A mop vibration device and cleaning robot

Abstract

The application discloses a mop vibration device and a cleaning robot, and belongs to the technical field of cleaning equipment. The connecting assembly of the mop vibration device comprises a driving shaft provided with an eccentric hole, a swing shaft fixed at one end in the eccentric hole, and a connecting piece provided with a shaft hole. The center line of the eccentric hole does not coincide with the rotation axis of the driving shaft, the other end of the swing shaft is arranged in the shaft hole, the swing shaft can rotate relative to the connecting piece, and the connecting piece is connected with a mop assembly of the cleaning robot. When the driving shaft rotates around the rotation axis thereof, the driving shaft drives the swing shaft to rotate eccentrically around the rotation axis of the driving shaft, so that the reciprocating motion of the mop assembly relative to the surface to be cleaned is realized. That is, under the driving of the swing shaft, the mop assembly can reciprocate around the rotation axis of the driving shaft to wipe the surface to be cleaned, so that the actual cleaning area of the mop assembly in the 360° direction is larger than that of the mop assembly itself, and the cleaning efficiency of the mop assembly is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a mop vibration device and a cleaning robot. BACKGROUND

[0002] The cleaning robot is a special robot for serving human beings, mainly engaged in cleaning work of household hygiene. The bottom of the cleaning robot is usually provided with a mop assembly, which can replace the human hand to wipe and clean the ground, bringing great convenience to people's life.

[0003] In the related art, the cleaning robot is internally provided with a mop vibration device connected with the mop assembly. The mop vibration device comprises a driving mechanism, a reciprocating wheel and a connecting rod. The reciprocating wheel is provided with a curved groove. One end of the connecting rod is slidably connected in the curved groove, and the other end is connected with the mop assembly. When the driving mechanism drives the reciprocating wheel to rotate, the connecting rod can drive the mop assembly to reciprocate in a straight line direction, so that the mop assembly can swing left and right to clean the ground during the driving of the cleaning robot.

[0004] However, the mop assembly in the related art can only reciprocate in a straight line direction, so that the actual cleaning area of the mop assembly in a single direction is greater than the mop assembly itself, and the overall reciprocating cleaning area is small, resulting in low cleaning efficiency of the mop assembly. SUMMARY

[0005] Therefore, the purpose of the present application is to overcome the deficiencies in the prior art, and to provide a mop vibration device and a cleaning robot to solve the technical problem that the mop assembly in the prior art can only reciprocate in a straight line direction, and the cleaning effect of the mop assembly is poor.

[0006] To solve the above technical problems, the present application provides:

[0007] A mop vibration device applied to a cleaning robot, the mop vibration device comprising a connecting assembly, the connecting assembly comprising:

[0008] a driving shaft, an eccentric hole being formed in an end of the driving shaft, a center line of the eccentric hole not coinciding with a rotation axis of the driving shaft;

[0009] a swing shaft, one end of the swing shaft being fixed in the eccentric hole;

[0010] a connecting piece, a through shaft hole being formed in the connecting piece, the other end of the swing shaft being provided in the through shaft hole, and the swing shaft being capable of rotating relative to the connecting piece, the connecting piece being connected with a mop assembly of the cleaning robot;

[0011] When the driving shaft rotates around its rotation axis, the driving shaft drives the oscillating shaft to rotate eccentrically around the rotation axis of the driving shaft, so as to realize the reciprocating motion of the mop assembly relative to the surface to be cleaned.

[0012] In addition, the connecting assembly according to the present application can further have the following additional technical features:

[0013] In some embodiments of the present application, the connecting assembly further comprises a snap ring, an annular snap groove is formed in the oscillating shaft in the circumferential direction away from one end of the eccentric hole, the snap ring is snap-fitted in the annular snap groove and abuts against the connecting piece, so as to limit the movement of the oscillating shaft along its axis.

[0014] In some embodiments of the present application, the connecting assembly further comprises a first wear-resistant washer, the first wear-resistant washer is sleeved on the oscillating shaft and abuts between the snap ring and the connecting piece.

[0015] In some embodiments of the present application, the connecting assembly further comprises a second wear-resistant washer fixed to the end of the driving shaft, the side of the second wear-resistant washer away from the driving shaft abuts against the mop assembly.

