Self-cleaning mechanism and base station

Abstract

According to the self-cleaning mechanism and the base station, the first cleaning piece and the second cleaning piece are arranged to scrape and wash the cleaning piece in different directions, then scraping and washing of the cleaning piece in multiple directions are achieved, and the cleaning effect of the cleaning piece is improved. According to the main technical scheme, the self-cleaning mechanism comprises a first cleaning piece, a second cleaning piece and a third cleaning piece, and the first cleaning piece is used for scraping and cleaning a cleaning piece in the first direction; a second cleaning member; and the power piece is in transmission connection with the second cleaning piece, and the power piece is used for driving the second cleaning piece to move so as to scrape and wash the cleaning piece in the second direction different from the first direction. The mop cleaning device is mainly used for cleaning mops.

Description

Technical Field

[0001] The utility model relates to the technical field of smart home, in particular to a self-cleaning mechanism and a base station. Background Art

[0002] With the continuous development of smart home technology, cleaning robots are increasingly used in daily cleaning tasks, providing numerous conveniences. Cleaning robots are typically used in conjunction with base stations, which dock the cleaning robots and provide services such as cleaning, charging, and water supply.

[0003] The base station is usually equipped with a cleaning element. After the cleaning robot is docked, the cleaning element of the cleaning robot has an interference fit with the cleaning element. By driving the cleaning element to rotate, the cleaning element scrapes and cleans. However, the scraping of the cleaning element on the cleaning element is unidirectional, resulting in poor cleaning effect of the cleaning element. Utility Model Content

[0004] In view of this, the utility model provides a self-cleaning mechanism and a base station, which scrapes the cleaning member in multiple directions by arranging a first cleaning member and a second cleaning member to scrape the cleaning member in different directions, thereby achieving multi-directional scraping of the cleaning member and improving the cleaning effect of the cleaning member.

[0005] In one aspect, the present invention provides a self-cleaning mechanism, comprising:

[0006] a first cleaning member, the first cleaning member being used for scraping the cleaning member in a first direction;

[0007] Second cleaning part;

[0008] The power member is in transmission connection with the second cleaning member, and is used for driving the second cleaning member to move so as to scrape and clean the cleaning member in a second direction different from the first direction.

[0009] On the other hand, the utility model also provides a base station, including a self-cleaning mechanism as any one of the above items, and a base station body, the base station body is used to dock a cleaning robot, the cleaning robot includes a cleaning part, when the cleaning robot stops in place, the cleaning part contacts the first cleaning part and the second cleaning part.

[0010] The self-cleaning mechanism and the base station including the self-cleaning structure proposed in the utility model are

[0011] During cleaning, the first cleaning member is moved relative to the cleaning member, and then the first cleaning member scrapes the cleaning member in a first direction, where the first direction is the moving direction of the first cleaning member relative to the cleaning member, and, driven by the power member, the second cleaning member is moved relative to the cleaning member, and then the second cleaning member scrapes the cleaning member in a second direction, where the second direction is the moving direction of the second cleaning member relative to the cleaning member, and the second direction is different from the first direction. Therefore, the first cleaning member and the second cleaning member can scrape the cleaning member from different directions, thereby simulating the effect of manual scrubbing of the cleaning member in different directions, so that different sides of the cleaning member can be cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A schematic structural diagram of a self-cleaning mechanism provided in an embodiment of the present utility model;

[0013] Figure 2 A schematic diagram of a first partial structure of a self-cleaning mechanism provided by an embodiment of the utility model;

[0014] Figure 3 A schematic diagram of a second partial structure of a self-cleaning mechanism provided by an embodiment of the present utility model;

[0015] Figure 4 A schematic diagram of the positional relationship between the second cleaning member and the cleaning member in a self-cleaning mechanism provided by an embodiment of the present utility model;

[0016] Figure 5a and Figure 5b A schematic structural diagram of the first cleaning member, the second cleaning member, and the cleaning member provided in an embodiment of the present utility model;

[0017] Figure 6 A schematic cross-sectional view of a self-cleaning mechanism according to an embodiment of the present invention;

[0018] Among them, the first cleaning part-100, the first cleaning unit-101, the second cleaning unit-102, the first cleaning rib-111, the second cleaning rib-112, the third cleaning rib-113, the intermediate support part-114, the cleaning part-200, the first cleaning part-201, the second cleaning part-202, the second cleaning part-300, the second cleaning part body-310, the driven bevel gear-320, the first driven bevel gear-321, the second driven bevel gear 322, the power part-400, the driving bevel gear-500, the first driving bevel gear-501, the second driving bevel gear-502, the scraper-600, the first scraper-601, the second scraper-602, the scraper body-610, the mounting plate-620, the cleaning plate-700, the base station body-800, the fixing part-900, and the groove-901. DETAILED DESCRIPTION

[0019] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the following is a detailed description of the specific implementation method, structure, characteristics and effects of a self-cleaning mechanism proposed in accordance with the utility model in combination with the accompanying drawings and preferred embodiments.

[0020] On the one hand, if Figure 1-3 As shown, an embodiment of the present invention provides a self-cleaning mechanism that can be used in a base station. The base station is used to dock a cleaning robot, and the base station can perform operations such as charging, hydrating, cleaning, and dust collection on the docked cleaning robot. The cleaning robot can also be called a sweeping robot, an intelligent cleaning device, a mopping machine, etc., which can move and clean on its own without user control. The cleaning robot includes a robot body and functional mechanisms such as a moving mechanism, a cleaning mechanism, a sensing mechanism, and a main controller for controlling the functional mechanisms. The main controller controls the moving mechanism to control the robot to move toward the base station and dock at the base station, or move out of the base station for mobile cleaning. The cleaning mechanism includes a cleaning member 200 and a driving member for driving the cleaning member 200 to move. The cleaning member 200 can be arranged at the bottom of the cleaning robot. At least a portion of the side of the cleaning member 200 that contacts the ground is flexible, so that the flexible portion can have an interference fit with the ground, that is, contact the ground and rub against the ground for cleaning. The cleaning element 200 can be a dry cleaning element, such as a roller brush. The robot body is provided with a suction port, which sweeps debris into the suction port, where it is then sucked back into the dust box by the fan. Alternatively, the cleaning element 200 can be a wet cleaning element, such as a mop. The wet cleaning element is used to wet clean the floor, complementing the dry cleaning element for a more thorough cleaning. The robot body is provided with a water tank, which provides water or detergent to the wet cleaning element during the cleaning process.

