CN116831487A - Mop vibrator and cleaning robot - Google Patents

Abstract

The application discloses a mop vibrating device and a cleaning robot, and belongs to the technical field of cleaning equipment. The connection assembly of the mop vibration device comprises: a driving shaft provided with an eccentric hole, a swinging shaft with one end fixed in the eccentric hole and a connecting piece provided with a through shaft hole. The center line of the eccentric hole is not overlapped with the rotation axis of the driving shaft, the other end of the swinging shaft penetrates through the shaft penetrating hole, the swinging shaft can rotate relative to the connecting piece, and the connecting piece is connected with the mop component of the cleaning robot. According to the connecting assembly provided by the application, when the driving shaft rotates around the rotation axis of the driving shaft, the driving shaft drives the swinging shaft to eccentrically rotate around the rotation axis of the driving shaft, so that the mop assembly can reciprocate relative to the surface to be cleaned, namely, the mop assembly can reciprocally circle and scrub the surface to be cleaned around the rotation axis of the driving shaft, so that the actual cleaning area of the mop assembly in the 360-degree direction is larger than that of the mop assembly, and the cleaning efficiency of the mop assembly is improved.

Description

Mop vibrator and cleaning robot

Technical Field

The application relates to the technical field of cleaning equipment, in particular to a mop vibrating device and a cleaning robot.

Background

The cleaning robot is a special robot for human service and mainly performs cleaning work of household sanitation. The mop components are arranged at the bottom of the cleaning robot generally, so that the cleaning robot can replace hands to wipe and clean the ground, and brings great convenience to the life of people.

In the related art, the mop vibration device connected with the mop assembly is arranged in the cleaning robot, the mop vibration device comprises a driving mechanism, a reciprocating wheel and a connecting rod, a curved groove is formed in the reciprocating wheel, one end of the connecting rod is slidably connected in the curved groove, the other end of the connecting rod is connected with the mop assembly, and when the driving mechanism drives the reciprocating wheel to rotate, the connecting rod can drive the mop assembly to reciprocate along the linear direction, so that the cleaning robot can swing left and right to clean the ground in the running process.

However, the related art mop assembly can only reciprocate in a straight direction, so that the actual cleaning area of the mop assembly in only one direction is larger than that of the mop assembly itself, and the overall reciprocating cleaning area is small, resulting in low cleaning efficiency of the mop assembly.

Disclosure of Invention

In view of the above, the present application aims to overcome the defects in the prior art, and provide a mop vibration device and a cleaning robot, so as to solve the technical problem that in the prior art, a mop assembly can only reciprocate along a linear direction, and the cleaning effect of the mop assembly is poor.

In order to solve the technical problems, the application provides:

a mop vibrator for use with a cleaning robot, the mop vibrator comprising a connection assembly comprising:

the end part of the driving shaft is provided with an eccentric hole, and the central line of the eccentric hole is not overlapped with the rotation axis of the driving shaft;

one end of the swinging shaft is fixed in the eccentric hole;

the connecting piece is provided with a through shaft hole, the other end of the swinging shaft is arranged in the through shaft hole in a penetrating way, the swinging shaft can rotate relative to the connecting piece, and the connecting piece is connected with the mop component of the cleaning robot;

when the driving shaft rotates around the rotation axis of the driving shaft, the driving shaft drives the swinging shaft to eccentrically rotate around the rotation axis of the driving shaft, so that the mop assembly can reciprocate relative to the surface to be cleaned.

In addition, the connecting assembly according to the application may also have the following additional technical features:

in some embodiments of the present application, the connecting assembly further includes a snap ring, and an annular clamping groove is formed at an end of the swing shaft, which is far away from the eccentric hole, along a circumferential direction of the swing shaft, and the snap ring is clamped in the annular clamping groove and abuts against the connecting piece, so as to limit the movement of the swing shaft along an axial direction of the swing shaft.

In some embodiments of the application, the connecting assembly further comprises a first wear washer sleeved on the oscillating shaft and abutting between the snap ring and the connecting piece.

In some embodiments of the application, the attachment assembly further comprises a second wear washer secured to an end of the drive shaft, the second wear washer abutting the mop assembly on a side facing away from the drive shaft.

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 component, the guide roller is rotatably arranged in the connecting sleeve, the guide roller is provided with the shaft penetrating hole, and the other end of the swinging shaft is fixed in the shaft penetrating hole.

