Flow channel structure and cleaning robot

Abstract

The embodiment of the utility model discloses a flow channel structure and a cleaning robot, the flow channel structure is applied to the cleaning robot, the cleaning robot comprises an impeller, and the flow channel structure comprises a shell, a first flow guide structure and a second flow guide structure; the shell is provided with a water inlet and a water outlet, the water inlet and the water outlet are opposite and communicated so as to form a flow guide channel in the shell, the water outlet is located above the water inlet, and the flow guide channel can contain the impeller; the first flow guide structure surrounds the water inlet; the second diversion structure is positioned in the diversion channel close to the water outlet; when the impeller is installed in the flow guide channel, the first flow guide structure is located below the impeller, and the second flow guide structure is located above the impeller. According to the flow channel structure, the boundary layer separation phenomenon at the contact surface of the fluid and the flow channel structure is reduced by arranging the first flow guide structure and the second flow guide structure, so that the generation of vortexes is reduced, the water conservancy loss of the fluid is reduced, and the dirt suction reliability of the cleaning robot applying the flow channel structure is further ensured.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a flow channel structure and a cleaning robot. Background Art

[0002] At present, cleaning robots are usually used to clean underwater environments to replace operators and save manpower. However, the flow channel structure inside the underwater cleaning robot is irregular. During operation, the irregular flow channel structure may cause a certain amount of hydraulic loss of the fluid, resulting in a reduction in the displacement of the underwater cleaning robot, and then a reduction in the underwater cleaning robot's ability to absorb dirt. Utility Model Content

[0003] The embodiments of the present application provide a flow channel structure and a cleaning robot, which are intended to reduce hydraulic losses of fluids.

[0004] In the first aspect, an embodiment of the present application provides a flow channel structure, which is applied to a cleaning robot, the cleaning robot includes an impeller, and the flow channel structure includes a shell, a first guide structure and a second guide structure; the shell is provided with a water inlet and a water outlet, the water inlet and the water outlet are relative and connected to form a guide channel inside the shell, the water outlet is located above the water inlet, and the guide channel can accommodate the impeller; the first guide structure is arranged around the water inlet; the second guide structure is located in the guide channel near the water outlet; wherein, when the impeller is installed in the guide channel, the first guide structure is located below the impeller, and the second guide structure is located above the impeller.

[0005] In the above technical solution, after the impeller in the cleaning robot starts to rotate, the first flow-guiding structure will play a preliminary role in guiding the fluid, so that the fluid can enter the flow-guiding channel through the water inlet. After entering the flow-guiding channel, the fluid will flow to the impeller under the action of the impeller and flow out from the rotating second blade. At this time, the second flow-guiding structure will play a role in guiding the fluid again, avoiding the problem of large boundary layer separation between the fluid flowing out through the second blade and the contact surface of the flow channel structure, resulting in large vortexes. In this way, the present application performs dual flow guidance on the fluid through the first flow-guiding structure and the second flow-guiding structure, reducing the boundary layer separation of the fluid above and below the impeller, thereby reducing the generation of vortices and reducing the hydraulic loss of the fluid, thereby ensuring the reliability of the cleaning robot using the flow channel structure in sucking dirt and ensuring the working time of the cleaning robot.

[0006] In combination with the first aspect, in some possible implementations, the first guide structure includes a plurality of guide columns arranged at intervals, and the plurality of guide columns are arranged around the water inlet.

[0007] In the above technical scheme, the gap between every two spaced guide columns serves as a guide channel. When the fluid flows into the water inlet through these spaced guide columns, the fluid will be divided into multiple fluids by the multiple guide channels and flow into the water inlet respectively, so as to reduce the boundary layer separation phenomenon at the contact surface between the fluid flowing into the guide channel and the flow channel structure, thereby reducing the generation of eddy currents, reducing the hydraulic loss of the fluid, ensuring the amount of fluid flowing into the guide channel, and further ensuring the sewage suction reliability of the cleaning robot using the flow channel structure.

