Self-cleaning mechanism and base station

Abstract

A self-cleaning mechanism and a base station. A first washing member (100) and a second washing member (300) are provided to scrape and wash a cleaning member (200) in different directions, thereby achieving the scraping and washing of the cleaning member (200) in a plurality of directions. The self-cleaning mechanism comprises: the first washing member (100), used for scraping and washing the cleaning member (200) in a first direction; the second washing member (300); and a power member (400) transmittingly connected to the second washing member (300) and used for driving the second washing member (300) to move, so as to scrape and wash the cleaning member (200) in a second direction different from the first direction.

Description

Self-cleaning mechanism and base station Cross-reference to related applications

[0001] The present application claims priority to the application with the application number 202421971830.4, the application name "Self-cleaning mechanism and base station", which was filed with the State Intellectual Property Office of China on August 14, 2024, and the entire content of the application is incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of smart home, and in particular to a self-cleaning mechanism and a base station. BACKGROUND

[0003] With the continuous development of smart home technology, the use frequency of cleaning robots in daily cleaning work is getting higher and higher, which provides many conveniences for life. Cleaning robots are usually used with base stations, and the base station is used to dock the cleaning robot and can provide cleaning, charging, water supply and other services for the cleaning robot.

[0004] The cleaning part is usually provided on the base station. After the cleaning robot is docked in place, the cleaning part of the cleaning robot has an interference fit with the cleaning part, and the cleaning part is driven to rotate to realize the scraping and cleaning of the cleaning part. SUMMARY

[0005] Therefore, the present disclosure provides a self-cleaning mechanism and a base station.

[0006] In one aspect, the present disclosure provides a self-cleaning mechanism, comprising:

[0007] a first cleaning part, the first cleaning part being used to scrape and clean the cleaning part in a first direction;

[0008] a second cleaning part;

[0009] a power part, the power part being in transmission connection with the second cleaning part, and the power part being used to drive the second cleaning part to move to scrape and clean the cleaning part in a second direction different from the first direction.

[0010] According to an exemplary embodiment, the cleaning part is circular in shape, the center of the cleaning part is point O, the cleaning part rotates around point O, and the outer edge of the cleaning part includes point A;

[0011] When the cleaning part rotates to a first position, the first cleaning part and at least part of the area of the cleaning part from point O to point A are in contact and scraping, so that the first cleaning part scrapes and cleans the cleaning part in the first direction;

[0012] When the cleaning part rotates to a second position, the second cleaning part and at least part of the area of the cleaning part from point O to point A are in contact and scraping, so that the second cleaning part scrapes and cleans the cleaning part in the second direction.

[0013] According to an example embodiment, when the cleaning member moves to the second position, in the relative motion between the cleaning member and the second cleaning member due to the rotation of the cleaning member, the linear velocity of the point A is in a first direction; in the relative motion between the cleaning member and the second cleaning member due to the movement of the second cleaning member, the linear velocity of the point A is in a second direction, the second direction being opposite to the first direction.

[0014] According to an example embodiment, the cleaning member rotates around the point O in a first plane, the first plane being the plane where the cleaning member is located, the first cleaning member is stationary, and the second cleaning member rotates in a second plane perpendicular to the first plane, and the rotation track of the second cleaning member in the second plane is tangent to the rotation track of the cleaning member in the first plane.

[0015] According to an example embodiment, the rotation speed of the second cleaning member is greater than the rotation speed of the cleaning member.

[0016] According to an example embodiment, the first cleaning member is provided with a first protrusion;

[0017] The second cleaning member is provided with a second protrusion, the second protrusion being a spiral protrusion and / or a comb-shaped protrusion;

[0018] The first protrusion is in interference fit with the cleaning member, and the second protrusion is in interference fit with the cleaning member.

[0019] According to an example embodiment, the highest point of the first protrusion and the highest point of the second protrusion are consistent in height.

[0020] According to an example embodiment, the self-cleaning mechanism further comprises:

[0021] The scraping strip is in transmission connection with the power member, and the scraping strip is in transmission connection with the second cleaning member.

[0022] According to an example embodiment, the self-cleaning mechanism further comprises:

[0023] The driving bevel gear, the second cleaning member comprises a second cleaning member body and at least one driven bevel gear, the driven bevel gear is connected with the second cleaning member body, the scraping strip is connected with the driving bevel gear; the driving bevel gear is in meshing with the driven bevel gear.

[0024] According to an example embodiment, the scraping strip comprises a scraping strip body and a mounting disc, the transmission connection between the scraping strip and the power member comprises the transmission connection between the mounting disc of the scraping strip and the power member; the self-cleaning mechanism further comprises:

[0025] The fixing member is located between the driving bevel gear and the mounting disc, the fixing member, the driving bevel gear and the mounting disc are concentric; the fixing member is provided with a groove at the outer edge, when the driven bevel gear is located in the groove, the driving bevel gear is in meshing with the driven bevel gear.

[0026] According to an example embodiment, the first cleaning member comprises an intermediate support and at least one cleaning rib connected to the intermediate support and radially distributed around the intermediate support, the intermediate support is arranged on the driving bevel gear, and the intermediate support is provided with a relief inclined surface at a position corresponding to the groove of the fixed member.

[0027] According to an example embodiment, the scraping strip comprises a scraping strip body and a mounting disc,

[0028] The lower surface of the driving bevel gear is provided with an annular convex wall forming a mounting cavity, and the upper surface of the mounting disc is provided with a mounting protrusion embedded in the mounting cavity, so that the mounting disc of the scraping strip is connected to the driving bevel gear.

[0029] According to an example embodiment, the cleaning member comprises a first cleaning member and a second cleaning member, the first cleaning member comprises a first cleaning unit and a second cleaning unit, and the first cleaning unit and the second cleaning unit are used for scraping and cleaning the first cleaning member and the second cleaning member respectively.

[0030] The length of the center line of the first cleaning member and the second cleaning member is greater than the diameter of any cleaning member, the second cleaning member is located on the center line of the first cleaning member and the second cleaning member, and the center of the second cleaning member in the length direction coincides with the center of the center line of the first cleaning member and the second cleaning member.

[0031] According to an example embodiment, the second cleaning member comprises a first end and a second end in the length direction.

[0032] Part of the area of the first end of the second cleaning member is in contact with at least two-thirds of the area of the radius of the first cleaning member, and / or part of the area of the second end of the second cleaning member is in contact with at least two-thirds of the area of the radius of the second cleaning member.