[0016] In some embodiments of the present application, the connecting piece comprises a guide roller and a connecting sleeve, the connecting sleeve is fixedly connected with the mop assembly, the guide roller is rotatably arranged in the connecting sleeve, the guide roller is provided with the through shaft hole, and the other end of the oscillating shaft is fixed in the through shaft hole.

[0017] In some embodiments of the present application, the distance between the center line of the eccentric hole and the rotation axis of the driving shaft is L, and the relationship is 0.5mm≤L≤1.5mm.

[0018] In some embodiments of the present application, the driving shaft and the oscillating shaft are both cylindrical bodies, and the eccentric hole is a circular hole.

[0019] In some embodiments of the present application, the diameter D of the driving shaft and the diameter d of the oscillating shaft satisfy the relationship d / D=i, 2 / 5≤i≤3 / 5.

[0020] The mop vibration device further comprises a driving piece and a mop support, the mop support is provided with a limiting slot penetrating through the same, the limiting slot is used for placing the mop assembly, and the driving piece is connected with the end of the driving shaft away from the eccentric hole, used for driving the driving shaft to rotate around its rotation axis, so as to make the mop assembly reciprocate along the slot wall of the limiting slot relative to the surface to be cleaned.

[0021] The second aspect of the present application provides a cleaning robot comprising the above-mentioned mop vibration device.

[0022] The beneficial effects of the present application are:

[0023] The present application provides a mop vibration device, which is applied to a cleaning robot. The connecting assembly of the mop vibration device comprises a driving shaft with an eccentric hole, a swing shaft with one end fixed in the eccentric hole, and a connecting piece with a shaft hole. The center line of the eccentric hole is not coincident with the rotation axis of the driving shaft. The other end of the swing shaft is arranged in the shaft hole, and the swing shaft can rotate relative to the connecting piece. The connecting piece is connected with the mop assembly of the cleaning robot.

[0024] When the driving shaft rotates around its rotation axis, the driving shaft drives the swing shaft to rotate eccentrically around the rotation axis of the driving shaft, so as to realize the reciprocating motion of the mop assembly relative to the cleaning surface. That is, the mop assembly can reciprocate around the rotation axis of the driving shaft to wipe the cleaning surface, so that the actual cleaning area of the mop assembly in the 360° direction is larger than the mop assembly itself, thereby improving the cleaning efficiency of the mop assembly. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0026] Figure 1 Fig. 1 shows a perspective view of the structure of the connecting assembly and the mop assembly in some embodiments of the present application;

[0027] Figure 2 Fig. 2 shows another perspective view of the structure of the connecting assembly and the mop assembly in some embodiments of the present application;

[0028] Figure 3 Fig. 3 shows a perspective view of the structure of the connecting assembly in some embodiments of the present application;

[0029] Figure 4 Fig. 4 shows an exploded view of the structure of the connecting assembly in some embodiments of the present application;

[0030] Figure 5 Fig. 5 shows another perspective view of the structure of the connecting assembly in some embodiments of the present application;

[0031] Figure 6 Fig. 6 shows a sectional view of the structure of the A-A position in Fig. 5; Figure 5

[0032] Figure 7 ​Figure 1 shows a perspective view of the driving shaft and the swing shaft in some embodiments of the present application;

[0033] Figure 8 Figure 2 shows a perspective view of the mopping cloth vibration device in some embodiments of the present application;

[0034] Figure 9 Figure 3 shows another perspective view of the mopping cloth vibration device in some embodiments of the present application;

[0035] Figure 10 Figure 4 shows an exploded view of the mopping cloth vibration device in some embodiments of the present application.

[0036] Main component symbol explanation:

[0037] 1000 - mopping cloth vibration device; 100 - connecting assembly; 110 - driving shaft; 111 - eccentric hole; 120 - swing shaft; 121 - ring-shaped clamping groove; 130 - connecting piece; 131 - guide roller; 1311 - through shaft hole; 132 - connecting sleeve; 140 - clamping ring; 151 - first wear-resistant washer; 152 - second wear-resistant washer; 200 - driving piece; 300 - mopping cloth support; 310 - limiting groove; 2000 - mopping cloth assembly; 2100 - connecting part; 2200 - linkage plate; 2300 - Velcro; 2400 - mopping cloth. DETAILED DESCRIPTION

[0038] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0039] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0040] In addition, the terms "first", "second", etc. are used only for descriptive purposes and do not connote or imply relative importance or an ordering between the indicated technical features. Thus, a feature defined with "first", "second", etc. can include one or more of the features implicitly or explicitly.

