Cleaning robot for nuclear power cold source port

Abstract

The invention relates to a nuclear power cold source opening cleaning robot which comprises a bearing part. The multiple multi-degree-of-freedom mechanical arms are arranged at the front end of the bearing part, the multi-degree-of-freedom mechanical arms are used for cleaning pollutants on the wall face of the tunnel, and the multi-degree-of-freedom mechanical arms are located in the bearing part when in the storage state; the auxiliary cleaning assembly is arranged at the rear end of the bearing part and used for assisting the multi-degree-of-freedom mechanical arm in cleaning pollutants on the wall face of the tunnel; and the pollutant crushing and cleaning assembly is arranged at the front end of the bearing part and located below the multi-degree-of-freedom mechanical arm, and the pollutant crushing and cleaning assembly is used for crushing and cleaning pollutants cleaned from the wall face of the tunnel. The device can replace manual operation for cleaning the cold source water intake and the tunnel of the nuclear power station, and can inspect the water bottom near the cold source water intake of the nuclear power station.

Description

Technical Field

[0001] The invention belongs to the technical field of robot mechanical automation, and in particular relates to a nuclear power cold source port cleaning robot. Background Art

[0002] The cold source port of a nuclear power plant is a part of the cold source system of a nuclear power plant. The cold source system is the abbreviation of the circulating water system of a nuclear power plant. Its main function is to provide cooling water to the safety plant of the nuclear island and to provide cooling water to the condenser and auxiliary equipment cooler of the conventional island.

[0003] At present, most of the methods for cleaning the cold source in the market are to install an impeller in the cold source pipe, install a biological crushing mechanism, including a rotating cutter, multiple fixed cutters, etc. These methods have the same disadvantages: the cleaning is not free to move, can only be fixed in one place for cleaning, difficult to repair, the device cannot be moved, cannot be repaired on land, the cleaning efficiency is slow, the power is low, the tools are damaged, the replacement of new equipment is expensive and the engineering workload is large, the pollutants cannot be handled, the crushed pollutants will accumulate in the pipe or the pipe mouth, and will be blocked over time, etc.

[0004] Therefore, it is necessary to design a nuclear power cold source cleaning robot to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a nuclear power cold source port cleaning robot to solve the above problems.

[0006] To achieve the above object, the present invention provides the following solution: a nuclear power cold source port cleaning robot, comprising

[0007] bearing member;

[0008] A plurality of multi-degree-of-freedom mechanical arms are arranged at the front end of the carrier, the multi-degree-of-freedom mechanical arms are used to clean pollutants on the wall of the tunnel, and the multi-degree-of-freedom mechanical arms are located inside the carrier when in a storage state;

[0009] An auxiliary cleaning component, disposed at the rear end of the carrier, and used to assist the multi-degree-of-freedom robotic arm in cleaning pollutants on the tunnel wall;

[0010] A pollutant crushing and cleaning component is arranged at the front end of the carrier and below the multi-degree-of-freedom mechanical arm, and is used to crush and clean the pollutants cleaned off the tunnel wall;

[0011] A spare parts storage assembly is arranged on the carrier, and is used to hold a variety of pollutant cleaning actuators so that the multi-degree-of-freedom robot arm can replace different pollutant cleaning actuators;

[0012] A driving and walking assembly is arranged on the bearing member, and is used to drive the bearing member to move in the water and adjust the posture of the bearing member;

[0013] The lighting and image acquisition module is arranged on the carrier, and is used for illuminating the inner wall of the tunnel and acquiring image information of pollutants attached to the inner wall of the tunnel, and transmitting the image information of pollutants attached to the inner wall of the tunnel to the ground control center.