[0008] In combination with the first aspect, in some possible implementations, the cross-section of the guide column is in the shape of a water droplet.

[0009] In combination with the first aspect, in some possible implementations, the second flow guide structure includes a flow guide body and a first blade spirally wound along the axial direction on an outer peripheral wall of the flow guide body.

[0010] In combination with the first aspect, in some possible implementations, the wall of the guide body close to the water outlet is arc-shaped.

[0011] In combination with the first aspect, in some possible implementations, the flow area of ​​the water outlet is smaller than the flow area of ​​the water inlet.

[0012] In combination with the first aspect, in some possible implementations, the flow channel structure further includes an annular baffle, which is disposed around the outside of the first flow guide structure.

[0013] In combination with the first aspect, in some possible implementations, the flow channel structure also includes a third guide structure, and the third guide structure is located in the guide channel near the water inlet. When the impeller is installed in the guide channel, the third guide structure is located below the impeller.

[0014] In combination with the first aspect, in some possible implementations, the third flow guide structure and the impeller are an integrated structure.

[0015] In the second aspect, an embodiment of the present application provides a cleaning robot, comprising an impeller, a flow channel structure as described in any optional manner in the first aspect, and a body; the impeller comprises a shaft and a second blade spirally coiled axially on the outer peripheral wall of the shaft; the impeller and the flow channel structure are arranged in the body.

[0016] Based on the flow channel structure and cleaning robot provided by the present application, the first flow guide structure in the flow channel structure will play a preliminary role in guiding the fluid, so that the fluid can enter the guide channel through the water inlet. After entering the guide channel, the fluid will flow to the impeller under the action of the impeller and flow out from the rotating second blade. At this time, the second flow guide structure will play a role in guiding the fluid again, avoiding the problem of large boundary layer separation between the fluid flowing out through the second blade and the contact surface of the flow channel structure, resulting in large vortexes. In this way, the present application performs dual flow guidance on the fluid through the first flow guide structure and the second flow guide structure, reducing the boundary layer separation of the fluid above and below the impeller, thereby reducing the generation of vortices and reducing the hydraulic loss of the fluid, thereby ensuring the reliability of the cleaning robot using the flow channel structure to suck dirt. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 is a schematic cross-sectional structural diagram of a cleaning robot provided in an embodiment of the present application;

[0019] Figure 2 is a schematic diagram of a partial cross-sectional structure of a cleaning robot provided in an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of a partial structure of a cleaning robot provided in an embodiment of the present application;

[0021] Figure 4 This is a schematic diagram of the structure of a cleaning robot provided in an embodiment of the present application when viewed from above;

[0022] Figure 5 is a schematic diagram of a partial cross-sectional structure of another cleaning robot provided in an embodiment of the present application;

[0023] Figure 6 It is a schematic diagram of the top view structure of a cleaning robot provided in an embodiment of the present application.

[0024] Reference numerals:

[0025] 1. Flow channel structure; 11. Shell; 11A. Water inlet; 11B. Water outlet; 11C. Guide channel; 12. First guide structure; 121. Guide column; 13. Second guide structure; 14. Annular baffle; 15. Third guide structure; 2. Impeller; 21. Shaft; 22. Second blade; 3. Fuselage. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0027] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached embodiments.

[0028] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0030] At present, cleaning robots are usually used to clean underwater environments to replace operators and save manpower. However, the underwater cleaning robot is usually provided with a flow channel structure inside, and the flow channel structure is usually provided with a motor, an impeller, and blades spirally wound along the axial direction on the outer peripheral wall of the impeller. When the cleaning robot is cleaning, the motor drives the impeller and the blades to rotate to suck the fluid into the flow channel structure and discharge it from the flow channel structure to achieve the cleaning purpose. However, the flow channel structure of the underwater cleaning robot is irregular. It is worth mentioning that the irregularity here means that due to the structural design of the flow channel structure, part of the flow channel cross-section may suddenly expand or shrink, or there may be turns designed in the flow channel direction, resulting in the fluid flowing into these irregular structures. The boundary layer separation phenomenon at the contact surface of the flow channel structure is large, thereby generating vortices, and there is a certain amount of friction and impact, which consumes part of the energy of the fluid, resulting in a decrease in the kinetic energy of the fluid, that is, a decrease in the flow velocity, and a certain amount of hydraulic loss, thereby reducing the displacement of the flow channel structure, that is, reducing the displacement of the underwater cleaning robot, reducing the cleaning robot's ability to absorb dirt, and thus making the cleaning robot work less efficient. For underwater cleaning robots powered by batteries, it will cause their working time to be shortened, affecting the cleaning effect.