[0033] According to an example embodiment, the first cleaning member rotates in a first plane with O1 as the center, the second cleaning member rotates in the first plane with O2 as the center, the first plane is the plane where the first cleaning member and the second cleaning member are located, the first cleaning unit and the second cleaning unit are stationary, and the second cleaning member rotates in a second plane perpendicular to the first plane.

[0034] The first cleaning member rotates clockwise, the second cleaning member rotates counterclockwise, the second cleaning member rotates counterclockwise when viewed from the first cleaning member, or the first cleaning member rotates counterclockwise, the second cleaning member rotates clockwise, and the second cleaning member rotates clockwise when viewed from the first cleaning member.

[0035] According to an example embodiment, the second cleaning member comprises a first end and a second end in the length direction, the second cleaning member comprises a second cleaning member body, a first driven bevel gear and a second driven bevel gear, the first driven bevel gear is connected to the second cleaning member body at the first end, and the second driven bevel gear is connected to the second cleaning member body at the second end.

[0036] The self-cleaning mechanism further comprises:

[0037] a first driving bevel gear and a second driving bevel gear;

[0038] a first wiper, the first wiper being drivingly connected to the power member;

[0039] a second wiper, the second wiper being drivingly connected to the power member;

[0040] the first wiper is connected to the first driving bevel gear, and the first driving bevel gear is engaged with a first driven bevel gear;

[0041] the second wiper is connected to the second driving bevel gear, and the second driving bevel gear is engaged with a second driven bevel gear;

[0042] under the driving of the power member, the first wiper and the second wiper rotate around their respective central axes, and the rotation directions of the first wiper and the second wiper are opposite.

[0043] In another aspect, the present disclosure also provides a base station comprising the self-cleaning mechanism according to any one of the above embodiments, and a base station body for docking a cleaning robot, the cleaning robot comprising a cleaning member, the cleaning member being in contact with the first cleaning member and the second cleaning member when the cleaning robot is docked. BRIEF DESCRIPTION OF DRAWINGS

[0044] FIG. 1 is a structural schematic diagram of a self-cleaning mechanism according to an embodiment of the present disclosure;

[0045] FIG. 2 is a first partial structural schematic diagram of a self-cleaning mechanism according to an embodiment of the present disclosure;

[0046] FIG. 3 is a second partial structural schematic diagram of a self-cleaning mechanism according to an embodiment of the present disclosure;

[0047] FIG. 4 is a schematic diagram of the positional relationship between the second cleaning member and the cleaning member in a self-cleaning mechanism according to an embodiment of the present disclosure;

[0048] FIGS. 5a and 5b are structural schematic diagrams of the first cleaning member, the second cleaning member and the cleaning member according to an embodiment of the present disclosure;

[0049] Figure 6 is a cross-sectional structure schematic diagram of a self-cleaning mechanism according to an embodiment of the present disclosure; wherein the first cleaning member 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 114, the cleaning member 200, the first cleaning member 201, the second cleaning member 202, the second cleaning member 300, the second cleaning member body 310, the driven bevel gear 320, the first driven bevel gear 321, the second driven bevel gear 322, the power member 400, the driving bevel gear 500, the first driving bevel gear 501, the second driving bevel gear 502, the wiper strip 600, the first wiper strip 601, the second wiper strip 602, the wiper strip body 610, the mounting disc 620, the cleaning disc 700, the base station body 800, the fixing member 900, the groove 901. DETAILED DESCRIPTION

[0050] In order to further illustrate the technical means and effects taken by the present disclosure to achieve the predetermined disclosure purposes, the specific embodiments, structures, features and effects of a self-cleaning mechanism according to the present disclosure will be described in detail below in combination with the drawings and preferred embodiments.

[0051] In one aspect, as shown in Figures 1-3, the present disclosure provides a self-cleaning mechanism, which can be used in a base station. The base station is used for parking a cleaning robot. The base station can charge, water, clean, and collect dust of the parked cleaning robot. The cleaning robot can also be called a sweeping robot, an intelligent cleaning device, a mopping machine, etc. The cleaning robot can move and clean by itself without user control. The cleaning robot includes a robot body and 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 move the robot to the base station and park on the base station, or move out of the base station for cleaning work. 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 part of the surface of the cleaning member 200 that contacts the ground is flexible, so that the flexible part can be in interference fit with the ground, i.e. contacts the ground and rubs against the ground to clean. The cleaning member 200 can be a dry cleaning member, such as a roller brush. The robot body is provided with a dust suction port. The roller brush sweeps the garbage to the dust suction port, which is then sucked back to the dust box by a fan. Alternatively, the cleaning member 200 can be a wet cleaning member, such as a mop. The wet cleaning member is used for wet cleaning of the ground, which is complementary to the dry cleaning member to achieve more thorough cleaning effect. The robot body is provided with a water tank for providing water or cleaning agent for the wet cleaning member during cleaning.

[0052] The self-cleaning mechanism of the embodiments of the present application can be used to clean any one of the dry cleaning element and the wet cleaning element. In the following embodiments, for the convenience of description, the cleaning element 200 is taken as an example of the wet cleaning element, and more specifically, the cleaning element 200 is taken as an example of the mop. The cleaning element 200 includes a cleaning surface in contact with the ground, and at least the cleaning surface has water absorption, so that wet mopping can be performed. For example, the cleaning surface of the cleaning element 200 is provided with cleaning hairs, and the cleaning hairs can be long, such as a line or a pile. The cleaning hairs can also be very short, such as a wool felt, and the cleaning hairs are short villi. For example, the cleaning element 200 can rotate under the driving of the driving element, so that the cleaning surface moves relative to the ground, and cooperates with the movement of the cleaning robot to clean. The cleaning element 200 is usually two, and the two cleaning elements 200 can be arranged side by side perpendicular to the forward direction of the cleaning robot, so as to increase the cleaning range.

[0053] After the cleaning robot works, the cleaning element 200 will have stains, and the base station is used to clean the cleaning element 200 after the cleaning robot is docked in place, so as to avoid manual cleaning of the cleaning element 200, thereby realizing self-cleaning of the cleaning robot. After the cleaning robot is docked in place, the cleaning element of the self-cleaning mechanism is in contact with the cleaning surface of the cleaning element 200. During the cleaning process, the water supply system of the base station supplies water to the position of the cleaning element 200, and at the same time, the cleaning element of the self-cleaning mechanism scrapes and washes the cleaning element 200, thereby simulating the manual scrubbing effect of the cleaning element. Among them, scraping refers to the relative movement of the part structure of the self-cleaning mechanism and the cleaning surface to the cleaning element 200, and the scraping of the cleaning element 200. For example, the self-cleaning mechanism includes a first cleaning element 100, and the first cleaning element 100 includes a middle support 114 and a plurality of cleaning ribs radially distributed around the middle support. When the driving element of the cleaning robot drives the cleaning element 200 to rotate, the plurality of cleaning ribs scrape and wash the cleaning element.

