Water flow channel plate structure and cleaning robot using same

Abstract

The application provides a water channel plate structure, which comprises a bottom shell serving as a mounting base, at least one water injection part arranged on the bottom shell, a cleaning layer capable of absorbing liquid arranged on the bottom surface of the bottom shell, at least one delay water channel plate arranged between the cleaning layer and the bottom shell and used for receiving and uniformly outputting liquid, and the delay water channel plate is communicated with the water injection part. The delay water channel plate arranged between the bottom shell and the cleaning layer can receive unstable pulse water flow from a water pump, and through the delay, buffering and shunting structure inside the delay water channel plate, the pulse water flow is converted into stable and continuous laminar flow, and then uniformly output to the cleaning layer. The problem of uneven wetting caused by water flow pulsation in the prior art is solved, and the cleaning layer can continuously, stably and highly uniformly receive water during the whole working process, so that the wiping efficiency and cleaning effect of the cleaning robot are significantly improved, and the user experience is improved.

Description

[Technical Field] This invention relates to the field of cleaning robot technology, and more particularly to a water flow channel plate structure and a cleaning robot using the same. [Background Technology] With the advancement of technology and the improvement of people's living standards, intelligent cleaning robots capable of autonomous cleaning, such as window cleaning robots and sweeping and mopping robots, have gradually become indispensable equipment in modern homes and commercial spaces. To enhance the depth and breadth of cleaning, vacuuming and dry wiping alone are no longer sufficient to meet user needs. Therefore, equipping cleaning robots with wet mopping or wet wiping functions has become the mainstream development direction in the industry.

[0001] The core of achieving wet wiping functionality lies in equipping the robot with a water tank system that can continuously and stably supply liquid to the cleaning layer (usually a rag). Currently, there are various water distribution technologies used in cleaning robots on the market. For example, some early or simple designs use gravity-based natural infiltration, which involves opening several water outlets at the bottom of the water tank and allowing water to drip naturally under gravity. Other solutions use micro-pumps to pressurize the water and guide it through simple tree-like or grid-like channels to different areas of the rag.

[0002] However, existing water distribution technologies generally suffer from inherent flaws, resulting in poor wetting of the cleaning layer. Specifically, these technologies largely ignore the problems arising from the inherent operating characteristics of the micro-pumps themselves. Cleaning robots, with their limited internal space, typically employ micro-pumps such as diaphragm pumps or peristaltic pumps to deliver liquids. The inherent working principle of these pumps dictates that their output water flow is not a constant linear flow, but rather a pulsed flow with pressure fluctuations. If this unstable pulsed flow directly enters the distribution pipeline, it will cause the water output from each outlet to fluctuate periodically over time, sometimes large and sometimes small, failing to guarantee a continuous and stable water supply to the cleaning layer. [Summary of the Invention] The purpose of this invention is to provide a water flow channel plate structure and a cleaning robot using the same, aiming to solve the technical problem in the prior art where uneven wetting of the cleaning layer affects the cleaning effect.

[0003] This invention is achieved through the following technical solutions: A water channel plate structure includes a base shell serving as an installation foundation, at least one water injection section on the base shell, a cleaning layer capable of absorbing liquid on the bottom surface of the base shell, and at least one delay water channel plate for receiving and uniformly outputting liquid between the cleaning layer and the base shell, the delay water channel plate being in communication with the water injection section.

[0004] As described above, the delay channel plate structure has a delay channel cavity on one side corresponding to the position of the water injection part, and the outlet of the delay channel cavity is connected to a main channel arranged along the length direction of the delay channel plate. Multiple water outlet structures are connected to both sides of the main channel.

[0005] As described above, the water flow channel plate structure includes a plurality of secondary flow channel cavities arranged along both sides of the main flow channel, with a communication port between the secondary flow channel cavity and the main flow channel, and at least one water outlet hole in each secondary flow channel cavity.

[0006] As described above, in the water flow channel plate structure, the paired secondary flow channel cavities on both sides of the main flow channel and their corresponding connecting ports are symmetrically arranged along the central axis of the main flow channel, together forming multiple water distribution units distributed along its length.