[0041] In the present application, unless specifically defined otherwise and limited, the terms "mount", "connect", "connection", "fixed", and the like are to be construed broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0042] In the present application, unless specifically defined otherwise and limited, the first feature is "on" or "under" the second feature. The first and second features can be in direct contact or indirectly contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be directly above or obliquely above the first feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be directly below or obliquely below the first feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0043] In a first aspect, embodiments of the present application provide a mop vibration device 1000, comprising a connecting assembly 100, belonging to the technical field of cleaning equipment, mainly applied to cleaning robots, for realizing the reciprocating motion of the mop assembly 2000, improving the cleaning efficiency and cleaning effect.

[0044] As shown in Figure 1 , Figure 2 and Figure 4 , the connecting assembly 100 comprises a driving shaft 110 provided with an eccentric hole 111, a swing shaft 120 fixed at one end in the eccentric hole 111, and a connecting piece 130 provided with a through shaft hole 1311. The center line of the eccentric hole 111 does not coincide with the rotation axis of the driving shaft 110, the other end of the swing shaft 120 is provided in the through shaft hole 1311, and the swing shaft 120 can rotate relative to the connecting piece 130. The connecting piece 130 is connected with the mop assembly 2000 of the cleaning robot.

[0045] When the driving shaft 110 rotates around its rotation axis, the driving shaft 110 drives the swing shaft 120 to rotate around the rotation axis of the driving shaft 110, so as to realize the reciprocating motion of the mop assembly 2000 relative to the surface to be cleaned.

[0046] Specifically, the connecting assembly 100 comprises a driving shaft 110, a swing shaft 120 and a connecting piece 130. The driving shaft 110 is provided with an eccentric hole 111 at one end, and the center line of the eccentric hole 111 is not coincident with the rotation axis of the driving shaft 110. The connecting piece 130 is provided with a shaft hole 1311, one end of the swing shaft 120 is fixed in the eccentric hole 111, for example, by welding, clamping, key connection or the like, and the other end of the swing shaft 120 is arranged in the shaft hole 1311, and the swing shaft 120 can rotate relative to the connecting piece 130. The connecting piece 130 is connected with the mop assembly 2000 of the cleaning robot, for example, by welding, clamping, interference fit or the like. When the driving shaft 110 rotates around its rotation axis, the driving shaft 110 drives the swing shaft 120 to rotate around the rotation axis of the driving shaft 110, so as to realize the reciprocating motion of the mop assembly 2000 around the rotation axis of the driving shaft 110.

[0047] It can be understood that in the related art, the mop assembly can only move reciprocatingly in a straight line direction, so that the actual cleaning area of the mop assembly in a single direction is larger than the mop assembly itself, and therefore the overall reciprocating cleaning area is small, resulting in a low cleaning efficiency of the mop assembly.

[0048] The connecting assembly 100 provided in the embodiment can drive the mop assembly 2000 to reciprocate and scrub around the rotation axis of the driving shaft 110 relative to the surface to be cleaned, so that the actual cleaning area of the mop assembly 2000 in 360° direction is larger than the mop assembly 2000 itself, thereby improving the cleaning efficiency of the mop assembly 2000.

[0049] It should be noted that the reciprocating and scrubbing of the mop assembly 2000 around the rotation axis of the driving shaft 110 relative to the surface to be cleaned means that the length and width of the mop assembly 2000 are constant during the eccentric rotation of the swing shaft 120 around the rotation axis of the driving shaft 110, and the swing shaft 120 drives the mop assembly 2000 to eccentrically move around the rotation axis of the driving shaft 110 synchronously during the eccentric movement of the swing shaft 120 around the rotation axis of the driving shaft 110, which is similar to the manual scrubbing process, rather than a rotary motion.