[0054] When the self-cleaning mechanism scrapes and cleans the cleaning piece 200, if only the first cleaning piece 100 is arranged, the cleaning efficiency of the cleaning piece 200 is low, and even if the cleaning ribs of the first cleaning piece 100 are increased, the cleaning efficiency cannot be improved. The present inventor finds through a large number of researches that the cleaning hairs of the cleaning piece 200 will be turned to the direction in which the self-cleaning mechanism moves relative to the cleaning piece 200, so that only the side of the cleaning hairs consistent with the direction can be cleaned. If only the first cleaning piece 100 is arranged, even if the first cleaning piece 100 includes a plurality of cleaning ribs, the plurality of cleaning ribs are consistent with the relative movement direction of the cleaning piece 200, the cleaning hairs will still be turned to the same direction, and the other side of the cleaning hairs still cannot be cleaned. The embodiments of the present application make the self-cleaning mechanism include a plurality of cleaning pieces different from the relative movement direction of the cleaning piece 200, so that the cleaning hairs can be turned to different directions when passing through the first cleaning piece and the second cleaning piece, the cleaning of different sides of the cleaning piece can be realized, and then the cleaning of the cleaning piece is more thorough, and the cleaning efficiency of the cleaning piece can be improved.

[0055] In an embodiment, the self-cleaning mechanism includes a first cleaning piece 100, the first cleaning piece 100 is used for scraping and cleaning the cleaning piece 200 in a first direction;

[0056] A second cleaning piece 300;

[0057] A power piece 400, the power piece 400 is in transmission connection with the second cleaning piece 300, and the power piece 400 is used for driving the second cleaning piece 300 to move to scrape and clean the cleaning piece 200 in a second direction different from the first direction.

[0058] In the cleaning process, the first cleaning piece 100 moves relative to the cleaning piece 200 or the cleaning surface of the cleaning piece 200, and then scrapes and cleans the cleaning hairs in the first direction, and the first direction is the movement direction of the first cleaning piece 100 relative to the cleaning piece 200. The second cleaning piece 300 moves relative to the cleaning piece 200 or the cleaning surface of the cleaning piece 200 under the driving of the power piece 400, and then scrapes and cleans the cleaning hairs in the second direction, and the second direction is the movement direction of the second cleaning piece 300 relative to the cleaning piece 200. The second direction is different from the first direction, so the first cleaning piece 100 and the second cleaning piece 300 can scrape and clean the cleaning piece from different directions, thereby simulating the manual scrubbing effect in different directions on the cleaning piece, so that different sides of the cleaning piece can be cleaned.

[0059] The transmission connection between one element and another element can be direct connection between the two elements, or indirect connection between the two elements through a transmission gear or the like, as long as the power output by one element can be output to another element. The transmission connection is explained in the same way below, and will not be repeated here.

[0060] The power member 400 can be an electric motor. The power member 400 is in transmission connection with the second cleaning member 300. This can mean that the power member 400 is directly connected with the second cleaning member 300 to output power to the second cleaning member 300. Alternatively, the power member 400 can output power to the second cleaning member 300 through a transmission gear or the like.

[0061] The relative movement of the 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 300 and the cleaning member 200 can all be moved; for example, the cleaning member 200 rotates clockwise at a speed of vl, the first cleaning member 100 rotates clockwise at a speed greater than vl, 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 can move relative to the cleaning member 200 in opposite directions; for example, the cleaning member 200 can be fixed, the first cleaning member 100 can rotate clockwise relative to the cleaning member 200, and the second cleaning member 300 can rotate counterclockwise relative to the cleaning member 200. For example, the first cleaning member 100 can be fixed, the cleaning member 200 can move relative to the first cleaning member 100, and the second cleaning member 300 can move relative to the cleaning member 200. It can be understood that moving fewer components of the first cleaning member 100, the second cleaning member 300 and the cleaning member 200 can reduce the use of power members. For example, the movement of the first cleaning member 100 and the second cleaning member 300 relative to the cleaning member 200 can be simultaneous or at different times; for example, at tl-t2, the first cleaning member 100 is in contact with and moves relative to the cleaning member 200, and the second cleaning member 300 is not in contact with the cleaning member 200, at t2-t3, the first cleaning member 100 is not in contact with the cleaning member 200, and the second cleaning member 100 is in contact with and moves relative to the cleaning member 200. It can be understood that the movement of the first cleaning member 100 and the second cleaning member 300 relative to the cleaning member 200 at the same time can improve the cleaning efficiency of the cleaning member 200. 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 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 a horizontal plane, and for example, the movement of the first cleaning member 100 relative to the cleaning member 200 is in a horizontal plane, and the movement of the second cleaning member 300 relative to the cleaning member 200 is in a vertical plane. It can be understood 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 can be more compact and easier to install. It can be understood that in order to clean all positions of the cleaning member 200 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.

[0062] The shapes of the first cleaning member 100, the second cleaning member 300 and the cleaning member 200 can be various, such as a roller shape, a circular shape, a rib shape, a plate shape, etc. For example, the cleaning member is circular, the first cleaning member 100 and the second cleaning member 300 are both in the shape of a roller, the length of the roller is equal to the radius of the cleaning member, a section of the roller overlaps the center of the cleaning member 200, the first cleaning member 100 and the second cleaning member 300 rotate around the section of the roller overlapping the center of the cleaning member 200 as the center and the length of the roller as the radius, and the first cleaning member 100 and the second cleaning member 300 rotate at different times. For example, the first cleaning member 100, the second cleaning member 300 and the cleaning member 200 are in the shape of a rib, a roller and a circle respectively, the first cleaning member 100 is stationary, the cleaning member 200 rotates in a horizontal plane, the second cleaning member 300 rotates in a vertical plane with the length direction of the roller as the axis, and the rotating track of the second cleaning member 300 in the vertical plane is tangent to the rotating track of the cleaning member 200 in the horizontal plane, as shown in FIG. 4.

[0063] For example, the first direction and the second direction are opposite.