[0007] In the water flow channel plate structure described above, the water outlet hole in each of the secondary flow channel cavities is located on the side near the communication port.

[0008] As described above, in the water flow channel structure, except for the two water distribution units located at the front and rear ends of the liquid flow direction respectively, each of the connecting ports in each of the remaining water distribution units has an oblique protrusion on its downstream side facing the inside of the main flow channel; and the two oblique protrusions at each water distribution unit together form a narrowing on the main flow channel for throttling and guiding.

[0009] As described above, in the water flow channel plate structure, the oblique protrusion includes a first arc-shaped portion facing the main flow channel, and the first arc-shaped portion is connected to a second arc-shaped portion that smoothly transitions with the inner wall of the secondary flow channel cavity.

[0010] As described above, the water channel plate structure includes an upper shell plate, a lower shell plate connected to the bottom of the upper shell plate, a water injection section including a through hole in the upper shell plate, a water injection pipe integrally formed on the lower shell plate passing through the through hole, a first mounting groove matching the delay water channel plate at the bottom of the lower shell plate, the first mounting groove communicating with the water injection pipe, and a flat surface on the back side of the delay water channel plate relative to the main channel that can abut against the cleaning layer.

[0011] As described above, the bottom shell of the water channel plate structure is further provided with a plurality of second mounting slots, and each second mounting slot is provided with a connecting member for detachably fixing the cleaning layer.

[0012] A window cleaning robot, comprising a water flow channel plate structure as described above.

[0013] Compared with the prior art, the present invention has the following advantages: This invention incorporates a delayed water channel plate between the bottom shell and the cleaning layer. This plate receives unstable, pulsed water flow from the pump and, through its internal delay, buffering, and diversion structures, transforms this pulsed flow into a stable, continuous laminar flow, which is then evenly distributed to the cleaning layer. This fundamentally solves the problems of inconsistent water output and uneven wetting caused by water flow pulsation in existing technologies. It ensures that the cleaning layer receives continuous, stable, and highly uniform moisture replenishment throughout the entire operation, significantly improving the wiping efficiency and cleaning effect of the cleaning robot and greatly enhancing the user experience. [Attached Image Description] To more clearly illustrate the technical solutions in the embodiments of the invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0014] Figure 1 This is a schematic diagram of the three-dimensional structure of this embodiment. Figure 1 ; Figure 2 This is a schematic diagram of the three-dimensional structure of this embodiment. Figure 2 ; Figure 3 This is an exploded structural diagram of this embodiment; Figure 4 This is a top view of this embodiment; Figure 5 for Figure 4 A cross-sectional view along line AA in the middle; Figure 6 This is a schematic diagram of the three-dimensional structure of the upper shell plate in this embodiment. Figure 1 ; Figure 7 This is a schematic diagram of the three-dimensional structure of the upper shell plate in this embodiment. Figure 2 ; Figure 8 This is a schematic diagram of the three-dimensional structure of the lower shell plate in this embodiment. Figure 1 ; Figure 9 This is a schematic diagram of the three-dimensional structure of the lower shell plate in this embodiment. Figure 2 ; Figure 10 This is a three-dimensional structural diagram of the cleaning layer in this embodiment; Figure 11 This is a schematic diagram of the liquid flow direction and structure of the delay channel plate in this embodiment; Figure 12 This is a three-dimensional structural diagram of the delay channel plate in this embodiment; Figure 13 for Figure 11 Enlarged diagram of point B in the middle.

Detailed Implementation Methods

[0015] Example 1: Please refer to the relevant appendix. Figures 1 to 13 This embodiment discloses a water flow channel plate structure, the foundation of which is a bottom shell 1. The bottom shell 1 serves as the installation and load-bearing foundation of the entire structure and can be made of rigid materials commonly used in the art, such as ABS engineering plastics and polycarbonate PC, using conventional processes such as injection molding.