[0014] According to a nuclear power cold source cleaning robot of the present invention, the supporting part includes a main frame, the interior of the main frame is hollowed out, a sealed cabin is fixedly connected to the top of the outside of the main frame, a battery, a communication module, and a main control module are arranged inside the sealed cabin, the communication module and the main control module are electrically connected to the battery, the communication module and the main control module are electrically connected to the ground control center through an optical cable, the multi-degree-of-freedom mechanical arm is arranged at the front end of the sealed cabin, the pollutant crushing and cleaning component and the lighting and image acquisition module are arranged at the front end of the main frame, the auxiliary cleaning component is arranged at the rear end of the main frame, the spare parts storage component is arranged inside the main frame, the lighting and image acquisition module is arranged at the front end of the sealed cabin, and the driving walking component is arranged on both sides of the outside of the main frame.

[0015] According to a nuclear power cold source cleaning robot of the present invention, the multi-degree-of-freedom robotic arm includes a robotic arm base joint, the robotic arm base joint is fixedly arranged at the front end of the sealed cabin, the robotic arm base joint is rotatably connected to one end of the robotic arm upper wall, the robotic arm upper wall and the rotation direction of the robotic arm base joint are spatially perpendicular, the other end of the robotic arm upper wall is rotatably connected to one end of the robotic arm middle arm, the other end of the robotic arm middle arm is rotatably connected to one end of the robotic arm lower arm, the other end of the robotic arm lower arm is rotatably connected to the fixed end of the robotic arm telescopic arm, the telescopic end of the robotic arm telescopic arm is fixedly connected to the robotic arm wrist joint, and the robotic arm wrist joint is rotatably connected to a replaceable rotating cleaning brush head.

[0016] According to a nuclear power cold source cleaning robot of the present invention, the replaceable rotating cleaning brush head includes a cleaning brush head driver, the cleaning brush head driver is rotatably connected to the wrist joint of the mechanical arm, the cleaning brush head driver is transmission-connected to the cleaning brush head, and a high-pressure water gun nozzle is arranged in the middle of the cleaning brush head.

[0017] According to a nuclear power cold source cleaning robot of the present invention, the auxiliary cleaning component includes a high-pressure water gun pump, which is fixedly arranged at the rear end of the main frame, and the outlet end of the high-pressure water gun pump is fixedly connected to one end of a high-pressure water gun hose, and the other end of the high-pressure water gun hose is fixedly connected to the high-pressure water gun nozzle.

[0018] According to a nuclear power cold source cleaning robot of the present invention, the pollutant crushing and cleaning component includes a multifunctional cleaning shovel, and the multifunctional cleaning shovel includes a shovel body. The rear end of the shovel body is movably connected to the front end of the main frame. The rear end of the shovel body is rotatably provided with a toothed roller, and the rear end of the shovel body is provided with one end of a cleaning shovel discharge pipe, and the other end of the cleaning shovel discharge pipe is fixedly connected to the inlet end of a sewage suction pump. The sewage suction pump is fixedly arranged inside the main frame, and the outlet end of the sewage suction pump is fixedly connected to the sewage suction pump discharge pipe, and the front end of the main frame is fixedly connected to the fixed end of a control hydraulic cylinder, and the telescopic end of the control hydraulic cylinder is rotatably connected to the rear end of the shovel body.

[0019] According to a nuclear power cold source port cleaning robot of the present invention, the driving and walking assembly comprises a driving part and a walking part, the driving part is arranged on the sealed cabin, and the walking part is arranged on the main frame;

[0020] The driving unit includes four vector underwater thrusters, which are respectively arranged at four corners of the sealed cabin;

[0021] The walking part comprises two crawlers, which are respectively arranged on both sides of the main frame, and swing arm crawlers are arranged at both ends of a side of each crawler away from the main frame.

[0022] According to a nuclear power cold source cleaning robot of the present invention, the spare parts storage assembly includes a tool rotating rack, the tool rotating rack is fixedly arranged in the middle of the inner side of the main frame, and a plurality of accommodating grooves are opened on the tool rotating rack, and replaceable rotating cleaning brush heads and replaceable manipulators are placed in the accommodating grooves.