In some embodiments of the application, a distance L between a center line of the eccentric hole and a rotation axis of the driving shaft satisfies a relationship: l is more than or equal to 0.5mm and less than or equal to 1.5mm.

In some embodiments of the application, the drive shaft and the oscillating shaft are both cylinders and the eccentric aperture is a circular aperture.

In some embodiments of the application, the diameter D of the drive shaft and the diameter D of the oscillating shaft satisfy the relation: D/D=i, 2/5.ltoreq.i.ltoreq.3/5.

The mop vibration device further comprises a driving piece and a mop support, wherein a limiting groove penetrating the mop support is formed in the mop support, the limiting groove is used for accommodating the mop assembly, the driving piece is connected with one end, away from the eccentric hole, of the driving shaft, and the driving piece is used for driving the driving shaft to rotate around the rotation axis of the driving shaft, so that the mop assembly moves in a reciprocating mode along the groove wall of the limiting groove relative to the surface to be cleaned.

A second aspect of the present application provides a cleaning robot comprising a mop vibratory device as in the above embodiments.

Compared with the prior art, the application has the beneficial effects that:

the application provides a mop vibrator, which is applied to a cleaning robot, wherein a connecting component of the mop vibrator comprises: a driving shaft provided with an eccentric hole, a swinging shaft with one end fixed in the eccentric hole and a connecting piece provided with a through shaft hole. The center line of the eccentric hole is not overlapped with the rotation axis of the driving shaft, the other end of the swinging shaft penetrates through the shaft penetrating hole, the swinging shaft can rotate relative to the connecting piece, and the connecting piece is connected with the mop component of the cleaning robot.

When the driving shaft rotates around the rotation axis of the driving shaft, the driving shaft drives the swinging shaft to eccentrically rotate around the rotation axis of the driving shaft, so that the mop assembly can reciprocate relative to the surface to be cleaned, namely, the mop assembly can scrub the surface to be cleaned by reciprocating the ring around the rotation axis of the driving shaft, the actual cleaning area of the mop assembly in the 360-degree direction is larger than that of the mop assembly, and the cleaning efficiency of the mop assembly is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Figure 1 shows a schematic view of the structure of the attachment assembly and mop assembly according to some embodiments of the present application from a perspective;

figure 2 shows a schematic view of another view of the attachment assembly and mop assembly according to some embodiments of the present application;

FIG. 3 illustrates a schematic view of a connection assembly in accordance with some embodiments of the application;

FIG. 4 illustrates an exploded view of the structure of a connection assembly in some embodiments of the application;

FIG. 5 illustrates another perspective structural schematic view of a connection assembly in some embodiments of the present application;

FIG. 6 shows a cross-sectional view of the structure in the position A-A of FIG. 5;

FIG. 7 is a schematic view of a perspective structure of an assembled drive shaft and swing shaft according to some embodiments of the present application;

figure 8 shows a schematic view of a visual angle structure of a mop vibrator according to some embodiments of the present application;

figure 9 shows a schematic view of another view of the mop vibrator according to some embodiments of the present application;

figure 10 shows an exploded view of the structure of the mop vibrator according to some embodiments of the present application.

Description of main reference numerals:

1000-mop vibration device; a 100-connection assembly; 110-a drive shaft; 111-eccentric holes; 120-swinging shaft; 121-an annular clamping groove; 130-a connector; 131-guiding rollers; 1311-passing through the shaft hole; 132-connecting sleeve; 140-snap ring; 151-a first wear washer; 152-a second wear washer; 200-driving piece; 300-mop support; 310-limit grooves; 2000-mop assembly; 2100-connecting portion; 2200-linkage plate; 2300-magic tape; 2400-mop.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In a first aspect, an embodiment of the present application provides a mop vibrator 1000, including a connection assembly 100, which belongs to the technical field of cleaning devices, and the mop vibrator 1000 is mainly applied to a cleaning robot, and is used for realizing the reciprocating motion of the mop assembly 2000, and improving the cleaning efficiency and the cleaning effect.

As shown in fig. 1, 2 and 4, the connection assembly 100 includes: a driving shaft 110 having an eccentric hole 111 formed therein, a swing shaft 120 having one end fixed to the inside of the eccentric hole 111, and a coupling 130 having a through-shaft hole 1311 formed therein. The center line of the eccentric hole 111 is not overlapped with the rotation axis of the driving shaft 110, the other end of the swing shaft 120 is penetrated in the through shaft hole 1311, and the swing shaft 120 can rotate relative to the connection member 130, and the connection member 130 is connected with the mop assembly 2000 of the cleaning robot.