[0016] To supply liquid to the interior of the structure, the bottom shell 1 is provided with at least one water injection section 2. In practical applications, this water injection section 2 can be connected to the water tank (not shown in the figure) and the outlet of the micro water pump (not shown in the figure) inside the window cleaning robot body through a flexible silicone hose or EPDM rubber tube, forming a sealed liquid delivery path. In conventional technology in this field, the operating characteristics of such micro water pumps used for cleaning robots, such as diaphragm pumps or peristaltic pumps, determine that their output water flow is not absolutely constant, but has a certain pressure pulsation, presenting as an unstable, intermittent pulsed water flow. If this pulsed water flow is directly used for distribution, it will cause the water output from each outlet to fluctuate over time, making it difficult to achieve truly uniform water distribution, thereby affecting the final cleaning effect.

[0017] To address the aforementioned technical issues and ensure the uniformity and stability of subsequent water flow distribution, this embodiment includes a delayed water channel plate 4 positioned between the cleaning layer 3 and the bottom shell 1. This delayed water channel plate 4 communicates with the water injection section 2 via a fluid channel and utilizes its unique internal flow channel design to process and redistribute the pulsed water flow from the water pump.

[0018] First, to pre-treat the pulsed water flow, a delay channel cavity 41 is provided on one side of the delay channel plate 4, corresponding spatially to the water injection section 2. The shape of this delay channel cavity 41 is designed to maximize the liquid flow path and dissipate energy; it can be designed as a U-shape, S-shape, or even a more complex spiral or labyrinthine channel. In this embodiment, a U-shape is preferred. Its core beneficial effect is that it constitutes a hydrodynamic buffer, effectively absorbing and weakening pressure pulsations from the water pump. It is through this structure that the delay channel plate 4 can transform an unstable, intermittent pulsed water flow into a smooth, continuous laminar flow.

[0019] After pressure stabilization by the delayed flow channel cavity 41, the outlet of the delayed flow channel cavity 41 is smoothly connected to a main flow channel 42 extending along the length of the delayed water channel plate 4. The core function of this main flow channel 42 is to act as a primary main pipe, delivering this pressure-stabilized water flow to all areas of the entire delayed water channel plate 4. In order to distribute this smooth liquid flow to the entire cleaning layer 3, multiple water outlet structures 43 are connected to both sides of the main flow channel 42, serving as execution units to achieve the final uniform water distribution.

[0020] A cleaning layer 3 for direct contact with the surface to be cleaned is detachably installed on the bottom surface of the base shell 1. It should be noted that the material selection of this cleaning layer 3 is also a crucial aspect of this embodiment. Besides high-density microfiber cloth treated with a special weaving method, it can also be a polyester-nylon composite fiber fabric with a micro-capillary structure, or an open-cell polyurethane sponge with a certain degree of resilience. These materials share the common characteristic of not only possessing excellent water absorption and retention capabilities, but more importantly, when they are attached to the water outlet of the delay channel plate 4, their dense fiber or pore structure can form a temporary sealing layer in the initial wetting stage. This sealing property ensures that the small amount of initial liquid seeping from the water outlet is confined to the surface of the cleaning layer due to surface tension, thereby creating the necessary back pressure inside the delay channel plate 4, forcing the liquid to preferentially fill and evenly distribute throughout all the flow channel chambers inside the delay channel plate 4. Only when the liquid inside the delay channel plate 4 is completely filled and the overall pressure reaches a design threshold can the liquid have enough pressure to break through the sealing layer, thereby achieving uniform and synchronous water output on the entire contact surface of the cleaning layer 3, ensuring that the wiping work is efficient and uniform from the beginning.

[0021] Furthermore, as a preferred embodiment, each of the water outlet structures 43 includes a secondary flow channel cavity 431 disposed along the side wall of the main flow channel 42. This secondary flow channel cavity 431 can be understood as a small chamber for secondary temporary storage and guidance of liquid. To allow liquid to enter from the main flow channel 42, each of the secondary flow channel 431 is provided with a connecting port 432 between it and the main flow channel 42. After entering the secondary flow channel cavity 431, the liquid ultimately needs to permeate to the underlying cleaning layer 3; therefore, at least one water outlet hole 433 is provided on the bottom wall of each secondary flow channel cavity 431. The entire liquid flow path is thus clearly defined as: from the main flow channel 42, through the connecting port 432, into the secondary flow channel cavity 431, and finally out through the water outlet hole 433.

