System and methods for cleaning printheads and printhead wipers. One embodiment is an apparatus that includes a belt configured to rotate in a loop, and a wiper attached to the belt configured to wipe ink from a printhead. The apparatus also includes a tank configured as a reservoir for a cleaning solution, and a controller configured to drive the belt so that an end of the wiper drags across the printhead when in an upper portion of the loop and submerges in the cleaning solution of the tank when in a lower portion of the loop.