[0031] To this end, an embodiment of the present application provides a flow channel structure and a cleaning robot. The flow channel structure reduces the boundary layer separation phenomenon at the contact surface between the fluid and the flow channel structure by setting a first flow guide structure and a second flow guide structure, thereby reducing the generation of eddy currents and reducing the hydraulic loss of the fluid, thereby ensuring the reliability of the cleaning robot using the flow channel structure to suck dirt.

[0032] The flow channel structure and the cleaning robot provided in the present application are exemplarily introduced below with reference to the accompanying drawings.

[0033] like Figure 1 As shown, the cleaning robot provided by the present application may include a flow channel structure 1, an impeller 2 and a body 3, wherein the impeller 2 includes a shaft 21 and a second blade 22 spirally wound along the axial direction on the outer peripheral wall of the shaft 21, and the impeller 2 and the flow channel structure 1 are arranged in the body 3, and at the same time, the impeller 2 is located in the flow channel structure 1 to suck in and discharge the fluid. At this time, as Figure 1 As shown, one end of the flow channel structure 1 is fixed to the body 3, and the body 3 serves as a sealing device for blocking one end of the flow channel structure 1 to ensure the reliability of the fluid flowing into the flow channel structure 1. Here, it is worth noting that the cleaning robot in the present application can also be provided with a motor, a seal and other structures, which will not be described in detail.

[0034] In order to prevent the fluid from causing a large water loss after entering the flow channel structure 1 provided in the present application and to avoid affecting the dirt suction capability of the cleaning robot, in one example, Figure 2As shown, the flow channel structure 1 may include a housing 11, a first flow guide structure 12 and a second flow guide structure 13. The housing 11 is provided with a water inlet 11A and a water outlet 11B. The water inlet 11A and the water outlet 11B are opposite and connected to form a flow guide channel 11C for fluid movement inside the housing 11, and the impeller 2 is located in the flow guide channel 11C. The first flow guide structure 12 is arranged around the water inlet 11A, and the second flow guide structure 13 is located in the flow guide channel 11C near the water outlet 11B. When the impeller 2 is installed in the flow guide channel 11C, the first flow guide structure 12 is located below the impeller 2, and the second flow guide structure 13 is located above the impeller 2. At this time, the first flow guide structure 12 can preliminarily reduce the boundary layer separation phenomenon of the fluid flowing into the water inlet 11A, and the second flow guide structure 13 can further reduce the boundary layer separation phenomenon of the fluid flowing out of the water outlet 11B. In this way, the fluid is doubly guided by the first guide structure 12 and the second guide structure 13, which reduces the boundary layer separation phenomenon at the contact surface between the fluid and the flow channel structure 1, thereby reducing the generation of eddy currents and reducing the hydraulic loss of the fluid, thereby ensuring the reliability of the cleaning robot using the flow channel structure 1 in sucking dirt.