[0050] As shown in Figure 3 and Figure 4 In some embodiments of the present application, the connecting assembly 100 further comprises

[0051] A retaining ring 140 is attached to the end of the swing shaft 120 away from the eccentric hole 111, where an annular groove 121 is formed along its circumference. The retaining ring 140 engages with the annular groove 121 and abuts against the connector 130 to restrict the swing shaft 120 from moving along its circumference.

[0052] Move along the axis.

[0053] In this embodiment, the retaining ring 140 serves as a limit, restricting the movement of the swing shaft 120 along its axial direction, thereby improving the connection strength between the swing shaft 120 and the connector 130 and reducing the risk of the swing shaft 120 disengaging from the through hole 1311 when the mop assembly 2000 reciprocates.

[0054] 0. In addition, during the assembly of the swing shaft 120 and the connecting piece 130, the swing shaft 120 is first threaded through...

[0055] Insert the circlip 140 into the through hole 1311 of the connector 130, and then snap the circlip 140 into the annular groove 121 of the swing shaft 120 to complete the assembly of the swing shaft 120 and the connector 130. The combined use of the circlip 140 and the annular groove 121 improves the assembly efficiency of the swing shaft 120 and the connector 130.

[0056] like Figure 5 and Figure 6 As shown, the connecting assembly 100 may further include a first wear-resistant washer 5 151, which is sleeved on the swing shaft 120 and abuts against the retaining ring 140 and the connector 130.

[0057] In this embodiment, by providing a first wear-resistant washer 151 between the retaining ring 140 and the connector 130, the mutual wear between the retaining ring 140 and the connector 130 during the relative rotation of the connector 130 and the swing shaft 120 can be reduced, thereby improving the service life of the retaining ring 140 and the connector 130.

[0058] 0 as Figure 1 and Figure 6 As shown, optionally, the connecting assembly 100 may also include components fixed to the drive shaft 110.

[0059] The second wear-resistant washer 152 at the end of the drive shaft 110 abuts against the mop assembly 2000 on the side opposite to the drive shaft 110.

[0060] In this embodiment, a second [device / mechanism] is provided between the end of the drive shaft 110 and the mop assembly 2000.

[0061] The wear-resistant washer 152 reduces the mutual wear between the drive shaft 110 and the mop assembly 20005 during the reciprocating motion of the mop assembly 2000, and improves the service life of the drive shaft 110.

[0062] likeFigure 4 and Figure 6 As shown in FIGS. 13 and 14, in some embodiments of the present application, the connecting member 130 optionally comprises a guide roller 131 and a connecting sleeve 132, the connecting sleeve 132 is fixedly connected with the mop assembly 2000, the guide roller 131 is rotatably arranged in the connecting sleeve 132, a through shaft hole 1311 is formed in the guide roller 131, and the other end of the swing shaft 120 is fixed in the through shaft hole 1311.

[0063] In the present embodiment, when the driving shaft 110 rotates, the guide roller 131 can rotate in the connecting sleeve 132, so as to realize the rotational connection between the swing shaft 120 and the mop assembly 2000. The material of the connecting sleeve 132 can be a colloidal material such as silica gel or rubber, so as to reduce the wear of the guide roller 131 and improve the service life of the guide roller 131.

[0064] Of course, for the above-mentioned embodiments, the connecting member 130 can also be a bearing, the bearing is fixedly connected with the mop assembly 2000, and the other end of the swing shaft 120 is arranged in the through shaft hole 1311 of the bearing, so as to also realize the relative rotation between the swing shaft 120 and the mop assembly 2000.

[0065] As shown in FIGS. 13 and 14, in some embodiments of the present application, the connecting member 130 optionally comprises a guide roller 131 and a connecting sleeve 132, the connecting sleeve 132 is fixedly connected with the mop assembly 2000, the guide roller 131 is rotatably arranged in the connecting sleeve 132, a through shaft hole 1311 is formed in the guide roller 131, and the other end of the swing shaft 120 is fixed in the through shaft hole 1311. Figure 6 and Figure 7 As shown in FIGS. 13 and 14, in some embodiments of the present application, the distance L between the center line of the eccentric hole 111 and the rotation axis of the driving shaft 110 satisfies the relationship: 0.5mm≤L≤1.5mm.