[0021] The self-cleaning mechanism of the embodiment of the present application can be used to clean either a dry cleaning member or a wet cleaning member. In the following embodiments, for ease of explanation, the cleaning member 200 is taken as an example of a wet cleaning member. More specifically, the cleaning member 200 is taken as an example of a mop. The cleaning member 200 includes a cleaning surface that contacts the ground, at least the cleaning surface is water-absorbent, and can then be wet mopped. For example, cleaning bristles are distributed on the cleaning surface of the cleaning member 200. The cleaning bristles can be long, such as lines or loops. The cleaning bristles can also be very short, such as wool felt, and the cleaning bristles are short fluff. Exemplarily, the cleaning member 200 can rotate under the drive of a driving member, thereby causing the cleaning surface to move relative to the ground, cooperating with the movement of the cleaning robot to perform cleaning. There are usually two cleaning members 200, and the two cleaning members 200 can be arranged side by side perpendicular to the forward direction of the cleaning robot to increase the cleaning range.

[0022] After the cleaning robot is working, the cleaning member 200 will be stained. The base station is used to clean the cleaning member 200 after the cleaning robot is docked in place, so as to avoid manual cleaning of the cleaning member 200, thereby realizing self-cleaning of the cleaning robot. After the cleaning robot is docked in place, the cleaning member of the self-cleaning mechanism is in contact with the cleaning surface of the cleaning member 200. During the cleaning process, the water supply system of the base station supplies water to the position of the cleaning member 200. At the same time, the cleaning member of the self-cleaning mechanism scrapes the cleaning member 200, thereby simulating the effect of manual scrubbing of the cleaning member. Among them, scraping refers to the part of the structure of the self-cleaning mechanism that is in interference fit with the cleaning surface moving relative to the cleaning member 200, thereby scraping the cleaning member 200. Exemplarily, the self-cleaning mechanism includes a first cleaning member 100, and the first cleaning member 100 includes an intermediate support member 114 and a plurality of cleaning ribs radiating from the intermediate support member. When the driving member of the cleaning robot drives the cleaning member 200 to rotate, the plurality of cleaning ribs scrape the cleaning member.

[0023] When the self-cleaning mechanism scrapes the cleaning member 200, if only the first cleaning member 100 is provided, the cleaning efficiency of the cleaning member 200 is low, and even if the cleaning ribs of the first cleaning member 100 are increased, the cleaning efficiency cannot be improved. The inventors of the present application have found through extensive research that the cleaning hairs of the cleaning member 200 will fall in the direction in which the self-cleaning mechanism moves relative to the cleaning member 200, so that only the side of the cleaning hairs that is consistent with this direction can be cleaned. If only the first cleaning member 100 is provided, even if the first cleaning member 100 includes multiple cleaning ribs, and the multiple cleaning ribs are consistent with the relative movement direction of the cleaning member 200, the cleaning hairs will still fall in the same direction, and the other side of the cleaning hairs still cannot be cleaned. In the embodiment of the present application, by making the self-cleaning mechanism include multiple cleaning members with different relative movement directions from the cleaning member 200, the cleaning hairs can fall in different directions when passing through the first cleaning member and the second cleaning member, so that different sides of the cleaning member can be cleaned, thereby making the cleaning of the cleaning member more thorough and improving the cleaning efficiency of the cleaning member.

[0024] For example, in one embodiment, the self-cleaning mechanism includes a first cleaning member 100, which is used to scrape the cleaning member 200 in a first direction;

[0025] Second cleaning element 300;

[0026] The power member 400 is in transmission connection with the second cleaning member 300 , and is used to drive the second cleaning member 300 to move so as to scrape the cleaning member 200 in a second direction different from the first direction.

[0027] During cleaning, the first cleaning member 100 is moved relative to the cleaning member 200, or the cleaning surface of the cleaning member 200, to scrape the cleaning bristles in a first direction, where the first direction is the direction of movement of the first cleaning member 100 relative to the cleaning member 200. Driven by the power member 400, the second cleaning member 300 is moved relative to the cleaning member 200, or the cleaning surface of the cleaning member 200, to scrape the cleaning bristles in a second direction, where the second direction is the direction of movement of the second cleaning member 300 relative to the cleaning member 200. The second direction is different from the first direction, so the first cleaning member 100 and the second cleaning member 300 can scrape the cleaning member from different directions, thereby simulating the effect of manually scrubbing the cleaning member in different directions, so that different sides of the cleaning member can be cleaned.

[0028] The transmission connection between one element and another element can be a direct connection between the two elements, or an indirect connection between the two elements through a transmission member such as a transmission gear, as long as the power provided by one element can be output to the other element. The transmission connection will be explained similarly below and will not be repeated here.

[0029] The power component 400 can be a motor, and the power component 400 is transmission-connected to the second cleaning component 300. This may mean that the power component 400 is directly connected to the second cleaning component 300 to output power to the second cleaning component 300, or the power component 400 can output power to the second cleaning component 300 through a transmission component such as a transmission gear.

