example, the control motherboard 41 is laid flat above the third heat dissipation opening 424), and the second heat dissipation opening 421 and the third heat dissipation opening 424 (penetration opening) are spatially connected. This design creates a three-dimensional airflow channel with side-inlet and top-outlet or side-inlet and bottom-outlet. Airflow first flows horizontally through the second heat dissipation openings 421 defined by the second mounting brackets 423 on both sides, then turns and flows vertically through the third heat dissipation openings 424 on the second support plate 422, directly flowing over the surface of the control motherboard 41 or carrying away heat from its back. This structure not only ensures the mechanical strength of the second mounting brackets 42, but also, through the cooperation of multiple openings, forces cold air to directly penetrate or flush the high-heat-generating components (such as the CPU and power module) on the surface of the control motherboard 41, eliminating heat dissipation dead zones and ensuring that airflow can comprehensively surround and penetrate the heat-generating components, greatly improving heat dissipation efficiency. It is understood that the third heat dissipation opening 424 can be single or multiple. When there are multiple third heat dissipation openings 424, they are usually distributed in an array or regularly on the second support plate 422, corresponding one-to-one with or interspersed with the positions of the high-heat-generating electronic components (such as the central processing unit, power management chip, communication module, etc.) on the control motherboard 41. This multi-point layout overcomes the uneven airflow distribution that might result from a single large opening, allowing the airflow entering from the second heat dissipation opening 421 to be divided into multiple fine airflow streams, better penetrating each of the third heat dissipation openings 424. In this way, the airflow no longer merely flows past the edges or surface of the control motherboard 41, but can penetrate deeper into various areas of the control motherboard 41, even directly dissipating heat from key heat-generating components point-to-point. The presence of multiple third heat dissipation openings 424 not only significantly increases the effective heat dissipation area and reduces the risk of localized hotspots, but also further disrupts the thermal boundary layer by increasing the turbulence of the airflow, thereby maximizing heat dissipation efficiency within a limited space and ensuring the stable operation of the control motherboard 41 under complex operating conditions. Furthermore, the connection between the second mounting brackets 423 on both sides and the inner wall of the housing assembly 10 can be either detachable or fixed.The detachable connection means that the second mounting brackets 423 on both sides are not permanently fixed to the inner wall of the housing assembly 10 by welding or gluing, but are connected to the inner wall of the housing assembly 10 by fasteners such as screws, clips, or locating pins. When the control motherboard 41 needs to be repaired or replaced, or the internal wiring needs to be checked, maintenance personnel do not need to forcibly disassemble the entire robot housing or damage the internal structure. They only need to disconnect the connection points to remove the entire second mounting bracket 42. This not only avoids the difficulty of operation in confined spaces, but also effectively reduces the risk of damage to precision electronic components due to violent disassembly.

[0058] Reference Figures 1-6 In this embodiment of the utility model, the shell assembly 10 is made of thermally conductive metal.

[0059] Specifically, this design abandons ordinary plastics or composite materials that are insulating but have poor thermal conductivity, and instead uses metal materials with high thermal conductivity, such as aluminum alloys and magnesium alloys, to manufacture the shell assembly 10. In this design, the shell assembly 10 is no longer merely a container for internal electronic components and mechanical structures, but rather a heat dissipation plate that is in direct contact with the external environment. This design fully utilizes the excellent physical properties of metal materials, allowing the shell assembly 10 to serve as the final heat collection point for internal heat sources (such as the ESC motherboard 31, control motherboard 41, etc.). When the heat generated by the internal components is conducted to the shell assembly 10 through thermal grease or mounting brackets, the thermally conductive metal material can quickly diffuse this concentrated heat to the entire surface of the shell assembly 10, utilizing the shell assembly 10's large surface area for efficient natural convection or radiation heat exchange with the external air. This integrated design of the shell as a heat sink not only greatly reduces the reliance on additional cooling fans or complex liquid cooling systems and simplifies the internal structure, but also effectively avoids localized overheating of the shell assembly 10 surface, significantly improving the robot's thermal stability and reliability under long-term, high-load operating conditions.

[0060] Reference Figures 1-6 In this embodiment of the present invention, the outer surface of the bottom wall of the housing assembly 10 is provided with a plurality of spaced ribs 14, which extend along the first direction.