[0066] It can be understood that the actual cleaning area of the mop assembly 2000 and the reciprocating frequency are both related to L. Under the same rotation speed of the driving shaft 110, the larger the L is, the larger the actual cleaning area of the mop assembly 2000 is, but the lower the reciprocating frequency of the mop assembly 2000 is. Conversely, the smaller the L is, the higher the reciprocating frequency of the mop assembly 2000 is, but the smaller the actual cleaning area of the mop assembly 2000 is.

[0067] In the present embodiment, the L satisfies the relationship: 0.5mm≤L≤1.5mm, so that the mop assembly 2000 has a higher reciprocating frequency and a larger actual cleaning area, thereby improving the cleaning effect of the mop assembly 2000 on the surface to be cleaned.

[0068] Exemplarily, the distance L between the center line of the eccentric hole 111 and the rotation axis of the driving shaft 110 can be set as 0.5mm, 0.6mm, 0.65mm, 1mm, 1.2mm, 1.25mm, 1.28mm, 1.5mm, etc. In the present embodiment, the L can be preferably 1mm.

[0069] As shown in FIGS. 13 and 14, in some embodiments of the present application, the connecting member 130 optionally comprises a guide roller 131 and a connecting sleeve 132, the connecting sleeve 132 is fixedly connected with the mop assembly 2000, the guide roller 131 is rotatably arranged in the connecting sleeve 132, a through shaft hole 1311 is formed in the guide roller 131, and the other end of the swing shaft 120 is fixed in the through shaft hole 1311. Figure 4As shown in some embodiments of the present application, optionally, the driving shaft 110 and the swing shaft 120 are both cylindrical bodies, and the eccentric hole 111 is a circular hole.

[0070] In the present embodiment, the cylindrical body and the circular hole are easier to process, thereby reducing the manufacturing cost of the driving shaft 110 and the swing shaft 120, and facilitating the connection of the swing shaft 120 and the eccentric hole 111, and improving the assembly efficiency of the swing shaft 120.

[0071] As shown in some embodiments of the present application, optionally, the driving shaft 110 and the swing shaft 120 are both cylindrical bodies, and the eccentric hole 111 is a circular hole. Figure 7 As shown in some embodiments of the present application, further, the diameter D of the driving shaft 110 and the diameter d of the swing shaft 120 satisfy the relationship: d / D=i, 2 / 5≤i≤3 / 5.

[0072] It can be understood that the strength and rigidity of the swing shaft 120 are related to the diameter of the swing shaft 120, and the greater the diameter of the swing shaft 120, the greater the strength and rigidity.

[0073] In the present embodiment, the diameter D of the driving shaft 110 and the diameter d of the swing shaft 120 satisfy the relationship: d / D=i, 2 / 5≤i≤3 / 5, that is, the ratio of the diameter D of the driving shaft 110 and the diameter d of the swing shaft 120 is 2 / 5≤i≤3 / 5, that is, the diameter d of the swing shaft 120 is 2 / 5 to 3 / 5 times the diameter D of the driving shaft 110, so that the swing shaft 120 has greater strength and rigidity, and the service life of the swing shaft 120 is improved.

[0074] Exemplarily, i can be set to 2 / 5, 9 / 20, 1 / 2, 3 / 5, etc., and in the present embodiment, i can be preferably 1 / 2.

[0075] In combination with Figures 8 to 10 In some embodiments of the present application, the mop vibration device 1000 further comprises a driving member 200 and a mop support 300, the mop support 300 is provided with a limiting groove 310 penetrating through the same, the limiting groove 310 is used for placing a mop assembly 2000, and the driving member 200 is connected with one end of the driving shaft 110 away from the eccentric hole 111, and is used for driving the driving shaft 110 to rotate around the rotation axis thereof, so as to make the mop assembly 2000 reciprocate along the groove wall of the limiting groove 310 relative to the surface to be cleaned.