[0030] The relative movement directions of different cleaning members and the cleaning member 200 can be achieved in various ways. For example, the first cleaning member 100, the second cleaning member, and the cleaning member 200 can all be moved; for example, the cleaning member 200 rotates clockwise at a speed v1, the first cleaning member 100 rotates clockwise at a speed greater than v1, and the second cleaning member 300 rotates counterclockwise; for example, the cleaning member 200 can be fixed, and the first cleaning member 100 and the second cleaning member 300 move in opposite directions relative to the cleaning member 200; for example, the cleaning member 200 can be fixed, the first cleaning member 100 rotates clockwise relative to the cleaning member 200, and the second cleaning member 300 rotates counterclockwise relative to the cleaning member 200. For example, the first cleaning member 100 can be fixed, the cleaning member 200 moves relative to the first cleaning member 100, and the second cleaning member 300 moves relative to the cleaning member 200. It is understandable that, making the less component motion of the first cleaning member 100, the second cleaning member 300 and the cleaning member 200 as much as possible can reduce the use of power parts. Exemplary, the motion of the first cleaning member 100 and the second cleaning member 300 relative to the cleaning member 200 can be simultaneous, and can also be time-sharing, for example, at t1-t2, the first cleaning member 100 and the cleaning member 200 are in contact and move relative to each other, and the second cleaning member 300 and the cleaning member 200 are not in contact, and at t2-t3, the first cleaning member 100 and the cleaning member 200 are not in contact, and the second cleaning member 100 and the cleaning member 200 are in contact and move relative to each other; it is understandable that when the first cleaning member 100 and the second cleaning member 300 are in motion simultaneously relative to the cleaning member 200, the cleaning efficiency of the cleaning member 200 is higher. Exemplarily, the movement of the first cleaning member 100 relative to the cleaning member 200 and the movement of the second cleaning member 300 relative to the cleaning member 200 can be in the same or different planes, for example, the movement of the first cleaning member 100 relative to the cleaning member 200 and the movement of the second cleaning member 300 relative to the cleaning member 200 are both in the horizontal plane, and for another example, the movement of the first cleaning member 100 relative to the cleaning member 200 is in the horizontal plane, and the movement of the second cleaning member 300 relative to the cleaning member 200 is in the vertical plane. It is understandable that when the movement of the first cleaning member 100 relative to the cleaning member 200 and the movement of the second cleaning member 300 relative to the cleaning member 200 are in different planes, the arrangement of the first cleaning member 100, the second cleaning member 300 and the cleaning member 200 will be more compact and more convenient to install. It is understandable that in order to ensure that all positions of the cleaning member 200 can be cleaned by the first cleaning member 100 and the second cleaning member 300, the relative movement between the cleaning member 200 and the first cleaning member 100 and the second cleaning member 300 can be rotation.

[0031] The shapes of the first cleaning member 100, the second cleaning member 300 and the cleaning member 200 can be various, for example, roller-shaped, circular, rib-shaped, plate-shaped, etc. For example, the cleaning member is circular, the first cleaning member 100 and the second cleaning member 300 are both roller-shaped, the roller length is equal to the cleaning member radius, a section of the roller overlaps with the center of the cleaning member 200, the first cleaning member 100 and the second cleaning member 300 rotate with the end overlapping with the center of the cleaning member 200 as the rotation center and the roller length as the radius, and the first cleaning member 100 and the second cleaning member 300 rotate in time sharing; for example, the first cleaning member 100, the second cleaning member 300 and the cleaning member 200 are rib-shaped, roller-shaped, circular, respectively, the first cleaning member 100 is stationary, the cleaning member 200 rotates in the horizontal plane, the second cleaning member 300 rotates in the vertical plane with the roller length direction as the axial direction, and the rotation trajectory of the second cleaning member 300 in the vertical plane is tangent to the rotation trajectory of the cleaning member 200 in the horizontal plane, as shown in FIG. Figure 4 shown.

[0032] Exemplarily, the first direction and the second direction are opposite.

[0033] It is understood that the first cleaning member 100 and the second cleaning member 300 have different cleaning directions on the cleaning member 200, or in other words, the different scraping directions of the cleaning hairs on the cleaning member 200 can be determined based on the same point on the cleaning member. Figure 5a and Figure 5b As shown, in one embodiment, the shape of the cleaning member 200 is circular, the center of the cleaning member 200 is point O, and the cleaning member 200 rotates in the first plane with point O as the center. When the cleaning member 200 rotates, it will periodically contact the first cleaning member 100 and the second cleaning member 300 in sequence. The analysis is performed with point A on the outer edge of the cleaning member 200 as the reference point. Figure 5a As shown, when the cleaning member 200 rotates to the first position (for example, at this time, the first rectangle on the cleaning member 200 contacts a cleaning rib of the first cleaning member 100, and the first rectangle is a rectangle with the line segment between OA as the axis of symmetry, the length of the cleaning rib as the length, and the width of the cleaning rib as the width), the first cleaning member 100 and at least a portion of the area between point O and point A on the cleaning member 200, or on the line segment connecting point O and point A, contact and scrape, so that the first cleaning member 100 scrapes the portion of the cleaning member 200. Figure 5b As shown, when the cleaning member 200 continues to rotate to the second position (for example, at this time the second rectangle on the cleaning member 200 contacts the second cleaning member 300, and the second rectangle is a rectangle with the line segment between OA as the symmetry axis, the length of the second cleaning member 300 as the length, and the width of the second cleaning member 300 as the width), at this time Figure 5a Arrival at point A Figure 5bAt point A in the figure, the second cleaning member 300 contacts and scrapes at least a portion of the area from point O to point A on the cleaning member 200, so that the second cleaning member 300 scrapes the portion of the area on the cleaning member 200.

[0034] For example, the first cleaning member 100 is stationary, the cleaning member 200 rotates in a first plane, and the second cleaning member 300 rotates in a second plane perpendicular to the first plane with the roller length direction as the axial direction, and the rotation trajectory of the second cleaning member 300 is tangent to the rotation trajectory of the cleaning member 200. The movement directions of the first cleaning member 100, the second cleaning member 300 and the cleaning member 200 are as follows: Figure 5a and Figure 5b As shown, the curved arrow located on the outside of the self-cleaning mechanism indicates the rotation direction of the cleaning member 200, and the straight arrow inside the cleaning member 200 indicates the reverse direction of the cleaning hairs on the cleaning member 200 after passing through the first cleaning member 100 and the second cleaning member 300, or the scraping direction of the cleaning hairs by the first cleaning member 100 and the second cleaning member 300. Figure 5a and Figure 5b The figure shows a cleaning robot including a first cleaning member 201 and a second cleaning member 202. The second cleaning member 202 is used as an example to illustrate the movement of each component. Figure 5a As shown, the first cleaning member 100 is stationary, and the second cleaning member 202 rotates clockwise. The moving direction of the first cleaning member 100 relative to the cleaning member 200 is counterclockwise around the rotation axis of the cleaning member 200. When the partial area from point O to point A passes through the cleaning rib below the first cleaning member 100, the cleaning rib scrapes the cleaning hairs of the partial area from point O to point A in the direction of Figure 5a The direction indicated by the solid arrow inside the cleaning member 200 causes the cleaning hair to fall in that direction. The second cleaning member 202 continues to rotate. Figure 5a Arrival of the situation shown Figure 5b In the situation shown, the cleaning member passes through the second cleaning member 300 in the partial area from point O to point A. If the second cleaning member 300 is stationary at this time, the scraping direction of the cleaning hairs of the second cleaning member 300 in the partial area from point O to point A is Figure 5b The direction indicated by the dotted arrow inside the cleaning member 200 is the same as the direction of the cleaning hairs of the first cleaning member 100 and the second cleaning member 300 for the OA area. Therefore, the second cleaning member 300 needs to move actively, and then change the moving direction of the second cleaning member 300 relative to the cleaning member 200. For example, the second cleaning member 300 moves in the same direction as the first cleaning member 100. Figure 5b The hollow arrow indicates the direction of rotation (clockwise when looking from the second cleaning member 202 to the first cleaning member 201). At this time, the second cleaning member 300 scrapes the cleaning hairs of the partial area from point O to point A in the direction of rotation. Figure 5bThe direction shown in the solid arrow inside the cleaning member 200 causes the cleaning hair to fall in this direction. Like this, the scraping direction of the cleaning hair of the first cleaning member 100 to the OA zone is opposite to the scraping direction of the cleaning hair of the second cleaning member 300 to the OA zone.