[0022] Furthermore, to ensure that the liquid is evenly distributed to both sides of the main channel 42, thereby achieving a uniform wetting effect across the entire cleaning layer 3, this embodiment employs a highly symmetrical layout. Specifically, the paired secondary flow channel cavities 431 on both sides of the main channel 42 and their corresponding connecting ports 432 are symmetrically arranged along the longitudinal central axis of the main channel 42. This left-right symmetrical structure together constitutes a functionally independent water distribution unit. By arranging multiple such water distribution units in an array along the length of the main channel 42, the core flow equalization system of the entire delay channel plate 4 is formed. This modular water distribution unit design not only ensures balanced distribution in terms of fluid dynamics but also simplifies the process in mold design and manufacturing, improving product consistency. It should be emphasized that the smooth laminar flow effect provided by the delay flow channel cavity 41 mentioned above ensures that the pressure conditions at the inlet of each water distribution unit are highly consistent when receiving liquid. This is the premise and guarantee for all water distribution units to achieve precise and equal distribution.

[0023] Furthermore, to optimize the liquid flow efficiency and water outlet response speed within each secondary flow channel cavity 431, this embodiment features a meticulously designed layout for the water outlet holes 433. Specifically, the water outlet holes 433 within each of the secondary flow channel 431 are positioned on the side closest to the connecting port 432. This design significantly shortens the path of the liquid from entering the secondary flow channel cavity 431 to flowing out to the cleaning layer 3. Compared to placing the water outlet holes at the end far from the connecting port, this proximity-based water outlet arrangement effectively reduces the flow resistance and pressure loss of the liquid within the secondary flow channel cavity 431, preventing the formation of unnecessary eddies or stagnant areas within the cavity. Therefore, this not only makes the water outlet response of the entire water channel plate structure more sensitive but also ensures that the residual water volume within the secondary flow channel cavity 431 is minimized when the water supply stops, thereby improving the water resource utilization rate of the entire system and the accuracy of starting and stopping the cleaning process.

[0024] However, relying solely on the above structure still presents a thorny technical problem: when the liquid flows along the length of the main channel 42, due to the frictional resistance along the way and the continuous diversion to the two side water distribution units, its pressure and flow rate will inevitably show a decreasing trend. That is, the flow rate is larger near the beginning (front end) of the water distribution unit, while the flow rate is significantly reduced near the end of the water distribution unit, which will directly destroy the uniformity of the water output.

[0025] To overcome this technical challenge and achieve truly uniform distribution throughout the entire length, this embodiment employs a sophisticated, non-uniform, differentiated design for the water distribution units. Specifically, among the multiple water distribution units distributed along the length of the main channel 42, their structures are not entirely identical, but rather optimized specifically according to their location. Please refer to [link / reference needed]. Figure 11 and Figure 13 Except for the two water distribution units located at the front and rear ends of the liquid flow direction, all other water distribution units located in the middle section of the main channel 42 have an oblique protrusion 441 facing the inside of the main channel 42 on the downstream side of each of its connecting ports 432.

[0026] Furthermore, at each water distribution unit in the middle section, the two symmetrical oblique protrusions 441 on the left and right sides together form a narrowed constriction 442 on the main channel 42. This constriction 442 structure plays a crucial triple role in fluid mechanics: firstly, it throttles the flow, constricting the cross-section of the main channel 42 and creating local resistance; secondly, it increases pressure, according to Bernoulli's principle, throttling slows down the fluid velocity and increases the pressure in front of the constriction, creating a local congestion and pressurization zone; and finally, it guides the flow, the oblique profile of the protrusions 441 actively and forcibly pushing the pressurized water flow towards the connecting ports 432 on both sides.