[0023] According to a nuclear power cold source cleaning robot of the present invention, the lighting and image acquisition module includes a visual module and a plurality of searchlights, the visual module is fixedly arranged in the middle of the front end of the sealed cabin, and the plurality of searchlights are symmetrically fixedly arranged on both sides of the front end of the main frame.

[0024] Compared with the prior art, the present invention has the following advantages and technical effects:

[0025] The present invention can meet the needs of pollutant cleaning work on tunnel walls of different sizes through the multi-degree-of-freedom robotic arm. The spare parts storage component can store and hold a variety of pollutant cleaning actuators, so that the multi-degree-of-freedom robotic arm can replace a variety of cleaning actuators by itself, thereby improving the applicability of the robot. The driving walking component can flexibly adjust the posture and heading of the robot in the water, so that the robot has excellent underwater maneuverability and complex terrain passability. The lighting and image acquisition modules can make the working environment bright and the work tasks visual, making it more convenient to handle difficult-to-clean pollutants or deal with emergency events. The pollutant crushing and cleaning component can conveniently and quickly clean the crushed pollutants to a designated location. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a rear view of the present invention;

[0029] Figure 3 It is a bottom view of the present invention;

[0030] Figure 4 The present invention is a side view Figure 1 ;

[0031] Figure 5 This is a schematic diagram of the multi-degree-of-freedom robotic arm of the present invention in an unfolded state;

[0032] Figure 6 It is a schematic diagram of the vector underwater thruster of the present invention.

[0033] Among them, 1. Main frame; 2. Sealed cabin; 3. Optical cable; 4. Multi-degree-of-freedom robotic arm; 5. Vector underwater thruster; 6. Visual module; 7. Track; 8. Swing arm track; 9. Multi-function cleaning shovel; 10. Searchlight; 11. Tool rotating bracket; 12. Control hydraulic cylinder; 13. High-pressure water gun hose; 14. High-pressure water gun water pump; 15. Sewage suction pump; 16. Sewage shovel discharge pipe; 17. Sewage suction pump discharge pipe; 18. Replaceable rotating cleaning brush head; 19. Replaceable manipulator; 20. Track suspension shock absorption Damper; 21. Track suspension shock-absorbing rotary damper; 22. Front adjustment curved link; 23. Front adjustment link; 24. Rear adjustment curved link; 25. Rear adjustment link; 26. Robot arm base joint; 27. Robot arm upper wall; 28. Robot arm middle arm; 29. ​​Robot arm lower arm; 30. Robot arm telescopic arm; 31. Robot arm wrist joint; 32. Cleaning brush head driver; 33. Cleaning brush head; 34. Underwater thruster body; 35. Bogie; 36. Gear roller; 37. Shovel body; 38. High-pressure water gun nozzle. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Reference Figures 1 to 6 As shown, the present invention provides a nuclear power cold source cleaning robot, comprising

[0037] bearing member;

[0038] A plurality of multi-degree-of-freedom mechanical arms 4 are arranged at the front end of the carrier, and the multi-degree-of-freedom mechanical arms 4 are used to clean pollutants on the wall of the tunnel. When the multi-degree-of-freedom mechanical arms 4 are in the storage state, they are located inside the carrier;

[0039] An auxiliary cleaning component is arranged at the rear end of the carrier, and is used to assist the multi-degree-of-freedom robot arm 4 in cleaning pollutants on the tunnel wall;

[0040] A pollutant crushing and cleaning component is arranged at the front end of the carrier and below the multi-degree-of-freedom mechanical arm 4, and is used to crush and clean the pollutants cleaned off the tunnel wall;

[0041] A spare parts storage assembly is arranged on the carrier, and is used to hold a variety of pollutant cleaning actuators so that the multi-degree-of-freedom robot arm 4 can replace different pollutant cleaning actuators;

[0042] A driving and traveling assembly is arranged on the bearing member, and is used to drive the bearing member to move in the water and adjust the posture of the bearing member;

[0043] The lighting and image acquisition module is arranged on the carrier, and is used for illuminating the inner wall of the tunnel and acquiring the image information of the pollutants attached to the inner wall of the tunnel, and transmitting the image information of the pollutants attached to the inner wall of the tunnel to the ground control center.