[0035] It is worth further explaining that when the cleaning member 200 moves to the second position, in the relative motion between the cleaning member 200 and the second cleaning member 300 caused by the rotation of the cleaning member 200 (the second cleaning member 300 can be regarded as stationary at this time), the linear velocity of point A is in the first direction ( Figure 5b In the relative motion between the cleaning member 200 and the second cleaning member 300 caused by the movement of the second cleaning member (300) (the cleaning member 200 can be regarded as stationary at this time), the linear velocity of point A is the second direction ( Figure 5b The second direction is the direction indicated by the solid arrow in the middle), and the second direction is the opposite direction of the first direction. Furthermore, the rotation speed of the second cleaning member 300 is greater than the rotation speed of the cleaning member 200, so that when the cleaning member 200 moves to the second position (for example, when the second rectangle on the cleaning member 200 contacts the second cleaning member 300), the linear velocity of point A in the second direction is greater than the linear velocity of point A in the first direction, thereby achieving the second cleaning member 300 scraping the cleaning member 200 in the second direction.

[0036] In an embodiment of the present utility model, when the cleaning member needs to be cleaned, the cleaning member is driven to move. When the cleaning bristles move to the first position, the first cleaning member will scrape the cleaning bristles of the cleaning member in the opposite direction of the rotation direction of the cleaning member. When the cleaning bristles at the same position move to the second position, the second cleaning member moves under the drive of the driving member, so that the second cleaning member scrapes the cleaning bristles of the cleaning member in a scraping direction different from that of the first cleaning member. As a result, the cleaning bristles can fall in different directions when passing through the first cleaning member and the second cleaning member, so that different sides of the cleaning bristles can be cleaned, thereby making the cleaning of the cleaning member more thorough.

[0037] In one embodiment, the cleaning member 200 rotates in a first plane, which is the plane where the cleaning member 200 is located, and the second cleaning member 300 rotates in a second plane perpendicular to the first plane. The first plane can also be interpreted as the plane where the cleaning surface of the cleaning member 200 is located, or the plane that contacts the ground or the surface to be cleaned when the cleaning member 200 is in use. The second cleaning member 300 rotates in the second plane perpendicular to the first plane, and the rotation trajectory of the second cleaning member 300 in the second plane is tangent to the rotation trajectory of the cleaning member 200 in the first plane, thereby enabling the second cleaning member 300 to provide a different scraping direction than the first cleaning member 100.

[0038] In one embodiment, a first protrusion is provided on the first cleaning member 100. A second protrusion is provided on the second cleaning member 300, and the second protrusion is a spiral protrusion, or the second cleaning member 300 is provided with comb teeth. The first protrusion is interference fit with the cleaning member 200, and the second protrusion is interference fit with the cleaning member 200. Exemplarily, the cleaning member 200 is flexible, so that the first protrusion and the second protrusion can be interference fit with the cleaning member 200.

[0039] The first protrusion is used for scraping the cleaning hair, to increase the cleaning power to the cleaning hair. The first protrusion can be a point-shaped protrusion or a column protrusion. The second protrusion can be a spiral protrusion and / or a comb-shaped protrusion, for example, on the large protrusion of the spiral, be provided with a comb-shaped small protrusion. The second cleaning member 300 can be an approximate cylindrical structure or a roller-shaped structure, and the spiral protrusion refers to that the second protrusion extends simultaneously in the circumference and axial direction of the second cleaning member 300. The second protrusion that spirally coils can be a single one, or can be two or more second protrusions that are coiled side by side on the second cleaning member 300. Increase the contact area and the scraping power of the second cleaning member 300 and the cleaning member 200 by the second protrusion, avoid slipping between the cleaning hair of the second cleaning member 300 and the cleaning member 200.

[0040] Furthermore, the second protrusions provided on the second cleaning member 300 may be spirally wound, or may be protrusions extending in the axial direction of the second cleaning member 300, or may be simply dot-shaped protrusions, such as comb-shaped protrusions. The spiral winding method can increase the contact area between the protrusions and the cleaning member 200, and the direction of the winding can be set to drive the scraped dirty water toward the outside of the cleaning member 200, thereby improving the cleaning effect of the cleaning member 200.

[0041] The first protrusion has an interference fit with the cleaning member 200, and the second protrusion has an interference fit with the cleaning member 200, which means that both the first protrusion and the second protrusion are inserted between the cleaning bristles of the cleaning member 200, so that the cleaning bristles can be combed and driven to fall in different directions.

[0042] In one embodiment, the highest point of the first protrusion and the highest point of the second protrusion are at the same height, thereby achieving the same degree of interference fit between the first protrusion and the second protrusion and the cleaning member, and being able to scrape the cleaning bristles to the same extent, ensuring the same degree of cleaning in both directions of the cleaning bristles.

[0043] In one embodiment, Figure 1-3 、 Figure 6 As shown, the cleaning mechanism further includes: a scraping bar 600 , the scraping bar 600 is transmission-connected to the power member 400 , and the scraping bar 600 is transmission-connected to the second cleaning member 300 .

[0044] The base station is provided with a docking space for the cleaning robot, and a self-cleaning mechanism is fixed to the inner wall of the docking space. Alternatively, in some embodiments, a cleaning tray 700 may be provided in the docking space, and the self-cleaning mechanism is fixed to the cleaning tray 700. When water flows through the self-cleaning mechanism, it scrapes against the cleaning elements, causing dirt and dirty water to flow into the cleaning tray 700. A scraping bar 600 may be provided in the cleaning tray 700, which rotates within the cleaning tray 700. The cleaning tray is also provided with a sewage trough, which is located on the rotational trajectory of the scraping bar within the cleaning tray, so that the scraping bar 600 can scrape dirt and dirty water into the sewage trough during rotation.