[0035] In this example, after the impeller 2 in the cleaning robot starts to rotate, the first flow-guiding structure 12 will play a preliminary role in guiding the fluid, so that the fluid can enter the flow-guiding channel 11C through the water inlet 11A. After entering the flow-guiding channel 11C, the fluid will flow to the impeller 2 under the action of the impeller 2, and flow out from the rotating second blade 22. At this time, the second flow-guiding structure 13 will play a role in guiding the fluid again, avoiding the problem of large boundary layer separation between the fluid flowing out through the second blade 22 and the contact surface of the flow channel structure 1, resulting in large vortexes. In this way, the present application performs double flow guidance on the fluid through the first flow-guiding structure 12 and the second flow-guiding structure 13, reducing the boundary layer separation of the fluid above and below the impeller 2, thereby reducing the generation of vortices and reducing the hydraulic loss of the fluid, thereby ensuring the reliability of the cleaning robot using the flow channel structure 1 to suck dirt.

[0036] In one example, if Figure 3As shown, the first flow-guiding structure 12 may include a plurality of flow-guiding columns 121 arranged at intervals, and the plurality of flow-guiding columns 121 are arranged around the water inlet 11A. If the fluid in the cleaning robot wants to be discharged through the flow channel structure 1, the fluid will flow into the water inlet 11A from the gaps between the flow-guiding columns 121 arranged at intervals, and flow to the water outlet 11B through the impeller 2. In this way, the gap between every two flow-guiding columns 121 arranged at intervals serves as a flow-guiding channel. When the fluid flows into the water inlet 11A through the flow-guiding columns 121 arranged at intervals, the fluid will be divided into a plurality of fluids by the plurality of flow-guiding channels, and flow into the water inlet 11A respectively, so as to reduce the boundary layer separation phenomenon at the contact surface between the fluid flowing into the flow-guiding channel 11C and the flow channel structure 1, thereby reducing the generation of vortices, reducing the pressure difference resistance and the hydraulic loss of the fluid, ensuring the amount of fluid flowing into the flow-guiding channel 11C, and further ensuring the reliability of the cleaning robot using the flow channel structure 1 in sucking dirt.

[0037] Here, it is worth noting that the gaps between the multiple spaced guide posts 121 can be set according to actual needs, and the number and location of the guide posts 121 can also be set according to actual needs. For example, if you want to reduce the production cost, you can set the gaps between the guide posts 121 to be larger, that is, reduce the number of guide posts 121; for another example, Figure 3 As shown, due to the structure of the cleaning robot shell 11, the guide column 121 may not be required on the side close to the shell 11. If a shell 11 of other shapes is used, the setting position and number of the guide column 121 may be relatively changed. This application does not make any specific restrictions on this.

[0038] Optionally, in order to improve the guiding effect of the guiding column 121, as Figure 4 As shown, the cross-section of the guide column 121 can be in the shape of a water droplet, so as to guide the fluid to the flow channel structure 1 through the water droplet-shaped arc. The guide column 121 can also be other structures, and the present application does not make any specific restrictions on this.

[0039] When the operator inspects the cleaning robot and the flow channel structure 1, in order to prevent the gap between the interval-set flow guide columns 121 from pinching the operator's hand, in one example, Figure 5 As shown, the flow channel structure 1 can also include an annular baffle 14, which is arranged around the outside of the first guide structure 12. In this way, the fluid can flow to the guide channel 11C through the guide columns 121 arranged at intervals, and the risk of the operator's hands being pinched can be avoided, thereby improving a certain degree of safety.

[0040] After the fluid is initially guided by the first guide structure 12, it will be guided again by the second guide structure 13 to further reduce the boundary layer separation phenomenon at the contact surface between the fluid flowing into the guide channel 11C and the flow channel structure 1, thereby reducing the generation of eddy currents, thereby ensuring the reliability of the cleaning robot using the flow channel structure 1 to suck dirt. Figure 5 and Figure 6 As shown, the second flow guide structure 13 may include a flow guide body 131 and a first blade 132 axially spirally coiled on the outer peripheral wall of the flow guide body 131. When the cleaning robot is working, the second flow guide structure 13 will rotate simultaneously with the impeller 2, and the fluid flowing into the flow guide channel 11C will first pass through the impeller 2, and then pass through the second flow guide structure 13 to be discharged from the water outlet 11B. At this time, since the second flow guide structure 13 is provided with the first blade 132, the fluid passing through the second flow guide structure 13 will not have a large boundary layer separation phenomenon with the contact surface of the flow channel structure 1, and the vortex is small, so as to ensure the amount of fluid discharged from the water outlet 11B, thereby ensuring the reliability of the cleaning robot's suction of dirt using the flow channel structure 1 and ensuring the working time of the cleaning robot.