[0044] As an optional embodiment, the carrier includes a main frame 1, the main frame 1 is hollow inside, and a sealed cabin 2 is fixedly connected to the top of the outside of the main frame 1. A battery, a communication module, and a main control module are arranged inside the sealed cabin 2. The communication module and the main control module are electrically connected to the battery, and the communication module and the main control module are electrically connected to the ground control center through an optical cable 3. A multi-degree-of-freedom robotic arm 4 is arranged at the front end of the sealed cabin 2, a pollutant crushing and cleaning component and a lighting and image acquisition module are arranged at the front end of the main frame 1, an auxiliary cleaning component is arranged at the rear end of the main frame 1, a spare parts storage component is arranged inside the main frame 1, a lighting and image acquisition module is arranged at the front end of the sealed cabin 2, and a driving walking component is arranged on both sides of the outside of the main frame 1.

[0045] The sealed cabin 2 withstands underwater pressure and ensures overall water tightness. The main frame 1 is made of 6061 aluminum.

[0046] As an optional embodiment, the multi-degree-of-freedom robotic arm 4 includes a robotic arm base joint 26, which is fixedly arranged at the front end of the sealed cabin 2, the robotic arm base joint 26 is rotatably connected to one end of the robotic arm upper wall 27, the robotic arm upper wall 27 and the rotation direction of the robotic arm base joint 26 are spatially perpendicular, the other end of the robotic arm upper wall 27 is rotatably connected to one end of the robotic arm middle arm 28, the other end of the robotic arm middle arm 28 is rotatably connected to one end of the robotic arm lower arm 29, the other end of the robotic arm lower arm 29 is rotatably connected to the fixed end of the robotic arm telescopic arm 30, the telescopic end of the robotic arm telescopic arm 30 is fixedly connected to the robotic arm wrist joint 31, and the robotic arm wrist joint 31 is rotatably connected to a replaceable rotating cleaning brush head 18.

[0047] As an optional embodiment, the replaceable rotating cleaning brush head 18 includes a cleaning brush head driver 32, which is rotatably connected to the wrist joint 31 of the robot arm. The cleaning brush head driver 32 is transmission-connected to the cleaning brush head 33, and a high-pressure water gun nozzle 38 is arranged in the middle of the cleaning brush head 33.

[0048] The cleaning brush head driver 32 is provided with a motor and a water pipe interface for driving the cleaning brush head 33 to rotate and clean with a high-pressure water gun.

[0049] As an optional embodiment, the auxiliary cleaning component includes a high-pressure water gun pump 14, which is fixedly arranged at the rear end of the main frame 1, and the outlet end of the high-pressure water gun pump 14 is fixedly connected to one end of a high-pressure water gun hose 13, and the other end of the high-pressure water gun hose 13 is fixedly connected to the high-pressure water gun nozzle 38.

[0050] As an optional embodiment, the pollutant crushing and cleaning component includes a multifunctional cleaning shovel 9, which includes a shovel body 37. The rear end of the shovel body 37 is movably connected to the front end of the main frame 1. A tooth roller 36 is rotatably provided at the rear end of the shovel body 37. The rear end of the shovel body 37 is provided with one end of a cleaning shovel discharge pipe 16. The other end of the cleaning shovel discharge pipe 16 is fixedly connected to the inlet end of the sewage suction pump 15. The sewage suction pump 15 is fixedly arranged inside the main frame 1. The outlet end of the sewage suction pump 15 is fixedly connected to the sewage suction pump discharge pipe 17. The front end of the main frame 1 is fixedly connected to the fixed end of the control hydraulic cylinder 12, and the telescopic end of the control hydraulic cylinder 12 is rotatably connected to the rear end of the shovel body 37.

[0051] The multifunctional cleaning shovel 9 is raised and lowered as a whole by controlling the hydraulic cylinder 12, and can scoop up and crush large debris in the tunnel.