[0045] The rotation of the scraper strip can be driven by a power member 400, for example, Figure 2-3 and Figure 6 As shown, the cleaning disc 700 has a through hole, and the power member 400 is directly connected to the transmission mechanism located at the bottom of the cleaning disc 700. At least a portion of the transmission mechanism extends from the through hole into the cleaning disc 700 and is directly connected to the scraper bar 600, driving the scraper bar 600 to rotate. The scraper bar is then connected to the second cleaning element 300 through the scraper bar 600, driving the second cleaning element 300 to move. In this way, the power member 400 is connected to the second cleaning element 300 through the scraper bar 600, achieving simultaneous driving of the scraper bar 600 and the second cleaning element 300, increasing the power utilization of the power member 400, eliminating the need for a separate drive mechanism for the second cleaning element 300, and achieving a more compact structure.

[0046] In some other embodiments, such as Figure 2 、 Figure 6As shown, the cleaning mechanism further includes: a driving bevel gear 500, the second cleaning member 300 includes a second cleaning member body 310 and at least one driven bevel gear 320, the driven bevel gear 320 is connected to the second cleaning member body 310, and a scraper is connected to the driving bevel gear 500 to drive the driving bevel gear 500 to rotate; the driving bevel gear 500 is meshed with the driven bevel gear 320, driving the driven bevel gear 320 to rotate in a plane perpendicular to the rotation plane of the driving bevel gear 500. Exemplarily, the connection between the driven bevel gear 320 and the second cleaning member body 310 can be fixedly connected to the second cleaning member body 310, or the driven bevel gear 320 and the second cleaning member body 310 can be integrally formed. Exemplarily, the connection between the scraper and the driving bevel gear 500 can be snap-fitted to the driving bevel gear 500. In this embodiment, the transmission connection between the scraper bar and the second cleaning member is that the scraper bar engages with the driven bevel gear on the second cleaning member through the driving bevel gear. By setting the desired transmission ratio, the rotation of the scraper bar can drive the second cleaning member to move at a desired speed. The transmission connection between the driving bevel gear 500 and the driven bevel gear 320 provides more possibilities for positioning the power member 400, making the position of the power member 400 more flexible, such as the rotation axis of the second cleaning member 300 is set horizontally and the axis of the scraper bar 600 is set vertically. Exemplarily, the driving bevel gear 500 includes a first conical tooth surface, such as a 45-degree beveled surface machined on the side wall of the driving bevel gear 500, and teeth are machined on the beveled surface to form the first conical tooth surface. The driven bevel gear 320 includes a second conical tooth surface, such as a 45-degree beveled surface machined on the side wall of the driven bevel gear 320, and teeth are machined on the beveled surface to form the second conical tooth surface. The first conical tooth surface and the second conical tooth surface are meshed. The scraper bar 600 drives the active bevel gear 500 to rotate around the vertical rotation axis, and realizes power transmission through the engagement between the first conical tooth surface and the second conical tooth surface, thereby driving the second cleaning component 300 to rotate around the horizontal rotation axis.

[0047] In some other embodiments, such as Figure 3As shown, the scraper 600 includes a scraper body 610 and a mounting plate 620, and the transmission connection between the scraper 600 and the power member 400 includes a transmission connection between the mounting plate of the scraper and the power member 400; the self-cleaning mechanism also includes: a fixing member 900, the fixing member 900 is located between the active bevel gear 500 and the mounting plate 620, and the fixing member 900, the active bevel gear 500 and the mounting plate 620 are concentric; a groove 901 is provided on the outer edge of the fixing member 900, and when the driven bevel gear 320 is located in the groove 901, the active bevel gear 500 is meshed with the driven bevel gear 320. In this embodiment, the scraper strip 600 and the power member 400 are connected in a transmission manner such that the mounting plate of the scraper strip is connected in a transmission manner to the power member 400. The driven bevel gear of the second cleaning member 300 is mounted in a groove 901 on a fixed member that is concentric with the driving bevel gear 500 and the mounting plate 620. The rotation of the mounting plate 620 drives the driving bevel gear 500 to rotate. The upper end of the driven bevel gear 320 contacts the driving bevel gear 500. The driven bevel gear 320 rotates under the drive of the driving bevel gear 500, thereby driving the entire second cleaning member 300 to rotate. The fixed member can be in a stationary state during this process, and the friction between the driven bevel gear and the bottom surface of the groove 901 can be reduced by reducing the contact area and reducing the friction coefficient.

[0048] In one embodiment, Figure 1 As shown, the first cleaning member 100 includes an intermediate support member 114 and at least one cleaning rib 111, 112, 113 connected to the intermediate support member 114 and radially distributed with the intermediate support member 114 as the center. The intermediate support member 114 is covered on the active bevel gear 500, and the intermediate support member 114 and the groove 901 of the fixing member 900 are provided with an avoidance slope at the corresponding position. Exemplarily, the intermediate support member 114 can be bottle cap-shaped so that it can be covered on the active bevel gear 500 and form a accommodating chamber for the active bevel gear 500 and the driven bevel gear 320 together with the fixing member 900. Exemplarily, when the active bevel gear 500 rotates, the intermediate support member 114 and the cleaning rib are stationary. It is understandable that the connection between the cleaning rib and the intermediate support member 114 can be that the cleaning rib and the intermediate support member 114 are integrally formed.

[0049] The intermediate support member 114 and the fixing member 900 can be detachably connected to facilitate the disassembly and assembly of the second cleaning member 300, such as the detachable fixing member 900, to pick up the second cleaning member 300 for cleaning and replacement. The connection method between the intermediate support member 114 and the fixing member 900 includes but is not limited to one or a combination of snap-on, screw-on, bolt-on, plug-in, sliding connection, magnetic connection and bonding. The intermediate support member 114 and the fixing member 900 cooperate to cover the active bevel gear 500 and the driven bevel gear 320 therein, so as to prevent debris, sewage, etc. from entering between the active bevel gear 500 and the driven bevel gear 320, so that the transmission between the active bevel gear 500 and the driven bevel gear 320 is smoother. The avoidance slope of the intermediate support member 114 provides a setting space for the driven bevel gear 320.