[0064] It can be understood that the cleaning directions of the first cleaning member 100 and the second cleaning member 300 on the cleaning member 200 are different, or in other words, the rubbing directions of the cleaning bristles on the cleaning member 200 are different, which can be judged based on the same point on the cleaning member. For example, as shown in FIGS. 5a and 5b, in one embodiment, the shape of the cleaning member 200 is circular, the center of the cleaning member 200 is point O, the cleaning member 200 rotates in a first plane with point O as the center, and the cleaning member 200 will periodically contact the first cleaning member 100 and the second cleaning member 300 in turn when rotating. Taking point A on the outer edge of the cleaning member 200 as the reference point for analysis. As shown in FIG. 5a, when the cleaning member 200 rotates to a first position (for example, at this time, a first rectangle on the cleaning member 200 contacts a cleaning rib of the first cleaning member 100, the first rectangle is a rectangle with the line segment between O and A as the axis of symmetry, the length of the cleaning rib as the length, and the width of the cleaning rib as the width), at least part of the area of the cleaning member 200 from point O to point A or the line segment of the line connecting point O to point A is in contact and rubbing, causing the first cleaning member 100 to scrub the part of the cleaning member 200. As shown in FIG. 5b, when the cleaning member 200 continues to rotate to a second position (for example, at this time, a second rectangle on the cleaning member 200 contacts the second cleaning member 300, the second rectangle is a rectangle with the line segment between O and A as the axis of symmetry, 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, point A in FIG. 5a reaches the position of point A in FIG. 5b, at least part of the area of the cleaning member 200 from point O to point A is in contact and rubbing, causing the second cleaning member 300 to scrub the part of the cleaning member 200.

[0065] For example, the first cleaning member 100 is stationary, the cleaning member 200 rotates in a first plane, the second cleaning member 300 rotates in a second plane perpendicular to the first plane with the length direction of the roller as the rotation axis, and the rotation track of the second cleaning member 300 is tangent to the rotation track 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 shown in FIGS. 5a and 5b. The curved arrow outside the cleaning member indicates the rotation direction of the cleaning member 200, and the straight arrow inside the cleaning member 200 indicates the direction of the cleaning hair after the cleaning hair on the cleaning member 200 passes through the first cleaning member 100 and the second cleaning member 300, i.e. the direction of the first cleaning member 100 and the second cleaning member 300 to the cleaning hair. FIGS. 5a and 5b show the case where the cleaning robot comprises a first cleaning member 201 and a second cleaning member 202. The movement of the components is described below with the second cleaning member 202 as an example. As shown in FIG. 5a, the first cleaning member 100 is stationary, the second cleaning member 202 rotates clockwise, and the movement 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 portion of the O point to the A point passes through the cleaning rib under the first cleaning member 100, the direction of the cleaning hair in the portion of the O point to the A point to be cleaned by the cleaning rib is shown by the solid arrow inside the cleaning member 200 in FIG. 5a, so that the cleaning hair falls in this direction. The second cleaning member 202 continues to rotate from the state shown in FIG. 5a to the state shown in FIG. 5b. At this time, the portion of the O point to the A point passes through the second cleaning member 300. If the second cleaning member 300 is stationary at this time, the direction of the cleaning hair in the portion of the O point to the A point to be cleaned by the second cleaning member 300 is shown by the dashed arrow inside the cleaning member 200 in FIG. 5b. The direction of the cleaning hair in the OA region to be cleaned by the first cleaning member 100 and the direction of the cleaning hair in the OA region to be cleaned by the second cleaning member 300 are the same. Therefore, the second cleaning member 300 needs to be actively moved to change the movement direction of the second cleaning member 300 relative to the cleaning member 200, for example, to rotate the second cleaning member 300 in the direction shown by the hollow arrow in FIG. 5b (clockwise when viewed from the second cleaning member 202 to the first cleaning member 201). At this time, the direction of the cleaning hair in the portion of the O point to the A point to be cleaned by the second cleaning member 300 is shown by the solid arrow inside the cleaning member 200 in FIG. 5b, so that the cleaning hair falls in this direction. In this way, the direction of the cleaning hair in the OA region to be cleaned by the first cleaning member 100 and the direction of the cleaning hair in the OA region to be cleaned by the second cleaning member 300 are opposite.

[0066] It is worth further explaining that when the cleaning member 200 moves to the second position, in the relative movement between the cleaning member 200 and the second cleaning member 300 due to the rotation of the cleaning member 200 (at this time the second cleaning member 300 can be regarded as stationary), the linear velocity of the point A is in the first direction (indicated by the dotted arrow in Figure 5b); in the relative movement between the cleaning member 200 and the second cleaning member 300 due to the movement of the second cleaning member 300 (at this time the cleaning member 200 can be regarded as stationary), the linear velocity of the point A is in the second direction (indicated by the solid arrow in Figure 5b), which is the opposite direction of the first direction. Further, the rotational speed of the second cleaning member 300 is greater than the rotational speed of the cleaning member 200, so that when the cleaning member 200 moves to the second position (for example, at this time the second rectangle on the cleaning member 200 is in contact with the second cleaning member 300), the linear velocity of the point A in the second direction is greater than the linear velocity of the point A in the first direction, thereby achieving the scraping of the cleaning member 200 in the second direction by the second cleaning member 300.

[0067] In an embodiment of the present disclosure, when the cleaning member needs to be cleaned, the cleaning hair moves to the first position by driving the cleaning member to move, the first cleaning member scrapes and cleans the cleaning hair of the cleaning member in the opposite direction of the rotation direction of the cleaning member, and when the cleaning hair at the same position moves to the second position, the second cleaning member moves under the driving of the driving member, so that the second cleaning member scrapes and cleans the cleaning hair of the cleaning member in a direction different from that of the first cleaning member, thereby enabling the cleaning hair to be inverted in different directions when passing through the first cleaning member and the second cleaning member, achieving cleaning of different sides of the cleaning hair, and thereby achieving more thorough cleaning of the cleaning member.

[0068] In an embodiment, 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. The first plane can also be explained as the plane in which the cleaning surface of the cleaning member 200 is located, that is, 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 a second plane perpendicular to the first plane, and the rotation track of the second cleaning member 300 in the second plane is tangent to the rotation track 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.

[0069] In an embodiment, the first cleaning member 100 is provided with a first protrusion. The second cleaning member 300 is provided with a second protrusion, which is a spiral protrusion, or the second cleaning member 300 is provided with a comb tooth. 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. For example, the cleaning member 200 is flexible, so that the first protrusion and the second protrusion can be in interference fit with the cleaning member 200.