[0061] Multiple ribs 14 extending along a first direction and spaced apart are provided on the outer surface of the bottom wall of the housing assembly 10. Firstly, this enhances the structural rigidity and impact resistance of the housing assembly 10. During operation, the balancing robot may face complex ground environments and potential collision risks. As a component directly in contact with or close to the ground, the bottom wall is highly susceptible to external impacts. The addition of the ribs 14 is equivalent to constructing a reinforced skeleton on the bottom wall, effectively dispersing and absorbing external impact forces, preventing deformation or damage to the housing assembly 10, thereby protecting the internal battery module 20, motor drive assembly 30, and control motherboard assembly 40. Secondly, this design helps optimize heat dissipation performance. The ribs 14 increase the outer surface area of ​​the bottom wall, equivalent to adding a set of heat dissipation fins to the housing assembly 10. When internal heat is conducted to the bottom wall through the housing assembly 10, the increased surface area allows for more effective heat exchange with the outside air, assisting the internal airflow circulation device in heat dissipation, especially under high-load conditions, further reducing the overall machine temperature. In addition, the arrangement of the ribs 14 extending along the first direction is coordinated with the direction of the internal heat dissipation air duct and the distribution of heat sources, so that the structural reinforcement, heat dissipation assistance and internal layout form a unified overall design, which not only improves mechanical strength, but also takes into account thermal management requirements, while maintaining a clean appearance and functional integration.

[0062] Reference Figures 1-6 In this embodiment of the present invention, the robot further includes a fixed bracket assembly 60 and fasteners. The fixed bracket assembly 60 includes at least a first fixed frame 61 and a second fixed frame 62. The first fixed frame 61 and the second fixed frame 62 are arranged opposite to each other along the second direction and respectively abut against the opposite sides of the battery module 20.

[0063] Fasteners lock the first fixing bracket 61 and the second fixing bracket 62 to clamp and fix the battery module 20 in the receiving cavity 13;

[0064] The first direction and the second direction are intersecting.

[0065] Specifically, the mounting bracket assembly 60 does not employ a traditional bottom-supporting or single-sided bonding method, but rather consists of two main components: a first mounting bracket 61 and a second mounting bracket 62. These two mounting brackets stand opposite each other in space along a second direction, respectively abutting against two opposite sides of the battery module 20 (e.g., the left and right sides, or the front and rear sides). Furthermore, the first mounting bracket 61 and the second mounting bracket 62 are forcefully locked together using fasteners (such as bolts, screws, etc.). This locking action generates a significant clamping force between the two mounting brackets, firmly holding the battery module 20 in the middle, preventing any displacement or shaking within the receiving cavity 13. This bidirectional clamping method generates significant static friction, firmly locking the battery module 20 within the receiving cavity 13. Regardless of the direction of vibration, the battery module 20 remains completely still, thus avoiding serious safety hazards such as internal wiring pulling, interface wear, or even detachment caused by a loose battery module 20. In this design, the first direction (typically referring to the mounting or stacking direction of the battery module 20) and the second direction (i.e., the clamping direction of the fixing bracket assembly 60) are intersecting (e.g., perpendicular to each other). This orthogonal or intersecting layout design allows the fixing bracket assembly 60 to be locked from the side rather than from the top or bottom. Simply placing the battery module 20 into the receiving cavity 13 and having the two fixing brackets close and lock it in place greatly reduces assembly difficulty and maintenance costs, demonstrating the convenience of modular design. This side clamping method not only effectively utilizes the lateral space of the receiving cavity 13, avoiding interference with the electrical connections at the top of the battery module 20 or the support structure at the bottom, but also effectively resists the multi-directional vibrations and impacts generated during robot movement, ensuring that the battery module 20 remains stable in complex working environments, thereby guaranteeing the safety of the robot's power supply and structural reliability. It is understood that the first fixing frame 61 and the second fixing frame 62 can be "L" or "U" shaped metal frame structures with high rigidity support and fitting capacity. The main body extends parallel to the side of the battery module 20 to provide sufficient contact area. The inner surface can be further fitted with rubber pads, silicone layers or flexible buffer materials to increase the coefficient of friction and absorb high-frequency vibration. The outer side is designed with through holes or threaded holes for fasteners (such as bolts) to pass through.

[0066] Reference Figures 1-6 In this embodiment of the present invention, the housing assembly 10 has a central axis extending along a first direction, the battery module 20 extends along the first direction, and the extension direction of the battery module 20 coincides with the central axis.

[0067] Placing the battery module 20 on the geometric center axis of the housing assembly 10 ensures that the robot's overall center of gravity rests at its geometric center point. This layout significantly reduces the robot's rotational inertia, making its attitude control more sensitive and stable when turning, climbing, or navigating soft surfaces, effectively preventing the risk of tipping over or slipping due to center of gravity shift. Secondly, this coaxial design makes full use of the internal space of the housing assembly 10. Extending the battery module 20 along a first direction (typically the robot's longitudinal or height direction) and placing it at the center makes the battery module 20 a support point connecting the front and rear or upper and lower structures. It also provides surrounding mounting space for other electronic components (such as the control motherboard 41, sensors, etc.) around the battery module 20, achieving compact and modular internal stacking and avoiding space waste. The central axis is typically the main stress path for the robot to withstand external impacts and internal vibrations. By placing the battery module 20 on this axis and making it participate in the structural stress of the whole machine, the rigidity of the battery module 20 itself can be used to enhance the torsional strength of the housing assembly 10, so that it can distribute stress more evenly when encountering collisions or bumps, thereby protecting the internal precision components from damage.