[0027] This differentiated design, featuring a mid-section constriction (442) but no constriction at the beginning and end, offers significant advantages: the foremost water distribution unit omits this structure, allowing water to quickly fill the beginning of the main channel with minimal resistance; while the rearmost unit omits it because the liquid's kinetic energy naturally weakens by the end, eliminating the need for and making additional throttling structures unnecessary. By precisely compensating for pressurization and diversion at each water distribution point in the mid-section, pressure loss along the flow path is successfully offset, ensuring that each water distribution unit from the front to the back receives almost equal water flow. This achieves highly uniform wetting of the entire cleaning layer 3, a level of technology difficult to reach with existing methods.

[0028] Furthermore, to enhance the flow guidance effect, the contour of the oblique protrusion 441 has undergone meticulous hydrodynamic optimization. This embodiment features a finely optimized geometric design for the oblique protrusion 441 to ensure the liquid flows as smoothly as possible during throttling and guidance, avoiding unnecessary energy loss. Specifically, the oblique protrusion 441 is not a simple sharp angle or straight surface, but rather consists of two smoothly connected arc surfaces. It includes a first arc-shaped portion 4411 facing the central axis of the main flow channel 42, for gentle contact with the main flow of liquid within the channel. The arc design of this first arc-shaped portion 4411 effectively guides the water flow within the main flow channel and gently pushes it to both sides, rather than abruptly blocking it, thereby minimizing turbulence and eddies caused by throttling.

[0029] At the end of the first arc-shaped portion 4411, a second arc-shaped portion 4412 seamlessly connects, smoothly transitioning to the inner wall of the secondary flow channel cavity 431. This second arc-shaped portion 4412 forms a smooth, guiding inlet, ensuring that the diverted liquid can enter the secondary flow channel cavity 431 with minimal energy loss and a smooth flow. This smooth transition design from the main flow channel to the secondary flow channel cavity is key to achieving efficient water distribution. It avoids sudden drops in local pressure and flow dead zones caused by abrupt changes in cross-section at the connecting port 432, ensuring high hydraulic efficiency in each water distribution unit and providing structural assurance for precise and uniform distribution throughout the entire section.

[0030] Of course, those skilled in the art will understand that the geometry of the oblique protrusion 441 that achieves the aforementioned throttling and guiding functions is not unique. As other alternative embodiments, the oblique protrusion 441 can also be designed as a single oblique plane with a specific angle to deflect the water flow in a more direct manner. Alternatively, it can be constructed as a multifaceted polygonal body composed of two or more planes, changing the direction of water flow through segmented guidance. In cases where higher fluid dynamics performance is required, its cross-section can even be optimized into a teardrop or airfoil-shaped streamline to minimize flow resistance while achieving the guiding function. These equivalent structures that can form a constriction within the main channel and guide the liquid should all fall within the scope of protection of this invention.

[0031] Furthermore, as an optional implementation aimed at optimizing the physical properties of the delay channel plate 4 itself, the delay channel plate 4 may also be uniformly provided with multiple weight-reducing grooves 45 for reducing the structural weight. These weight-reducing grooves 45 are typically located in non-functional areas that do not affect the integrity and sealing of the flow channel structure, such as solid walls between flow channel chambers or the back plate of the structure. This aims to effectively reduce the amount of manufacturing materials used while ensuring the overall structural rigidity and strength of the delay channel plate 4, thereby reducing the production cost and final weight of the component. For devices like window cleaning robots that are sensitive to their own weight and energy consumption, any lightweight design helps improve their endurance and mobility; therefore, the design of these weight-reducing grooves 45 has significant practical value.

[0032] To reliably integrate the aforementioned delay channel plate 4 and enable it to work collaboratively with other components, this embodiment also provides an optional assembly structure. In this structure, the bottom shell 1 is not a single integral unit, but rather a combination of an upper shell plate 11 and a lower shell plate 12. The bottom of the upper shell plate 11 can be securely and sealed to the lower shell plate 12 through connection methods such as ultrasonic welding, heat fusion, snap-fit, or screw fastening, together forming a complete and robust shell.