[0070] The first protrusions are used to scrape the cleaning hairs to increase the cleaning strength on the cleaning hairs. The first protrusions can be point-like protrusions or columnar protrusions. The second protrusions can be spiral protrusions and / or comb-like protrusions, for example, comb-like small protrusions are arranged on the spiral large protrusions. The second cleaning member 300 can be a nearly cylindrical structure or a roller-like structure, and the spiral protrusions refer to the second protrusions extending in both the circumferential direction and the axial direction of the second cleaning member 300. The spiral-wound second protrusions can be a single one, or two or more second protrusions can be arranged side by side on the second cleaning member 300. By increasing the contact area and the scraping strength of the second cleaning member 300 and the cleaning member 200 through the second protrusions, the slippage between the second cleaning member 300 and the cleaning hairs of the cleaning member 200 is avoided.

[0071] In addition, the second protrusions arranged on the second cleaning member 300 can be spiral-wound, can be protrusions extending in the axial direction of the second cleaning member 300, or can be only point-like protrusions such as comb-like protrusions. By adopting the spiral-wound manner, the contact area of the protrusions and the cleaning member 200 can be increased, and by arranging the direction of winding, the dirty water of the scrubbing can be driven to the outside of the cleaning member 200, which is helpful to the cleaning effect of the cleaning member 200.

[0072] The first protrusions and the second protrusions are in interference fit with the cleaning member 200, which means that the first protrusions and the second protrusions are inserted between the cleaning hairs of the cleaning member 200, so that the cleaning hairs can be combed and the cleaning hairs can be driven to different directions.

[0073] In an embodiment, the highest points of the first protrusions and the highest points of the second protrusions have the same height. Then, the interference fit degrees of the first protrusions and the second protrusions with the cleaning member are consistent, the cleaning hairs can be scraped to the same extent, and the cleaning of the cleaning hairs in two directions can be ensured to the same extent.

[0074] In an embodiment, as shown in FIGS. 1-3 and 6, the cleaning mechanism further comprises a scraping strip 600, the scraping strip 600 is in transmission connection with the power member 400, and the scraping strip 600 is in transmission connection with the second cleaning member 300.

[0075] The base station is provided with a parking space for parking the cleaning robot, and the self-cleaning mechanism is fixed on the inner wall of the parking space, or in some embodiments, a cleaning disc 700 can be arranged in the parking space, and the self-cleaning mechanism is fixed on the cleaning disc 700. The self-cleaning mechanism is in scraping contact with the cleaning member under the condition of water flow, so that the dirt and dirty water flow into the cleaning disc 700. The scraping strip 600 can be arranged in the cleaning disc 700, and the scraping strip 600 rotates in the cleaning disc 700. A sewage tank is further arranged in the cleaning disc, and the sewage tank is located on the rotation track of the scraping strip in the cleaning disc, so that the scraping strip 600 can scrape the dirt and dirty water into the sewage tank when rotating.

[0076] The rotation of the scraping strip can be driven by the power element 400. For example, as shown in FIGS. 2-3 and 6, the cleaning disc 700 is provided with a through hole, and the power element 400 is directly connected to a transmission mechanism at the bottom of the cleaning disc 700. At least a part of the transmission mechanism extends into the cleaning disc 700 from the through hole and is directly connected to the scraping strip 600 to drive the rotation of the scraping strip 600. In turn, the scraping strip is in transmission connection with the second cleaning element to drive the movement of the second cleaning element 300. In this way, the power element 400 is connected to the second cleaning element 300 through the scraping strip 600 to simultaneously drive the movement of the scraping strip 600 and the second cleaning element 300, thereby increasing the power utilization rate of the power element 400, eliminating the need to separately provide a driving mechanism for the second cleaning element 300, and making the structure more compact.

[0077] In some other embodiments, as shown in FIGS. 2 and 6, the cleaning mechanism further includes a driving bevel gear 500, the second cleaning element 300 includes a second cleaning element body 310 and at least one driven bevel gear 320, the driven bevel gear 320 is connected to the second cleaning element body 310, the scraping strip is connected to the driving bevel gear 500 to drive the rotation of the driving bevel gear 500, and the driving bevel gear 500 is in meshing connection with the driven bevel gear 320 to drive the rotation of the driven bevel gear 320 in a plane perpendicular to the rotation plane of the driving bevel gear 500. For example, the connection between the driven bevel gear 320 and the second cleaning element body 310 can be a fixed connection or an integral formation. For example, the connection between the scraping strip and the driving bevel gear 500 can be a clamping connection. In this embodiment, the transmission connection between the scraping strip and the second cleaning element is achieved by meshing the driving bevel gear with the driven bevel gear on the second cleaning element, and the rotation of the scraping strip is driven to move the second cleaning element at an expected speed by setting a required transmission ratio. The transmission connection between the driving bevel gear 500 and the driven bevel gear 320 provides more possibilities for the position setting of the power element 400, making the position of the power element 400 more flexible, such as the horizontal setting of the rotation axis of the second cleaning element 300 and the vertical setting of the rotation axis of the scraping strip 600. For example, the driving bevel gear 500 includes a first conical tooth surface, such as a 45-degree inclined surface machined on the side wall of the driving bevel gear 500, and teeth are machined on the inclined surface to form the first conical tooth surface. The driven bevel gear 320 includes a second conical tooth surface, such as a 45-degree inclined surface machined on the side wall of the driven bevel gear 320, and teeth are machined on the inclined surface to form the second conical tooth surface. The first conical tooth surface and the second conical tooth surface are in meshing connection. The scraping strip drives the rotation of the driving bevel gear 500 around a vertical rotation axis, and the power transmission is achieved through the meshing between the first conical tooth surface and the second conical tooth surface to drive the rotation of the second cleaning element 300 around a horizontal rotation axis.

[0078] In some other embodiments, as shown in FIG. 3, the wiper strip 600 comprises a wiper strip body 610 and a mounting disc 620, the wiper strip 600 and the power member 400 are in transmission connection, which comprises the transmission connection between the mounting disc of the wiper strip and the power member 400; the self-cleaning mechanism further comprises a fixing member 900, which is located between the driving bevel gear 500 and the mounting disc 620, and the fixing member 900, the driving bevel gear 500 and the mounting disc 620 are concentric; the outer edge of the fixing member 900 is provided with a groove 901, and when the driven bevel gear 320 is located in the groove 901, the driving bevel gear 500 is in meshing with the driven bevel gear 320. In this embodiment, the transmission connection between the wiper strip 600 and the power member 400 is that the mounting disc of the wiper strip is in transmission connection with the power member 400, the driven bevel gear of the second cleaning member 300 is installed in the groove 901 on the fixing member which is concentric with the driving bevel gear 500 and the mounting disc 620, and the rotation of the mounting disc 620 drives the rotation of the driving bevel gear 500, the upper end of the driven bevel gear 320 is in contact with the driving bevel gear 500, and the driven bevel gear 320 rotates under the drive of the driving bevel gear 500, thereby driving the rotation of the entire second cleaning member 300. The fixing member can be in a stationary state during this process, and means such as reducing the contact area and reducing the friction coefficient can be adopted to reduce the friction between the driven bevel gear and the bottom surface of the groove 901.