[0050] Furthermore, the second cleaning member body 310 also includes a connecting area connected to the driven bevel gear 320. Figure 6 In the second cleaning member, the portion between the second cleaning member body 310 and the driven bevel gear 320 has an outer diameter in the connecting region that is smaller than the outer diameter of the driven bevel gear 320. The connecting region is connected to the opening formed by the edges of the groove 901, and the driven bevel gear 320 is located in the groove 901. The connecting region slides against the edges of the groove 901, thereby realizing radial limiting of the second cleaning member 300. Due to its large outer diameter, the driven bevel gear 320 will interact with the edges of the groove 901, thereby limiting the axial position of the second cleaning member 300, making the second cleaning member 300 position stable and not easy to move. The provision of the groove 901 also ensures that the driven bevel gear 320 is not easily damaged. It is understandable that the second cleaning member body 310, the driven bevel gear 320 and the connecting region can be integrally formed.

[0051] In one embodiment, the scraper bar 600 includes a scraper bar body 610 and a mounting plate 620 . The scraper bar 600 and the mounting plate 620 are embedded and engaged with each other, so that the mounting plate 620 of the scraper bar is in transmission connection with the driving bevel gear 500 .

[0052] Illustratively, the lower surface of the active bevel gear 500 has an annular convex wall, which encloses a mounting cavity. The upper surface of the mounting plate 620 has a mounting protrusion, which is embedded in the mounting cavity, so that the mounting plate 620 of the scraper is transmission-connected to the active bevel gear 500.

[0053] Exemplarily, the transmission connection between the scraper 600 and the active bevel gear 500 can be that an external hexagonal mounting protrusion is provided on the scraper 600, and an internal hexagonal mounting cavity is provided on the active bevel gear 500, and the external hexagonal mounting protrusion is embedded in the internal hexagonal mounting cavity to achieve circumferential limitation of the scraper 600 and the active bevel gear 500.

[0054] In one embodiment, the cleaning member 200 includes a first cleaning member 201 and a second cleaning member 202. The first cleaning member 100 includes a first cleaning unit 101 and a second cleaning unit 102. The first cleaning unit 101 and the second cleaning unit 102 clean the first cleaning member 201 and the second cleaning member 202, respectively. That is, each cleaning unit cleans a single first cleaning member 201 or a single second cleaning member 202. The first cleaning unit 101 and the second cleaning unit 102 respectively include a first cleaning rib 111, a second cleaning rib 112, a third cleaning rib 113, and an intermediate support member 114. The first cleaning ribs 111, the second cleaning ribs 112, and the third cleaning ribs 113 are radially distributed around the intermediate support member 114. This arrangement enables effective cleaning of the cleaning member 200 when it rotates. As described above, the first cleaning rib 111, the second cleaning rib 112, and / or the third cleaning rib 113 are provided with a protruding first protrusion. In some embodiments, water supply outlets are provided on the first cleaning ribs 111, the second cleaning ribs 112, and / or the third cleaning ribs 113. The water supply system of the base station is connected to the water supply outlets on the first cleaning ribs 111, the second cleaning ribs 112, and / or the third cleaning ribs 113. Water is then supplied to the cleaning element 200 via the first cleaning ribs 111, the second cleaning ribs 112, and / or the third cleaning ribs 113, thereby achieving more uniform and sufficient water replenishment of the cleaning element 200. The cleaning ribs with water supply outlets are tilted at a certain angle so that the end of the cleaning rib where the water supply outlet is located is higher, thereby facilitating water supply to the cleaning element 200.

[0055] In one embodiment, the cleaning member 200 includes a first cleaning member 201 and a second cleaning member 202, and the first cleaning member 100 includes a first cleaning unit 101 and a second cleaning unit 102, wherein the first cleaning unit 101 and the second cleaning unit 102 clean the first cleaning member 201 and the second cleaning member 202, respectively. The length of the line connecting the centers of the first cleaning member 201 and the second cleaning member 202 is greater than the diameter of either cleaning member 200, thereby enabling the first cleaning member 201 and the second cleaning member 202 to be arranged side by side. The second cleaning member 300 is roller-shaped and is located on the line connecting the centers of the first cleaning member 201 and the second cleaning member 202. The lengthwise center of the second cleaning member 300 coincides with the center of the line connecting the centers of the first cleaning member 201 and the second cleaning member 202.

[0056] The second cleaning member 300 is located between the two first cleaning units 101 and the second cleaning unit 102. The first cleaning member 201 and the second cleaning member 202 share the same second cleaning member 300. On the one hand, the number of second cleaning members 300 can be reduced, reducing structural redundancy, thereby simplifying and compacting the structure. On the other hand, the driving burden can be reduced. The first cleaning unit 101 and the second cleaning unit 102 are symmetrically arranged. The two first cleaning ribs 111 are arranged in parallel, the two second cleaning ribs 112 move away from each other and extend in a direction away from the first cleaning ribs 111, and the two third cleaning ribs 113 move closer to each other and extend in a direction away from the first cleaning ribs 111. The second cleaning member 300 is located between the first cleaning rib 111 and the third cleaning rib 113, and its axis is perpendicular to the first cleaning rib 111.

[0057] In one embodiment, the lengthwise center of the second cleaning element 300 coincides with the center of the line connecting the centers of the first cleaning element 201 and the second cleaning element 202. This ensures that the lengths of the interference areas between the second cleaning element 300, the first cleaning element 201, and the second cleaning element 202 are consistent, providing consistent cleaning strength on the first cleaning element 201 and the second cleaning element 202.

[0058] In one embodiment, the second cleaning member 300 includes a first end and a second end in a longitudinal direction, and a portion of the first end of the second cleaning member 300 contacts at least two-thirds of the radius of the first cleaning member 201; and / or a portion of the second end of the second cleaning member 300 contacts at least two-thirds of the radius of the second cleaning member 202. This ensures that the interference fit area between the second cleaning member 300 and the first cleaning member 201 and the second cleaning member 202 is sufficiently long to facilitate the relative movement of the second cleaning member 300 and the first cleaning member 201 and the second cleaning member 300 and the second cleaning member 202, thereby ensuring that the second cleaning member 300 has sufficient contact area with the first cleaning member 201 and the second cleaning member 202.

[0059] The direction of rotation of the second cleaning member 300 should ensure that the second protrusion can scrape the cleaning member 200 in the second direction. In one embodiment, the first cleaning member 201 rotates in a first plane with point O1 as the center, and the second cleaning member 202 rotates in the first plane with point O2 as the center. The first plane is the plane where the first cleaning member 201 and the second cleaning member 202 are located. The first cleaning unit 101 and the second cleaning unit 102 are stationary, and the second cleaning member 300 rotates in a second plane perpendicular to the first plane.