[0033] In this split-shell structure, the water injection section 2 is implemented in a more sophisticated and reliable manner: a water injection pipe 22 extending upwards is integrally formed on the lower shell plate 12, and the upper opening of the water injection pipe 22 serves as the external water injection inlet for the entire structure. To provide stable support and precise positioning for the water injection pipe 22 during assembly, a corresponding through hole 21 is provided on the upper shell plate 11. The diameter of the through hole 21 matches the outer diameter of the water injection pipe 22, ensuring that the water injection pipe 22 passes through or aligns perfectly with the through hole 21 when the upper and lower shell plates are closed, thus forming a stable and precisely positioned water injection interface. The design of integrally forming the water injection pipe 22 with the lower shell plate 12 greatly simplifies the assembly process and fundamentally eliminates the risk of leakage at the connection point.

[0034] To accommodate and position the delay channel plate 4, a first mounting groove 121 precisely matches the outline of the lower shell plate 12 is machined on its bottom. The inner wall of the first mounting groove 121 is connected to the lower outlet of the water injection pipe 22, thereby ensuring that liquid injected from the outside can smoothly and accurately enter the delay flow channel cavity 41 of the delay channel plate 4. In addition, to ensure that the liquid can efficiently and uniformly penetrate from the water outlet 433 to the cleaning layer 3, the delay channel plate 4 has a flat surface on its back side relative to its internal main channel 42, that is, the side facing the cleaning layer 3, which can fit tightly and seamlessly against the surface of the cleaning layer 3. This flat design ensures sufficient contact between the two, which is conducive to forming the temporary sealing layer used to establish back pressure as described above, and is an important structural basis for the realization of the entire cooperative working mechanism.

[0035] Furthermore, to facilitate the installation and removal of the cleaning layer 3 from the base shell 1 for user cleaning or replacement, this embodiment also provides a reliable detachable fixing structure. Specifically, one or more second mounting grooves 13 are provided on the bottom surface of the base shell 1, for example, at its perimeter or specific support locations. A connector 131 is fixedly installed in each of the second mounting grooves 13. One side of the connector 131 is fixedly connected to the bottom of the mounting groove 13, while the other side is exposed for repeatable connection and separation from the back surface of the cleaning layer 3.

[0036] To clearly illustrate how the cleaning layer 3 simultaneously achieves a mechanical connection with the connector 131 and a temporary hydrodynamic seal with the delay channel plate 4, the cleaning layer 3 can be divided into two functional surfaces. One is... The cleaning working surface is the side facing the glass to be cleaned, which directly contacts the glass surface and performs the wiping function. A specific weave suitable for removing stains can be used, such as short fibers with a certain scraping force or a microfiber structure with a specific texture, to achieve the best cleaning effect. The second surface is the mounting surface, which faces away from the glass to be cleaned and towards the delay channel plate 4. This surface can simultaneously meet two conditions: To achieve a temporary seal: the material of this surface must possess the characteristics described above, namely, it must be composed of extremely high-density fibers (such as high-density microfiber, polyester-nylon composite fibers, etc.) or microporous structures (such as open-cell polyurethane foam). When this surface is tightly fitted with the water outlet 433 of the delay channel plate 4, its dense microstructure can create resistance to the initial water flow, thereby establishing the back pressure necessary for uniform distribution within the channel plate.

[0037] To achieve detachable installation: Simultaneously, the surface texture of the entire surface or a portion thereof is processed to allow it to mate with the connector 131. As a preferred embodiment, when the connector 131 is a hook face of a nylon buckle, the hook face of the nylon buckle can be fixed to the second mounting groove 13 by adhesive backing or heat fusion. Correspondingly, the fabric of the mounting surface on the cleaning layer 3 can itself serve as the engaging surface, or a layer of dedicated fleece fabric can be laminated onto it at the location corresponding to the nylon buckle.