[0079] In one embodiment, as shown in FIG. 1, the first cleaning member 100 comprises an intermediate support member 114 and at least one cleaning rib 111, 112, 113 connected with the intermediate support member 114 and distributed radially around the intermediate support member 114, the intermediate support member 114 is covered on the driving bevel gear 500, and the intermediate support member 114 is provided with a relief slope at a position corresponding to the groove 901 of the fixing member 900. Exemplarily, the intermediate support member 114 can be in the shape of a bottle cap, so that it can be covered on the driving bevel gear 500 to form a containing cavity of the driving bevel gear 500 and the driven bevel gear 320 together with the fixing member 900. Exemplarily, the intermediate support member 114 and the cleaning ribs are stationary when the driving bevel gear 500 rotates. It can be understood that the connection between the cleaning ribs and the intermediate support member 114 can be that the cleaning ribs are integrally formed with the intermediate support member 114.

[0080] The intermediate support 114 and the fixing member 900 can be detachably connected to facilitate dismounting of the second cleaning member 300, such as detachably fixing the member 900 and picking up the second cleaning member 300 for cleaning and replacement. The connection mode of the intermediate support 114 and the fixing member 900 includes but is not limited to one or a combination of clamping, screwing, bolting, plugging, sliding connection, magnetic attraction and bonding. The intermediate support 114 and the fixing member 900 cooperate to cover the driving bevel gear 500 and the driven bevel gear 320, so as to avoid sundries, sewage and the like from entering between the driving bevel gear 500 and the driven bevel gear 320, and to make the transmission between the driving bevel gear 500 and the driven bevel gear 320 more smooth. The clearance slope of the intermediate support 114 provides a setting space for the driven bevel gear 320.

[0081] Further, the second cleaning member body 310 further includes a penetrating area connected to the driven bevel gear 320, as shown in FIG. 6, the part between the second cleaning member body 310 and the driven bevel gear 320 of the second cleaning member, the outer diameter of the penetrating area is smaller than that of the driven bevel gear 320. The penetrating area penetrates the opening surrounded by the edge of the groove 901, and the driven bevel gear 320 is located in the groove 901. The penetrating area and the edge of the groove 901 slide against each other, thereby realizing the radial limiting of the second cleaning member 300. The driven bevel gear 320 will interact with the edge of the groove 901 due to its large outer diameter, thereby limiting the axial position of the second cleaning member 300, so that the position of the second cleaning member 300 is stable and not easy to shift. The setting of the groove 901 also ensures that the driven bevel gear 320 is not easy to be damaged. It can be understood that the second cleaning member body 310, the driven bevel gear 320 and the penetrating area can be integrally formed.

[0082] In an embodiment, the scraping strip 600 includes a scraping strip body 610 and a mounting disc 620, and the scraping strip 600 is embeddedly clamped with the mounting disc 620, so that the mounting disc 620 of the scraping strip is in driving connection with the driving bevel gear 500.

[0083] For example, the lower surface of the driving bevel gear 500 has an annular convex wall surrounding a mounting cavity, and the upper surface of the mounting disc 620 has a mounting protrusion embedded in the mounting cavity, so that the mounting disc 620 of the scraping strip is in driving connection with the driving bevel gear 500.

[0084] For example, the driving connection between the scraping strip 600 and the driving bevel gear 500 can be that the scraping strip 600 is provided with an outer hexagonal mounting protrusion, the driving bevel gear 500 is provided with an inner hexagonal mounting cavity, and the outer hexagonal mounting protrusion is embedded in the inner hexagonal mounting cavity to realize the circumferential limiting of the scraping strip 600 and the driving bevel gear 500.

[0085] In one embodiment, the cleaning member 200 comprises a first cleaning member 201 and a second cleaning member 202, and the first cleaning unit 100 comprises a first cleaning unit 101 and a second cleaning unit 102, and 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, any cleaning unit cleans only the first cleaning member 201 or the second cleaning member 202. The first cleaning unit 101 and the second cleaning unit 102 each comprise a first cleaning rib 111, a second cleaning rib 112, a third cleaning rib 113, and an intermediate support 114, and the first cleaning rib 111, the second cleaning rib 112, and the third cleaning rib 113 are distributed radially around the intermediate support 114. In this way, the cleaning member 200 can be effectively cleaned when it rotates. The first protrusion is arranged on the first cleaning rib 111, the second cleaning rib 112, and / or the third cleaning rib 113. In some embodiments, a water supply outlet is arranged on the first cleaning rib 111, the second cleaning rib 112, and / or the third cleaning rib 113, and the water supply system of the base station is in communication with the water supply outlet on the first cleaning rib 111, the second cleaning rib 112, and / or the third cleaning rib 113, so as to supply water to the cleaning member 200 by the first cleaning rib 111, the second cleaning rib 112, and / or the third cleaning rib 113, thereby achieving more uniform and sufficient water replenishment of the cleaning member 200. The water supply outlet cleaning rib is arranged at an angle, so that the end of the water supply outlet on the cleaning rib is higher, facilitating water supply to the cleaning member 200.

[0086] In one embodiment, the cleaning member 200 comprises a first cleaning member 201 and a second cleaning member 202, and the first cleaning unit 100 comprises a first cleaning unit 101 and a second cleaning unit 102, and 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 center line connecting the first cleaning member 201 and the second cleaning member 202 is greater than the diameter of any cleaning member 200, so that the first cleaning member 201 and the second cleaning member 202 can be arranged side by side. The second cleaning member 300 is in the form of a roller and 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 length direction coincides with the center of the center line connecting the first cleaning member 201 and the second cleaning member 202.

[0087] The second cleaning component 300 is located between the two first cleaning units 101 and the second cleaning unit 102. The first cleaning components 201 and 202 share a single second cleaning component 300. This reduces the number of second cleaning components 300, minimizing structural redundancy and simplifying the structure. It also reduces the drive load. The first cleaning units 101 and 102 are symmetrically arranged. Two first cleaning ribs 111 are arranged parallel to each other. Two second cleaning ribs 112 extend away from each other and away from the first cleaning ribs 111. Two third cleaning ribs 113 extend towards each other and away from the first cleaning ribs 111. The second cleaning component 300 is located between the first cleaning ribs 111 and the third cleaning ribs 113, and its axis is perpendicular to the first cleaning ribs 111.