When the driving shaft 110 rotates around the rotation axis thereof, the driving shaft 110 drives the swinging shaft 120 to rotate around the rotation axis of the driving shaft 110, so that the mop assembly 2000 can reciprocate relative to the surface to be cleaned.

Specifically, the connection assembly 100 includes a driving shaft 110, a swing shaft 120, and a connection member 130. An eccentric hole 111 is formed at an end of the driving shaft 110, and a center line of the eccentric hole 111 is not overlapped with a rotation axis of the driving shaft 110. The connecting piece 130 is provided with a shaft hole 1311, one end of the swinging shaft 120 is fixed in the eccentric hole 111, for example, by welding, clamping connection, key connection and the like, the other end of the swinging shaft 120 is arranged in the shaft hole 1311 in a penetrating manner, the swinging shaft 120 can rotate relative to the connecting piece 130, and the connecting piece 130 is connected with the mop assembly 2000 of the cleaning robot, for example, by welding, clamping connection, interference fit and the like. When the driving shaft 110 rotates around the rotation axis thereof, the driving shaft 110 drives the swinging shaft 120 to rotate around the rotation axis of the driving shaft 110, so that the mop assembly 2000 can reciprocate around the rotation axis of the driving shaft 110.

It will be appreciated that in the related art the mop assembly can only reciprocate in a linear direction such that the actual cleaning area of the mop assembly in a single direction is greater than the mop assembly itself, and thus the overall reciprocating cleaning area is smaller, resulting in a lower cleaning efficiency of the mop assembly.

In the connection assembly 100 provided in this embodiment, the mop assembly 2000 is driven by the swing shaft 120 to reciprocally circle the surface to be cleaned around the rotation axis of the driving shaft 110, so that the actual cleaning area of the mop assembly 2000 in the 360 ° direction is larger than that of the mop assembly 2000 itself, and the cleaning efficiency of the mop assembly 2000 is improved.

It should be noted that, the mop assembly 2000 performs reciprocating looping and scrubbing on the surface to be cleaned around the rotation axis of the driving shaft 110, which means that the length direction and the width direction of the mop assembly 2000 are constant during eccentric rotation of the swinging shaft 120 around the rotation axis of the driving shaft 110, and the swinging shaft 120 synchronously pushes the mop assembly 2000 to perform eccentric motion around the rotation axis of the driving shaft 110 during eccentric motion around the axis of the driving shaft 110, similar to the manual looping and scrubbing process, rather than rotational motion.

As shown in fig. 3 and 4, in some embodiments of the application, the connection assembly 100 further comprises

A clamping ring 140, wherein an annular clamping groove 121,5 is formed in the end of the swing shaft 120 far away from the eccentric hole 111 along the circumferential direction thereof, and the clamping ring 140 is clamped in the annular clamping groove 121 and abuts against the connecting piece 130 so as to limit the swing shaft 120 along the end

The axis direction moves.

In this embodiment, the snap ring 140 plays a limiting role, and limits the movement of the swinging shaft 120 along the axial direction thereof, so as to improve the connection strength between the swinging shaft 120 and the connecting piece 130, and reduce the risk that the swinging shaft 120 is separated from the shaft through hole 1311 during the reciprocating movement of the mop assembly 2000.

0 additionally, in the process of assembling the swing shaft 120 and the connecting piece 130, the swing shaft 120 is penetrated first

And the clamping ring 140 is clamped in the annular clamping groove 121 of the swinging shaft 120 after the clamping ring 140 is inserted into the shaft penetrating hole 1311 of the connecting piece 130, so that the assembly of the swinging shaft 120 and the connecting piece 130 is completed, and the assembly efficiency of the swinging shaft 120 and the connecting piece 130 is improved due to the combined use of the clamping ring 140 and the annular clamping groove 121.

As shown in fig. 5 and 6, further, the connection assembly 100 may further include a first wear washer 5, where the first wear washer 151 is sleeved on the swing shaft 120 and abuts between the snap ring 140 and the connection member 130.

In this embodiment, by providing the first wear-resistant washer 151 between the snap ring 140 and the connecting member 130, the mutual wear of the snap ring 140 and the connecting member 130 during the relative rotation between the connecting member 130 and the swing shaft 120 can be reduced, and the service lives of the snap ring 140 and the connecting member 130 can be prolonged.

0 as shown in fig. 1 and 6, optionally, the connection assembly 100 may further include a drive shaft 110 secured thereto

The side of the second wear washer 152 facing away from the drive shaft 110 abuts the mop assembly 2000.