[0060] The first cleaning member 201 rotates clockwise and the second cleaning member 202 rotates counterclockwise. At this time, when looking from the second cleaning member 202 to the first cleaning member 201, the second cleaning member 300 should rotate counterclockwise, or, the first cleaning member 201 rotates counterclockwise and the second cleaning member 202 rotates clockwise. At this time, when looking from the second cleaning member 202 to the first cleaning member 201, the second cleaning member 300 should rotate clockwise. In this way, it is ensured that the scraping direction of the first cleaning unit 101 for the reference point on the first cleaning member 201 and the scraping direction of the second cleaning member 300 for the reference point on the first cleaning member 201 are different. At the same time, the scraping direction of the second cleaning unit 102 for the reference point on the second cleaning member 202 and the scraping direction of the second cleaning member 300 for the reference point on the second cleaning member 202 are different.

[0061] In one embodiment, Figure 2-3As shown, the second cleaning member 300 includes a first end and a second end in the length direction; the second cleaning member 300 includes a second cleaning member body 310, a first driven bevel gear 321 and a second driven bevel gear 322, the first driven bevel gear 321 is connected to the second cleaning member body 310 at the first end (for example, the first driven bevel gear 321 and the second cleaning member body 310 are formed as one piece), and the second driven bevel gear 322 is connected to the second cleaning member body 310 at the second end (for example, the first driven bevel gear 322 and the second cleaning member body 310 are formed as one piece); the self-cleaning mechanism also includes: a first active bevel gear 501 and a second active bevel gear Gear 502; first scraper 601, first scraper 601 is in transmission connection with power member 400; second scraper 602, second scraper 602 is in transmission connection with power member 400; first scraper 601 is connected to first driving bevel gear 501; first driving bevel gear 501 is meshed with first driven bevel gear 321; second scraper is connected to second driving bevel gear 502; second driving bevel gear 502 is meshed with second driven bevel gear 322; driven by power member 400, first scraper 601 and second scraper 602 rotate around their respective central axes, with the first scraper 601 and second scraper 602 rotating in opposite directions. Typically, the first scraper 601 and second scraper 602 rotate at the same speed; however, the first scraper 601 and second scraper 602 can also rotate at different speeds, and the speeds of the two driven bevel gears 320 can be adjusted by using different transmission ratios of the two sets of driving bevel gears 500 and driven bevel gear 320. In this embodiment, the first scraping bar 601 and the second scraping bar 602 can be transmission-connected to the same power member 400, or they can be transmission-connected to the first power member 401 and the second power member 402 in the power member 400. For each scraping bar 600, a matching driving bevel gear 500 is provided, and the second cleaning member 300 includes two driven bevel gears 320, which are respectively driven by the two driving bevel gears 500 transmission-connected to the two scraping bars 600. It is understandable that the driving forces received by the two driven bevel gears 320 need to be matched (consistent in direction and speed) to ensure that the second cleaning member 300 can rotate smoothly.

[0062] On the other hand, the utility model also provides a base station, including a self-cleaning mechanism as any one of the above items, and a base station body 800, the base station body 800 is used to dock a cleaning robot, the cleaning robot includes a cleaning part 200, when the cleaning robot stops in place, the cleaning part 200 contacts the first cleaning part 100 and the second cleaning part 300.

[0063] The base station body 800 includes a docking space, which is used to dock the cleaning robot. The self-cleaning mechanism can be installed in the docking space. For example, a mounting groove that matches the shape of the aforementioned cleaning disc 700 is provided on the bottom wall of the docking space, and the cleaning disc 700 is removably embedded in the mounting groove. A sewage guide hole that passes through the sewage tank and the mounting groove is provided on the cleaning disc 700. When the power component 400 drives the scraper 600 to move, the scraper 600 scrapes and pushes the sewage to the sewage guide hole, and then flows into the mounting groove and is collected by the sewage collection system of the base station body 800. An accommodating space can also be provided on the base station body 800. The power component 400 is connected to the base station body 800 and is located in the accommodating space to protect the power component 400.

[0064] It will be understood that when an element (e.g., a first element) is referred to as being “(operably or communicatively) coupled to / coupled to” another element (e.g., a second element) or “connected to” another element (e.g., a second element), it may be directly coupled to / directly coupled to or directly connected to the other element, or coupled to / coupled to or connected to the other element via an intermediate element (e.g., a third element). In contrast, when an element (e.g., a first element) is referred to as being “directly coupled to” or “directly coupled to” another element (e.g., a second element), it will be understood that there is no intermediate element (e.g., a third element) between the element and the other element.

[0065] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A self-cleaning mechanism, characterized in that: include: a first cleaning member (100), the first cleaning member (100) being used to scrape the cleaning member (200) in a first direction; a second cleaning member (300); A power member (400) is connected to the second cleaning member (300) in a transmission manner, and the power member (400) is used to drive the second cleaning member (300) to move so as to scrape the cleaning member (200) in a second direction different from the first direction.

2. The self-cleaning mechanism according to claim 1, characterized in that: The cleaning member (200) is circular in shape, the center of the cleaning member (200) is point O, the cleaning member (200) rotates around point O, and the outer edge of the cleaning member (200) includes point A; When the cleaning member (200) rotates to the first position, the first cleaning member (100) contacts and scrapes at least a portion of the area from point O to point A on the cleaning member (200), so that the first cleaning member (100) scrapes the cleaning member (200) in the first direction; When the cleaning member (200) rotates to the second position, the second cleaning member (300) contacts and scrapes at least a portion of the area from point O to point A on the cleaning member (200), so that the second cleaning member (300) scrapes the cleaning member (200) in the second direction.

3. The self-cleaning mechanism according to claim 2, characterized in that: When the cleaning member (200) moves to the second position, in the relative movement of the cleaning member (200) and the second cleaning member (300) caused by the rotation of the cleaning member (200), the linear velocity of the point A is in the first direction; in the relative movement of the cleaning member (200) and the second cleaning member (300) caused by the movement of the second cleaning member (300), the linear velocity of the point A is in the second direction, and the second direction is the opposite direction of the first direction.