[0088] In one embodiment, the center of the second cleaning member 300 along its length coincides with the center of the line connecting the centers of the first cleaning member 201 and the second cleaning member 202. This ensures that the length of the interference region between the second cleaning member 300 and the first cleaning member 201 and the second cleaning member 202 is consistent, and the cleaning force applied to the first cleaning member 201 and the second cleaning member 202 is consistent.

[0089] In one embodiment, the second cleaning member 300 includes a first end and a second end along its length. 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 and second cleaning members 201 is sufficiently long, allowing for relative movement between the second cleaning member 300 and the first and second cleaning members 202, and ensuring sufficient contact area between the second cleaning member 300 and the first and second cleaning members 201 and 202.

[0090] The direction of rotation of the second cleaning component 300 should ensure that the second protrusion can scrape the cleaning component 200 in the second direction. In one embodiment, the first cleaning component 201 rotates around point O1 on a first plane, and the second cleaning component 202 rotates around point O2 on the first plane. The first plane is the plane where the first cleaning component 201 and the second cleaning component 202 are located. The first cleaning unit 101 and the second cleaning unit 102 are stationary, and the second cleaning component 300 rotates on a second plane perpendicular to the first plane.

[0091] The first cleaning member 201 rotates clockwise, and the second cleaning member 202 rotates counterclockwise. At this time, the second cleaning member 300 should rotate counterclockwise when viewed from the second cleaning member 202 to the first cleaning member 201, or the first cleaning member 201 rotates counterclockwise, and the second cleaning member 202 rotates clockwise. At this time, the second cleaning member 300 should rotate clockwise when viewed from the second cleaning member 202 to the first cleaning member 201. In this way, the first cleaning unit 101 can ensure that the first cleaning member 201 has different reference points on the first cleaning member 201, and the second cleaning member 300 has different reference points on the first cleaning member 201. At the same time, the second cleaning unit 102 has different reference points on the second cleaning member 202, and the second cleaning member 300 has different reference points on the second cleaning member 202.

[0092] In one embodiment, as shown in FIGS. 2-3, 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 with the second cleaning member body 310 at the first end (for example, the first driven bevel gear 321 is integrally formed with the second cleaning member body 310), the second driven bevel gear 322 is connected with the second cleaning member body 310 at the second end (for example, the second driven bevel gear 322 is integrally formed with the second cleaning member body 310); the self-cleaning mechanism further includes: a first driving bevel gear 501 and a second driving bevel gear 502; a first scraping strip 601, the first scraping strip 601 is drivingly connected with the power member 400; a second scraping strip 602, the second scraping strip 602 is drivingly connected with the power member 400; the first scraping strip 601 is connected with the first driving bevel gear 501; the first driving bevel gear 501 is engaged with the first driven bevel gear 321; the second scraping strip is connected with the second driving bevel gear 502; the second driving bevel gear 502 is engaged with the second driven bevel gear 322; under the driving of the power member 400, the first scraping strip 601 and the second scraping strip 602 rotate around the respective center axes, and the rotation directions of the first scraping strip 601 and the second scraping strip 602 are opposite. Generally, the rotation speeds of the first scraping strip 601 and the second scraping strip 602 are the same, but the rotation speeds of the first scraping strip 601 and the second scraping strip 602 can also be different, and then the rotation speeds of the two driven bevel gears 320 are adjusted through different transmission ratios of the two driving bevel gears 500 and the driven bevel gears 320. In this embodiment, the first scraping strip 601 and the second scraping strip 602 can be drivingly connected with the same power member 400, or can be drivingly connected with the first power member 401 and the second power member 402 in the power member 400 respectively. For each scraping strip 600, one driving bevel gear 500 matched with the scraping strip 600 is arranged, and the second cleaning member 300 includes two driven bevel gears 320, which are driven by the two driving bevel gears 500 drivingly connected with the two scraping strips 600. It can be understood that the driving forces received by the two driven bevel gears 320 need to be matched (consistent in direction and speed), so as to ensure that the second cleaning member 300 can rotate smoothly.

[0093] The self-cleaning mechanism and the base station comprising the same provided by the present disclosure enable the relative movement between the first cleaning member and the cleaning member during cleaning, and then the first cleaning member scrapes and cleans the cleaning member in the first direction, which is the movement direction of the first cleaning member relative to the cleaning member. Under the driving of the power member, the relative movement between the second cleaning member and the cleaning member occurs, and then the second cleaning member scrapes and cleans the cleaning member in the second direction, which is the movement direction of the second cleaning member relative to the cleaning member. The second direction is different from the first direction, so that the first cleaning member and the second cleaning member can scrape and clean the cleaning member from different directions, thereby simulating the manual scrubbing effect in different directions on the cleaning member, so that different sides of the cleaning member can be cleaned.

[0094] In another aspect, the present disclosure also provides a base station comprising the self-cleaning mechanism according to any one of the above and a base station body 800 for docking a cleaning robot, wherein the cleaning robot comprises a cleaning member 200, and when the cleaning robot is docked to the position, the cleaning member 200 contacts the first cleaning member 100 and the second cleaning member 300.

[0095] The base station body 800 comprises a docking space for docking the cleaning robot. The self-cleaning mechanism can be installed in the docking space. For example, a mounting groove compatible with the shape of the aforementioned cleaning disc 700 can be arranged on the bottom wall of the docking space, and the cleaning disc 700 can be detachably embedded in the mounting groove. The cleaning disc 700 is provided with a sewage guide hole penetrating through the sewage groove and the mounting groove. When the power member 400 drives the scraper 600 to move, the scraper 600 pushes the sewage to the sewage guide hole, and then flows into the mounting groove, which is collected by the sewage collection system of the base station body 800. The base station body 800 can also be provided with a containing space, and the power member 400 is connected to the base station body 800 and located in the containing space, thereby playing a protective role for the power member 400.

[0096] It will be understood that when an element (e.g., a first element) is referred to as being “(operatively or communicatively) coupled with / to” or “connected to” another element (e.g., a second element), it can be directly coupled with / to or directly connected to the other element or coupled with / 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 with / to” or “directly connected to” another element (e.g., a second element), it should be understood that there is no intermediate element (e.g., a third element) between the element and the other element.

[0097] The above merely provides the specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A self-cleaning mechanism, wherein, The self-cleaning mechanism comprises: a first cleaning member (100) for scraping and cleaning a cleaning member (200) in a first direction; a second cleaning member (300); a power member (400) in driving connection with the second cleaning member (300), the power member (400) being used to drive the second cleaning member (300) to move so as to scrape and clean the cleaning member (200) in a second direction different from the first direction.