[0041] In this example, the flow guide body 131 in the second flow guide structure 13 and the shaft 21 in the impeller 2 may be coaxially arranged.

[0042] Optionally, a certain gap is set between the outer diameter of the first blade 132 and the inner wall surface of the guide channel 11C to avoid the problem that after the guide body 131 drives the first blade 132 to rotate, there will be a certain friction between the inner wall surface of the guide channel 11C, causing damage to the inner wall surface of the guide channel 11C.

[0043] In order to further improve the guiding effect of the second guiding structure 13, optionally, as Figure 5 As shown, the guide body 131 is cylindrical as a whole, and the wall near the water outlet 11B is arc-shaped. The arc can further guide the fluid to further reduce the larger boundary layer separation phenomenon between the fluid and the flow channel structure 1. The structure of the guide body 131 can also be other structures that can achieve diversion, such as a guide cone, etc. This application does not make any specific restrictions on this.

[0044] In summary, the first flow-guiding structure 12 and the second flow-guiding structure 13 perform dual flow-guiding on the fluid, thereby reducing the boundary layer separation phenomenon at the contact surface between the fluid and the flow channel structure 1, thereby reducing the generation of vortices, reducing the hydraulic loss of the fluid, ensuring the amount of fluid flowing into the water inlet 11A and the amount of fluid discharged from the water outlet 11B, and thus ensuring the reliability of the cleaning robot using the flow channel structure 1 to suck dirt. Moreover, the flow channel structure 1 can increase the drainage volume of the cleaning robot by about 15%, and the hydraulic efficiency by about 12%, thereby improving the dirt suction performance of the cleaning robot.

[0045] In order to further reduce the large boundary layer separation phenomenon between the fluid and the flow channel structure 1, in one example, as Figure 5 As shown, the flow area of ​​the water outlet 11B on the shell 11 is smaller than the flow area of ​​the water inlet 11A. At this time, the water inlet 11A can be in the shape of a trumpet, so that the fluid flowing into the guide channel 11C through the first guide structure 12 will flow to the water inlet 11A, and then flow to the inner wall of the guide channel 11C. At this time, since the water inlet 11A of the shell 11 is trumpet-shaped, when the high-pressure fluid flows to the inner wall of the trumpet-shaped water inlet 11A, the flow velocity of the fluid is evenly distributed, which reduces the generation of vortices, so as to avoid the problem of vibration of the impeller 2 caused by more vortices and affecting the hydraulic efficiency of the impeller 2. That is, while improving the guide effect, the hydraulic efficiency of the impeller 2 is guaranteed, thereby ensuring the reliability of the suction of the cleaning robot using the flow channel structure 1.

[0046] In one example, if Figure 5 As shown, the flow channel structure 1 provided in the present application may also include a third guide structure 15, which is located in the guide channel 11C near the water inlet 11A. When the impeller 2 is installed in the guide channel 11C, the third guide structure 15 is located below the impeller 2. The fluid flowing to the water inlet 11A through the first guide structure 12 can be guided to the impeller 2 under the guiding action of the third guide structure 15. In this way, the generation of vortexes is further reduced by the third guide structure 15, thereby ensuring the reliability of the dirt suction of the cleaning robot using the flow channel structure 1.

[0047] Optionally, the third guide structure 15 can be cylindrical as a whole, and the wall near the water inlet 11A is arc-shaped. The arc can further guide the fluid to further reduce the larger boundary layer separation phenomenon between the fluid and the flow channel structure 1. The structure of the guide body 131 can also be other structures that can achieve guide, such as a guide cone, etc. This application does not make any specific restrictions on this.