In this embodiment, by providing a second between the end of the drive shaft 110 and the mop assembly 2000

Wear washer 152 reduces the wear of drive shaft 110 and mop assembly 20005 relative to each other during reciprocation of mop assembly 2000, and increases the useful life of drive shaft 110.

As shown in fig. 4 and 6, in some embodiments of the present application, optionally, the connection member 130 includes a guide roller 131 and a connection sleeve 132, the connection sleeve 132 is fixedly connected with the mop assembly 2000, the guide roller 131 is rotatably disposed in the connection sleeve 132, a shaft hole 1311 is formed in the guide roller 131, and the other end of the swing shaft 120 is fixed in the shaft hole 1311.

In this embodiment, when the driving shaft 110 rotates, the guiding roller 131 can rotate in the connecting sleeve 132, so as to realize the rotation connection between the swinging shaft 120 and the mop assembly 2000. The connecting sleeve 132 may be made of colloidal materials such as silica gel and rubber, so as to reduce abrasion of the guide roller 131 and improve service life of the guide roller 131.

Of course, for the above embodiment, the connecting member 130 may also be a bearing, where the bearing is fixedly connected to the mop assembly 2000, and the other end of the swinging shaft 120 is disposed in the shaft hole 1311 of the bearing, so that the swinging shaft 120 and the mop assembly 2000 can rotate relatively.

As shown in fig. 6 and 7, in some embodiments of the present application, alternatively, a distance L between a center line of the eccentric hole 111 and a rotation axis of the driving shaft 110 satisfies the relationship: l is more than or equal to 0.5mm and less than or equal to 1.5mm.

It will be appreciated that the actual cleaning area of the mop assembly 2000 and the frequency of reciprocation are both related to L, with the greater L at the same rotational speed of the drive shaft 110, the greater the actual cleaning area of the mop assembly 2000, but the lower the frequency of reciprocation of the mop assembly 2000. Conversely, the smaller L, the higher the frequency with which the mop assembly 2000 reciprocates, but the smaller the actual cleaning area of the mop assembly 2000.

In the present embodiment, L satisfies the relation: l is more than or equal to 0.5mm and less than or equal to 1.5mm, so that the mop assembly 2000 has higher reciprocating frequency and larger actual cleaning area, thereby improving the cleaning effect of the mop assembly 2000 on the surface to be cleaned.

Illustratively, the distance L between the center line of the eccentric hole 111 and the rotational axis of the driving shaft 110 may be set to 0.5mm, 0.6mm, 0.65mm, 1mm, 1.2mm, 1.25mm, 1.28mm, 1.5mm, and the like. In this embodiment, L may be preferably 1mm.

As shown in fig. 4, in some embodiments of the present application, the driving shaft 110 and the swing shaft 120 are alternatively both cylinders, and the eccentric hole 111 is a circular hole.

In this embodiment, the processing of the cylinder and the circular hole is easier, so that the manufacturing cost of the driving shaft 110 and the swinging shaft 120 is reduced, the connection of the swinging shaft 120 and the eccentric hole 111 is facilitated, and the assembly efficiency of the swinging shaft 120 is improved.

As shown in fig. 7, for the above embodiment, further, the diameter D of the driving shaft 110 and the diameter D of the swing shaft 120 satisfy the relation: D/D=i, 2/5.ltoreq.i.ltoreq.3/5.

It will be appreciated that the strength and stiffness of the oscillating axle 120 are related to the diameter of the oscillating axle 120, the greater its strength and stiffness.

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

Illustratively, i may be set to 2/5, 9/20, 1/2, 3/5, etc., in this embodiment, i may be preferably 1/2.

Referring to fig. 8 to 10, in some embodiments of the present application, the mop vibration device 1000 further includes a driving member 200 and a mop holder 300, wherein the mop holder 300 is provided with a limiting groove 310 passing therethrough, the limiting groove 310 is used for placing the mop assembly 2000, and the driving member 200 is connected to one end of the driving shaft 110 away from the eccentric hole 111 and is used for driving the driving shaft 110 to rotate about the rotation axis thereof, so that the mop assembly 2000 reciprocates along the groove wall of the limiting groove 310 with respect to the surface to be cleaned.