[0068] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A flat warehouse robot having a wrap-around air duct, characterized in that include: A housing assembly has a first end and a second end, the first end and the second end being disposed opposite each other along a first direction, and a receiving cavity is formed inside the housing assembly; A battery module is disposed within the receiving cavity. A heat dissipation channel is formed between the outer wall of the battery module and the inner wall of the housing assembly. The heat dissipation channel extends circumferentially along the battery module and surrounds the battery module, and the heat dissipation channel communicates with the receiving cavity. The motor drive assembly and the control motherboard assembly are spaced apart in the receiving cavity along the first direction, and are both located within the extension path of the heat dissipation air duct. The motor drive assembly is located at the first end, and the control motherboard assembly is located at the second end; An airflow circulation device is disposed within the receiving cavity and is positioned opposite to the motor drive assembly, for driving airflow through the motor drive assembly, the heat dissipation duct, and the control motherboard assembly.

2. The warehouse leveling robot with a surrounding air duct according to claim 1, characterized in that, The motor drive assembly includes an electronic speed control board (ESC) main board and a first mounting bracket. The first mounting bracket is mounted on the housing assembly, and the ESC main board is sandwiched between the first mounting bracket and the inner wall of the housing assembly. The airflow circulation device is mounted on the first mounting bracket and located on the opposite side of the ESC main board. The first mounting bracket is provided with a first heat dissipation opening, which connects the heat dissipation duct and the airflow circulation device, so that the airflow driven by the airflow circulation device can pass through the first heat dissipation opening and flow through the ESC board motherboard.

3. The warehouse leveling robot with a surrounding air duct according to claim 2, characterized in that, The first mounting bracket includes a first support plate and first mounting brackets spaced apart on both sides of the first support plate. The two first mounting brackets are connected to the inner wall of the housing assembly. The airflow circulation device is installed on the side of the first support plate away from the main board of the electronic control board. The main board of the electronic control board is sandwiched between the two first mounting brackets and the inner wall of the housing assembly. The two first mounting brackets are arranged opposite to each other and define the first heat dissipation opening.

4. The warehouse leveling robot with a surrounding air duct according to claim 3, characterized in that, The robot also includes thermal grease, which is filled between the main board of the ESC and the inner wall of the housing assembly to conduct the heat generated by the main board of the ESC to the housing assembly for heat dissipation.

5. The warehouse leveling robot with a surrounding air duct according to claim 1, characterized in that, The control motherboard assembly includes a control motherboard and a second mounting bracket, the control motherboard being mounted on the second mounting bracket, and the second mounting bracket being connected to the housing assembly; The second mounting bracket is provided with a second heat dissipation opening, which is connected to the heat dissipation duct so that airflow can flow over the surface of the control motherboard.

6. The warehouse leveling robot with a surrounding air duct according to claim 5, characterized in that, The second mounting bracket includes a second support plate and two second mounting brackets spaced apart on both sides of the second support plate. The two second mounting brackets are connected to the housing assembly. The second support plate is provided with a third heat dissipation opening. The control motherboard is mounted on the second support plate and is arranged opposite to the third heat dissipation opening. The two second mounting brackets are positioned opposite each other and define the second heat dissipation opening, which communicates with the third heat dissipation opening.

7. The warehouse leveling robot with a surrounding air duct according to claim 1, characterized in that, The housing assembly is made of thermally conductive metal.

8. The warehouse leveling robot with a surrounding air duct according to claim 1, characterized in that, The outer surface of the bottom wall of the housing assembly is provided with a plurality of spaced ribs, which extend along the first direction.

9. The warehouse leveling robot with a surrounding air duct according to claim 1, characterized in that, The robot also includes a fixed support assembly and fasteners. The fixed support assembly includes at least a first fixed frame and a second fixed frame. The first fixed frame and the second fixed frame are arranged opposite to each other along a second direction and respectively abut against opposite sides of the battery module. The fasteners lock the first fixing frame and the second fixing frame to clamp and fix the battery module in the receiving cavity; The first direction and the second direction are arranged to intersect.

10. The warehouse leveling robot with a surrounding air duct according to claim 9, characterized in that, The housing assembly has a central axis extending along the first direction, the battery module extends along the first direction, and the extension direction of the battery module coincides with the central axis.

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