[0048] In one example, in order to reduce manufacturing costs, the third flow-guiding structure 15 and the impeller 2 can be an integrated structure, that is, when the motor drives the impeller 2 to rotate, it also drives the third flow-guiding structure 15 to rotate, so as to guide the fluid flowing into the water inlet 11A. Here, it can be understood that, further, the second flow-guiding structure 13 can also be designed as an integrated structure with the impeller 2, so as to be driven by one motor, thereby reducing manufacturing and control costs.

[0049] In summary, the flow channel structure 1 in the cleaning robot provided in the present application is configured with a first flow guide structure 12, a second flow guide structure 13, and a third flow guide structure 15, and the water inlet 11A is configured as a trumpet-shaped structure to reduce the boundary layer separation phenomenon at the contact surface between the fluid and the flow channel structure 1, thereby reducing the generation of vortices, reducing the hydraulic loss of the fluid, and ensuring the amount of fluid flowing into the water inlet 11A and the amount of fluid discharged from the water outlet 11B, thereby ensuring the sewage suction reliability of the cleaning robot using the flow channel structure 1 and ensuring the working time of the cleaning robot.

[0050] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A flow channel structure (1), applied to a cleaning robot, the cleaning robot comprising an impeller (2), characterized in that: The flow channel structure (1) comprises: A housing (11), the housing (11) being provided with a water inlet (11A) and a water outlet (11B), the water inlet (11A) and the water outlet (11B) being opposite to and in communication with each other so as to form a flow guide channel (11C) inside the housing (11), the water outlet (11B) being located above the water inlet (11A), and the flow guide channel (11C) being capable of accommodating the impeller (2); a first flow guiding structure (12), the first flow guiding structure (12) being arranged around the water inlet (11A); and A second flow guiding structure (13), the second flow guiding structure (13) being located in the flow guiding channel (11C) and close to the water outlet (11B); Wherein, when the impeller (2) is installed in the flow guide channel (11C), the first flow guide structure (12) is located below the impeller (2), and the second flow guide structure (13) is located above the impeller (2).

2. The flow channel structure (1) according to claim 1, characterized in that: The first flow-guiding structure (12) comprises a plurality of flow-guiding columns (121) arranged at intervals, and the plurality of flow-guiding columns (121) are arranged around the water inlet (11A).

3. The flow channel structure (1) according to claim 2, characterized in that: The cross section of the guide column (121) is in the shape of a water drop.

4. The flow channel structure (1) according to claim 1, characterized in that: The second flow guiding structure (13) comprises a flow guiding body (131) and a first blade (132) spirally wound along the axial direction on the outer peripheral wall of the flow guiding body (131).

5. The flow channel structure (1) according to claim 4, characterized in that: The wall of the flow-guiding body (131) close to the water outlet (11B) is arc-shaped.

6. The flow channel structure (1) according to claim 1, characterized in that: The flow area of ​​the water outlet (11B) is smaller than the flow area of ​​the water inlet (11A).

7. The flow channel structure (1) according to any one of claims 1 to 6, characterized in that: The flow channel structure (1) further comprises an annular baffle (14), wherein the annular baffle (14) is arranged around the outside of the first flow guide structure (12).

8. The flow channel structure (1) according to claim 7, characterized in that: The flow channel structure (1) further comprises: A third flow guiding structure (15), the third flow guiding structure (15) being located in the flow guiding channel (11C) near the water inlet (11A); When the impeller (2) is installed in the flow guide channel (11C), the third flow guide structure (15) is located below the impeller (2).

9. The flow channel structure (1) according to claim 8, characterized in that: The third flow guide structure (15) and the impeller (2) are an integral structure.

10. A cleaning robot, characterized in that: include: An impeller (2), the impeller (2) comprising a shaft (21) and second blades (22) spirally wound along the axial direction on the outer peripheral wall of the shaft (21); The flow channel structure (1) according to any one of claims 1 to 9; and A machine body (3), wherein the impeller (2) and the flow channel structure (1) are arranged in the machine body (3).

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