In this embodiment, the mop assembly 2000 is conveniently assembled by the arrangement of the mop support 300, and the mop assembly 2000 is restricted from moving in the axial direction of the swing shaft 120, thereby improving the stability of the reciprocating motion of the mop assembly 2000. The driving member 200 may be a rotating electric machine or a driving motor, both of which can rotate the driving shaft, and the limiting groove 310 serves to limit the reciprocating range of the mop assembly 2000, such that when the driving shaft 110 rotates, the swing shaft 120 moves eccentrically around the rotation line of the driving shaft, so that the mop assembly 2000 can reciprocate along the groove wall of the limiting groove 310 with respect to the surface to be cleaned, thereby limiting the mop assembly 2000 to move within a preset range.

In a second aspect, embodiments of the present application also provide a cleaning robot comprising a mop assembly 2000 and the mop vibratory device 1000 described above. As shown in fig. 1, 2 and 10, the mop assembly 2000 includes a mop 2400, a linkage plate 2200, and a velcro 2300, the mop 2400 is connected to the linkage plate 2200 through the velcro 2300, and a connection portion 2100 is provided on the linkage plate 2200, and the connection portion 2100 is connected to the connection member 130.

When the driving member 200 works, the driving shaft 110 rotates around the rotation axis thereof to drive the swinging shaft 120 to eccentrically rotate around the rotation axis of the driving shaft 110, so that the linkage plate 2200 reciprocates, and thus the mop 2400 can reciprocally circle and scrub the surface to be cleaned, and the actual cleaning area of the mop 2400 in the 360-degree direction is larger than that of the mop 2400, thereby improving the cleaning efficiency of the cleaning robot.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (10)

1. The utility model provides a mop vibrator, is applied to cleaning robot, its characterized in that, mop vibrator includes coupling assembling, coupling assembling includes:

the end part of the driving shaft is provided with an eccentric hole, and the central line of the eccentric hole is not overlapped with the rotation axis of the driving shaft;

one end of the swinging shaft is fixed in the eccentric hole;

the connecting piece is provided with a through shaft hole, the other end of the swinging shaft is arranged in the through shaft hole in a penetrating way, the swinging shaft can rotate relative to the connecting piece, and the connecting piece is connected with the mop component of the cleaning robot;

when the driving shaft rotates around the rotation axis of the driving shaft, the driving shaft drives the swinging shaft to eccentrically rotate around the rotation axis of the driving shaft, so that the mop assembly can reciprocate relative to the surface to be cleaned.

2. The mop vibrator according to claim 1, wherein the connection assembly further comprises a snap ring, an annular clamping groove is formed in one end, far away from the eccentric hole, of the swinging shaft along the circumferential direction of the end, and the snap ring is clamped in the annular clamping groove and abuts against the connection piece to limit the swinging shaft to move along the axial direction of the swinging shaft.

3. The mop vibration device according to claim 2, wherein the connection assembly further comprises a first wear washer sleeved on the oscillating shaft and abutting between the snap ring and the connection member.

4. The mop vibration device according to claim 2, wherein the connection assembly further comprises a second wear washer secured to an end of the drive shaft, the second wear washer abutting the mop assembly on a side facing away from the drive shaft.

5. The mop vibration apparatus according to any one of claims 1 to 4, wherein the connection member comprises a guide roller and a connection sleeve, the connection sleeve is fixedly connected with the mop assembly, the guide roller is rotatably arranged in the connection sleeve, the guide roller is provided with the shaft penetrating hole, and the other end of the swinging shaft is fixed in the shaft penetrating hole.

6. Mop vibration device according to claim 1, characterized in that the distance L between the centre line of the eccentric aperture and the rotation axis of the drive shaft satisfies the relation: l is more than or equal to 0.5mm and less than or equal to 1.5mm.

7. The mop vibrator according to claim 1, wherein the drive shaft and the swing shaft are both cylindrical and the eccentric hole is a circular hole.

8. The mop vibratory device of claim 7, wherein the diameter D of the drive shaft and the diameter D of the oscillating shaft satisfy the relationship: D/D=i, 2/5.ltoreq.i.ltoreq.3/5.

9. The mop vibrator according to any one of claims 1-8, further comprising a driving member and a mop support, wherein the mop support is provided with a limiting groove extending therethrough, the limiting groove is used for placing the mop assembly, and the driving member is connected with one end of the driving shaft away from the eccentric hole and is used for driving the driving shaft to rotate around the rotation axis thereof so as to enable the mop assembly to reciprocate along the groove wall of the limiting groove relative to the surface to be cleaned.

10. A cleaning robot comprising the mop vibratory device of claim 9.