The invention discloses a cleaning
robot suitable for attachments on an
underwater damaged surface of a tunnel and a using method.The cleaning
robot comprises a
chassis, a movement module, a vision module, a cleaning tool module and a control communication module, the cleaning tool module is located at the front end of the top of the
chassis and comprises a tool mounting frame and a mechanical arm, and a hexagonal groove is formed in the tool mounting frame; a controllable
electromagnet is arranged in each groove and at least can accommodate the high-pressure water gun and the rotary steel
brush; the mechanical arm is installed at the front end of the top of the
chassis through a base, the mechanical arm is in
electric drive joint integration and is wrapped with a waterproof sealing film layer, and a clamping jaw and a six-dimensional
force sensor are arranged at the
tail end of the mechanical arm. The
underwater operation
robot serves as a carrier, two cleaning tools including a high-pressure water gun and a rotating steel
brush are used, a construction method of a cleaning area and a cleaning track is provided for
underwater wall surface defects, full-coverage cleaning of the wall surface defect positions can be guaranteed, and the underwater wall surface defect cleaning device is safe, efficient, good in cleaning effect, high in
automation degree and beneficial to subsequent repairing operation.