2. The self-cleaning mechanism according to claim 1, wherein 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) comprises point A; when the cleaning member (200) rotates to a first position, at least part of the area from point O to point A on the cleaning member (200) is in contact with and scraped by the first cleaning member (100), so that the first cleaning member (100) scrapes and cleans the cleaning member (200) in the first direction; when the cleaning member (200) rotates to a second position, at least part of the area from point O to point A on the cleaning member (200) is in contact with and scraped by the second cleaning member (300), so that the second cleaning member (300) scrapes and cleans the cleaning member (200) in the second direction.

3. The self-cleaning mechanism according to claim 2, wherein 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) due to the rotation of the cleaning member (200), the linear velocity of point A is in the first direction; in the relative motion between the cleaning member (200) and the second cleaning member (300) due to the movement of the second cleaning member (300), the linear velocity of point A is in the second direction, which is the opposite direction of the first direction.

4. The self-cleaning mechanism according to any one of claims 1-3, wherein the cleaning member (200) rotates around point O in a first plane, the first plane is the plane where the cleaning member (200) is located, the first cleaning member (100) is stationary, the second cleaning member (300) rotates in a second plane perpendicular to the first plane, and the rotation track of the second cleaning member in the second plane is tangent to the rotation track of the cleaning member in the first plane.

5. The self-cleaning mechanism according to claim 4, wherein the rotation speed of the second cleaning member (300) is greater than the rotation speed of the cleaning member (200).

6. The self-cleaning mechanism according to claim 1, wherein a first protrusion is arranged on the first cleaning member (100); a second protrusion is arranged on the second cleaning member (300), the second protrusion 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, wherein The highest point of the first protrusion is consistent with the highest point of the second protrusion.

8. The self-cleaning mechanism of claim 1, wherein, The self-cleaning mechanism further comprises: A scraping strip (600) is in transmission connection with the power member (400), and the scraping strip (600) is in transmission connection with the second cleaning member (300).

9. The self-cleaning mechanism of claim 8, wherein, The self-cleaning mechanism further comprises: A driving bevel gear (500), the second cleaning member (300) comprises a second cleaning member body (310) and at least one driven bevel gear (320), the driven bevel gear (320) is connected with the second cleaning member body (310), and the scraping strip is connected with the driving bevel gear (500); the driving bevel gear (500) is in meshing connection with the driven bevel gear.

10. The self-cleaning mechanism of claim 9, wherein, The scraping strip (600) comprises a scraping strip body (610) and a mounting disc (620), the transmission connection between the scraping strip (600) and the power member (400) comprises that the mounting disc (620) of the scraping strip is in transmission connection with 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 disc (620), the fixing member (900), the driving bevel gear (500) and the mounting disc (620) are concentric, and a groove (901) is arranged on the outer edge of the fixing member (900); when the driven bevel gear (320) is located in the groove (901), the driving bevel gear (500) is in meshing connection with the driven bevel gear (320).

11. The self-cleaning mechanism according to claim 10, wherein The first cleaning member (100) comprises an intermediate support member (114) and at least one cleaning rib (111, 112, 113) connected with the intermediate support member (114) and distributed radially around the intermediate support member (114), the intermediate support member (114) is arranged on the driving bevel gear (500), and a relief inclined surface is arranged on the intermediate support member (114) at a position corresponding to the groove (901) of the fixing member (900).

12. The self-cleaning mechanism of claim 9, wherein, The scraping strip comprises a scraping strip body (610) and a mounting disc (620), The lower surface of the driving bevel gear (500) has an annular convex wall, the annular convex wall surrounds a mounting cavity, the upper surface of the mounting disc (620) has a mounting protrusion, the mounting protrusion is embedded in the mounting cavity, and the mounting disc (620) of the scraping strip is connected with the driving bevel gear (500).

13. The self-cleaning mechanism according to claim 1, wherein 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), and the first cleaning unit (101) and the second cleaning unit (102) are respectively used for scraping and cleaning the first cleaning member (201) and the second cleaning member (202). The center line length of the first cleaning element (201) and the second cleaning element (202) is greater than the diameter of any of the cleaning elements (200), and the second cleaning element (300) is located on the center line of the first cleaning element (201) and the second cleaning element (202); the center of the length direction of the second cleaning element (300) coincides with the center of the center line of the first cleaning element (201) and the second cleaning element (202).

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

15. The self-cleaning mechanism according to claim 13, wherein, The first cleaning element (201) rotates in a first plane with O1 as the center, the second cleaning element (202) rotates in the first plane with O2 as the center, the first plane is the plane where the first cleaning element (201) and the second cleaning element (202) are located, the first cleaning unit (101) and the second cleaning unit (102) are stationary, and the second cleaning element (300) rotates in a second plane perpendicular to the first plane; The first cleaning element (201) rotates clockwise, the second cleaning element (202) rotates counterclockwise, the second cleaning element (300) rotates counterclockwise as viewed from the second cleaning element (202) to the first cleaning element (201); or, the first cleaning element (201) rotates counterclockwise, the second cleaning element (202) rotates clockwise, the second cleaning element (300) rotates clockwise as viewed from the second cleaning element (202) to the first cleaning element (201).

16. The self-cleaning mechanism of claim 15, wherein, The second cleaning element (300) comprises a first end and a second end in the length direction; the second cleaning element (300) comprises a second cleaning element 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 element body (310) at the first end, and the second driven bevel gear (322) is connected to the second cleaning element body (310) at the second end; The self-cleaning mechanism further comprises: A first driving bevel gear (501) and a second driving bevel gear (502); A first scraping strip (601) in transmission connection with the power element (400); A second scraping strip (602) in transmission connection with the power element (400); The first scraping strip (601) is connected with the first driving bevel gear (501); the first driving bevel gear (501) is engaged with the first driven bevel gear (321); The second scraping strip (602) is connected with the second driving bevel gear (502); the second driving bevel gear (502) is engaged with the second driven bevel gear (322); Under the driving of the power element (400), the first scraping strip (601) and the second scraping strip (602) rotate around the respective center axes, and the rotation directions of the first scraping strip (601) and the second scraping strip (602) are opposite.

17. A base station, wherein, The self-cleaning mechanism as claimed in any one of claims 1-16 above, and a base station body (800) for parking a cleaning robot, the cleaning robot comprising the cleaning element, when the cleaning robot is parked in place, the cleaning element contacts the first cleaning element and the second cleaning element.

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