[0038] By dividing the cleaning layer 3 into two functional areas, the user can easily install it by simply aligning and pressing it onto the bottom shell 1. Disassembly is also straightforward; it can be easily peeled off with minimal force, greatly enhancing the product's usability. Furthermore, this design ensures the proper functioning of the fluid dynamics system when working in conjunction with the delay channel plate 4.

[0039] Example 2: This application also provides a window cleaning robot, which includes the water flow channel plate structure proposed in Embodiment 1 above. Therefore, when the window cleaning robot is working, it can provide continuous, stable and highly uniform water supply to the cleaning layer 3, avoiding the local over-wetting or over-drying phenomena common in traditional structures, thereby significantly improving cleaning efficiency and wiping effect, and enhancing the user experience.

[0040] The above are implementation methods provided in conjunction with specific content, and it is not intended that the specific implementation of this application is limited to these descriptions. Any methods or structures that are similar to those of this application, or any technical deductions or substitutions made based on the concept of this application, should be considered within the scope of protection of this application.

Claims

1. A water flow channel plate structure, comprising a bottom shell (1) serving as an installation base, characterized in that, The bottom shell (1) is provided with at least one water injection part (2), and the bottom surface of the bottom shell (1) is provided with a cleaning layer (3) that can absorb liquid. At least one delay water channel plate (4) for receiving and uniformly outputting liquid is provided between the cleaning layer (3) and the bottom shell (1). The delay water channel plate (4) is connected to the water injection part (2). The delay channel plate (4) has a delay flow channel cavity (41) on one side corresponding to the position of the water injection part (2). The outlet of the delay flow channel cavity (41) is connected to a main flow channel (42) arranged along the length direction of the delay channel plate (4). Multiple water outlet structures (43) are connected on both sides of the main flow channel (42). The water outlet structure (43) includes a plurality of secondary flow channel cavities (431) arranged on both sides of the main flow channel (42), and a communication port (432) is provided between the secondary flow channel cavity (431) and the main flow channel (42). Each secondary flow channel cavity (431) is provided with at least one water outlet hole (433). The paired secondary channel cavities (431) and their corresponding connecting ports (432) on both sides of the main channel (42) are symmetrically arranged along the central axis of the main channel (42), together forming multiple water distribution units distributed along its length. In the plurality of water distribution units, except for the two water distribution units located at the front end and the rear end of the liquid flow direction respectively, each of the connecting ports (432) in the remaining water distribution units has an oblique protrusion (441) on its downstream side facing the inside of the main flow channel (42); and the two oblique protrusions (441) at each water distribution unit together form a constriction (442) on the main flow channel (42) for throttling and guiding.

2. The water flow channel plate structure according to claim 1, characterized in that, The water outlet (433) in each of the secondary flow channel cavities (431) is provided on the side near the connecting port (432).

3. The water flow channel plate structure according to claim 2, characterized in that, The oblique protrusion (441) includes a first arcuate portion (4411) facing the main flow channel (42), and the first arcuate portion (4411) is connected to a second arcuate portion (4412) that smoothly transitions to the inner wall of the secondary flow channel cavity (431).

4. The water flow channel plate structure according to claim 1, characterized in that, The bottom shell (1) includes an upper shell plate (11), and a lower shell plate (12) is connected to the bottom of the upper shell plate (11). The water injection part (2) includes a through hole (21) provided on the upper shell plate (11). A water injection pipe (22) integrally formed on the lower shell plate (12) is provided through the through hole (21). The bottom of the lower shell plate (12) is provided with a first mounting groove (121) that matches the delay water channel plate (4). The first mounting groove (121) is connected to the water injection pipe (22). The back side of the delay water channel plate (4) relative to the main channel (42) has a flat surface that can abut against the cleaning layer (3).

5. The water flow channel plate structure according to claim 1, characterized in that, The bottom shell (1) is also provided with a plurality of second mounting slots (13), and each second mounting slot (13) is provided with a connector (131), which is used to detachably fix the cleaning layer (3).

6. A window cleaning robot, characterized in that, Includes the water flow channel plate structure as described in any one of claims 1-5.

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