[0076] In the embodiment, the mop support 300 is arranged to facilitate the assembly of the mop assembly 2000 and limit the movement of the mop assembly 2000 along the axis of the swing shaft 120, thereby improving the stability of the reciprocating movement of the mop assembly 2000. The driving member 200 can be a rotary motor or a driving motor, both of which can rotate the driving shaft. The limiting groove 310 limits the reciprocating range of the mop assembly 2000. When the driving shaft 110 rotates, the swing shaft 120 moves eccentrically around the rotation straight line of the driving shaft, so that the mop assembly 2000 can reciprocate along the groove wall of the limiting groove 310 relative to the surface to be cleaned, thereby limiting the movement of the mop assembly 2000 within the preset range.

[0077] In a second aspect, the embodiment of the present application also provides a cleaning robot, which comprises the mop assembly 2000 and the above-mentioned mop vibration device 1000. Figure 1 、 Figure 2 and Figure 10 As shown in the above-mentioned figures, the mop assembly 2000 comprises a mop 2400, a linkage plate 2200 and a magic tape 2300. The mop 2400 is connected to the linkage plate 2200 through the magic tape 2300. The linkage plate 2200 is provided with a connecting part 2100, which is connected to the connecting member 130.

[0078] When the driving member 200 works, the driving shaft 110 rotates around its rotation axis to drive the swing shaft 120 to move eccentrically around the rotation axis of the driving shaft 110, thereby realizing the reciprocating movement of the linkage plate 2200. In this way, the mop 2400 can reciprocate and scrub the surface to be cleaned, so that the actual cleaning area of the mop 2400 in the 360° direction is larger than the mop 2400 itself, thereby improving the cleaning efficiency of the cleaning robot.

[0079] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the different embodiments or examples described in the present specification and the features of the different embodiments or examples can be combined and modified by those skilled in the art without contradiction.

[0080] Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application. Those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

Claims

1. A mop vibration device, applied to a cleaning robot, characterized in that, The mop vibration device includes a connecting assembly, which includes: A drive shaft, wherein an eccentric hole is provided at the end of the drive shaft, and the center line of the eccentric hole does not coincide with the rotation axis of the drive shaft; A swing shaft, one end of which is fixed inside the eccentric hole; A connector is provided with a through-shaft hole, the other end of the swing shaft passes through the through-shaft hole, and the swing shaft can rotate relative to the connector. The connector is connected to the mop assembly of the cleaning robot. A retaining ring is provided at one end of the swing shaft away from the eccentric hole, with an annular groove along its circumference. The retaining ring engages with the annular groove and abuts against the connector to restrict the movement of the swing shaft along its axial direction. A first wear-resistant washer is sleeved on the swing shaft and abuts against the retaining ring and the connecting member; When the drive shaft rotates around its rotation axis, the drive shaft drives the swing shaft to rotate eccentrically around the rotation axis of the drive shaft, thereby realizing the reciprocating motion of the mop assembly relative to the cleaning surface. The distance L between the centerline of the eccentric hole and the rotation axis of the drive shaft satisfies the following relationship: 0.5mm≤L≤1.5mm; both the drive shaft and the swing shaft are cylinders, and the eccentric hole is a circular hole; the diameter D of the drive shaft and the diameter d of the swing shaft satisfy the following relationship: d / D=i, 2 / 5≤i≤3 / 5.

2. The mop vibration device according to claim 1, characterized in that, The connecting assembly further includes a second wear-resistant washer fixed to the end of the drive shaft, the side of the second wear-resistant washer facing away from the drive shaft abutting against the mop assembly.

3. The mop vibration device according to claim 1, characterized in that, The connector includes a guide roller and a connecting sleeve. The connecting sleeve is fixedly connected to the mop assembly. The guide roller is rotatably disposed inside the connecting sleeve. The guide roller has the through-shaft hole, and the other end of the swing shaft is fixed inside the through-shaft hole.

4. The mop vibration device according to any one of claims 1 to 3, characterized in that, The mop vibration device also includes a drive unit and a mop bracket. The mop bracket has a limiting groove that extends through it. The limiting groove is used to place the mop assembly. The drive unit is connected to the end of the drive shaft away from the eccentric hole and is used to drive the drive shaft to rotate around its rotation axis so that the mop assembly reciprocates relative to the surface to be cleaned along the groove wall of the limiting groove.

5. A cleaning robot, characterized in that, Includes the mop vibration device according to any one of claims 1 to 4.

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