4. The self-cleaning mechanism according to any one of claims 1 to 3, characterized in that: The cleaning member (200) rotates in a first plane with point O as the center, the first plane is the plane where the cleaning member (200) is located, the first cleaning member (100) is stationary, and the second cleaning member (300) rotates in a second plane perpendicular to the first plane, and the rotation trajectory of the second cleaning member in the second plane is tangent to the rotation trajectory of the cleaning member in the first plane.

5. The self-cleaning mechanism according to claim 4, characterized in that: The rotation speed of the second cleaning element (300) is greater than the rotation speed of the cleaning element (200).

6. The self-cleaning mechanism according to claim 1, characterized in that: The first cleaning member (100) is provided with a first protrusion; The second cleaning element (300) is provided with a second protrusion, which is a spiral protrusion and / or a comb-shaped protrusion; The first protrusion is in interference fit with the cleaning member (200), and the second protrusion is in interference fit with the cleaning member (200).

7. The self-cleaning mechanism according to claim 6, characterized in that: The highest point of the first protrusion and the highest point of the second protrusion are consistent in height.

8. The self-cleaning mechanism according to claim 1, characterized in that: The self-cleaning mechanism also includes: A scraping bar (600) is connected to the power member (400) by transmission, and the scraping bar (600) is connected to the second cleaning member (300) by transmission.

9. The self-cleaning mechanism according to claim 8, characterized in that: The self-cleaning mechanism also includes: A driving bevel gear (500); the second cleaning component (300) comprises a second cleaning component body (310) and at least one driven bevel gear (320); the driven bevel gear (320) is connected to the second cleaning component body (310); the scraper is connected to the driving bevel gear (500); and the driving bevel gear (500) is meshed with the driven bevel gear.

10. The self-cleaning mechanism according to claim 9, characterized in that: The scraper (600) comprises a scraper body (610) and a mounting plate (620); the transmission connection between the scraper (600) and the power member (400) comprises the transmission connection between the scraper mounting plate (620) and the power member (400); the self-cleaning mechanism further comprises: A fixing member (900) is located between the driving bevel gear (500) and the mounting plate (620), and the fixing member (900), the driving bevel gear (500) and the mounting plate (620) are concentric; a groove (901) is provided on the outer edge of the fixing member (900), and when the driven bevel gear (320) is located in the groove (901), the driving bevel gear (500) is meshed with the driven bevel gear (320).

11. The self-cleaning mechanism according to claim 10, characterized in that: The first cleaning member (100) comprises an intermediate support member (114) and at least one cleaning rib (111, 112, 113) connected to the intermediate support member (114) and radially distributed around the intermediate support member (114); the intermediate support member (114) is covered on the active bevel gear (500); and an avoidance slope is provided at a position of the intermediate support member (114) corresponding to the groove (901) of the fixing member (900).

12. The self-cleaning mechanism according to claim 9, characterized in that: The scraper bar includes a scraper bar body (610) and a mounting plate (620). The lower surface of the active bevel gear (500) has an annular convex wall, which encloses a mounting cavity. The upper surface of the mounting plate (620) has a mounting protrusion, which is embedded in the mounting cavity, so that the mounting plate (620) of the scraper strip is connected to the active bevel gear (500).

13. The self-cleaning mechanism according to claim 1, characterized in that: The cleaning member (200) comprises a first cleaning member (201) and a second cleaning member (202); the first cleaning member (100) comprises a first cleaning unit (101) and a second cleaning unit (102); the first cleaning unit (101) and the second cleaning unit (102) scrape and clean the first cleaning member (201) and the second cleaning member (202) respectively; The length of the center line connecting the first cleaning member (201) and the second cleaning member (202) is greater than the diameter of any of the cleaning members (200); the second cleaning member (300) is located on the center line connecting the first cleaning member (201) and the second cleaning member (202); and the center of the second cleaning member (300) in the longitudinal direction coincides with the center of the center line connecting the first cleaning member (201) and the second cleaning member (202).

14. The self-cleaning mechanism according to claim 13, characterized in that: The second cleaning member (300) comprises a first end and a second end in a length direction; The second cleaning member (300) includes a partial area of ​​the first end in contact with at least two-thirds of the radius of the first cleaning member (201); And / or, the second cleaning member (300) includes a partial area of ​​the second end in contact with at least two-thirds of the radius of the second cleaning member (202).

15. The self-cleaning mechanism according to claim 13, characterized in that: The first cleaning member (201) rotates in a first plane with point O1 as the center, and the second cleaning member (202) rotates in the first plane with point O2 as the center, the first plane being the plane where the first cleaning member (201) and the second cleaning member (202) are located, the first cleaning unit (101) and the second cleaning unit (102) are stationary, and the second cleaning member (300) rotates in a second plane perpendicular to the first plane; The first cleaning member (201) rotates clockwise, the second cleaning member (202) rotates counterclockwise, and when looking from the second cleaning member (202) to the first cleaning member (201), the second cleaning member (300) rotates counterclockwise; or, the first cleaning member (201) rotates counterclockwise, the second cleaning member (202) rotates clockwise, and when looking from the second cleaning member (202) to the first cleaning member (201), the second cleaning member (300) rotates clockwise.

16. The self-cleaning mechanism according to claim 15, characterized in that: The second cleaning member (300) comprises a first end and a second end in a length direction; the second cleaning member (300) comprises a second cleaning member body (310), a first driven bevel gear (321) and a second driven bevel gear (322); the first driven bevel gear (321) is connected to the second cleaning member body (310) at the first end, and the second driven bevel gear (322) is connected to the second cleaning member body (310) at the second end; The self-cleaning mechanism also includes: A first driving bevel gear (501) and a second driving bevel gear (502); a first scraper bar (601), the first scraper bar (601) being in transmission connection with the power member (400); a second scraper (602), the second scraper (602) being in transmission connection with the power member (400); The first scraper strip (601) is connected to the first active bevel gear (501); the first active bevel gear (501) is meshed with the first driven bevel gear (321); The second scraper strip (602) is connected to the second driving bevel gear (502); the second driving bevel gear (502) is meshed with the second driven bevel gear (322); Driven by the power member (400), the first scraper (601) and the second scraper (602) rotate around their respective central axes, and the first scraper (601) and the second scraper (602) rotate in opposite directions.

17. A base station, characterized in that: It comprises a self-cleaning mechanism as described in any one of claims 1 to 16 above, and a base station body (800), wherein the base station body (800) is used to dock a cleaning robot, the cleaning robot comprises the cleaning member, and when the cleaning robot stops in place, the cleaning member contacts the first cleaning member and the second cleaning member.

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