[0052] As an optional embodiment, the driving and traveling assembly includes a driving part and a traveling part, the driving part is arranged on the sealed cabin 2, and the traveling part is arranged on the main frame 1;

[0053] The driving part includes four vector underwater thrusters 5, which are respectively arranged at four corners of the sealed cabin 2;

[0054] The walking part includes two crawlers 7 , which are respectively arranged on both sides of the main frame 1 , and swing arm crawlers 8 are arranged at both ends of the side of each crawler 7 away from the main frame 1 .

[0055] Furthermore, the track 7 is connected to both sides of the main frame 1 through a front link mechanism and a rear link mechanism. The front link mechanism includes a front adjusting curved link 22 and a front adjusting link 23, and the rear link mechanism includes a rear adjusting curved link 24 and a rear adjusting link 25. The front link mechanism is provided with a track suspension shock-absorbing damper 20 and a track suspension shock-absorbing rotary damper 21.

[0056] Specifically, the front adjusting curved link 22 is connected to the front adjusting link 23, and the rear adjusting curved link is connected to the rear adjusting link 25. There is no connection between the two assemblies. One front and rear link mechanism assembly is installed on each side of the main frame 1 and is connected to the track 7 at the same time. The track 7 is fixed on both sides of the main frame 1 to form a moving device.

[0057] Optionally, the vector underwater thruster 5 includes an underwater thruster body 34 and a bogie 35. The underwater thruster body 34 is arranged inside the bogie 35, and the bogie 35 is rotatably arranged in the openings at the four corners of the sealed cabin 2. The up and down pitching movement and left and right turning movement of the bogie 35 can change the posture and heading of the robot sailing in the water.

[0058] As an optional embodiment, the spare parts storage assembly includes a tool rotating rack 11, which is fixedly arranged in the middle of the inner side of the main frame 1. A plurality of receiving grooves are opened on the tool rotating rack 11, and replaceable rotating cleaning brush heads 18 and replaceable manipulators 19 are placed in the receiving grooves.

[0059] As an optional implementation, the lighting and image acquisition module includes a vision module 6 and a plurality of searchlights 10 . The vision module 6 is fixedly arranged in the middle of the front end of the sealed cabin 2 , and the plurality of searchlights 10 are symmetrically fixedly arranged on both sides of the front end of the main frame 1 .

[0060] The vision module 6 is equipped with a variety of optical detection equipment and has two degrees of freedom. It can pitch up and down and turn left and right, and the field of view covers the entire front hemisphere.

[0061] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0062] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope of the present invention.

Claims

1. A nuclear power cold source cleaning robot, characterized in that: include bearing member; A plurality of multi-degree-of-freedom mechanical arms (4) are arranged at the front end of the carrier, the multi-degree-of-freedom mechanical arms (4) are used to clean pollutants on the wall surface of the tunnel, and the multi-degree-of-freedom mechanical arms (4) are located inside the carrier when in a stored state; an auxiliary cleaning component, arranged at the rear end of the carrier, the auxiliary cleaning component being used to assist the multi-degree-of-freedom mechanical arm (4) in cleaning pollutants on the tunnel wall; A pollutant crushing and cleaning component is arranged at the front end of the carrier and below the multi-degree-of-freedom mechanical arm (4), and the pollutant crushing and cleaning component is used to crush and clean the pollutants cleaned off the tunnel wall; a spare parts storage assembly, arranged on the carrier, the spare parts storage assembly being used to hold a plurality of pollutant cleaning actuators so that the multi-degree-of-freedom robot arm (4) can replace different pollutant cleaning actuators; A driving and walking assembly is arranged on the bearing member, and is used to drive the bearing member to move in the water and adjust the posture of the bearing member; The lighting and image acquisition module is arranged on the carrier, and is used for illuminating the inner wall of the tunnel and acquiring image information of pollutants attached to the inner wall of the tunnel, and transmitting the image information of pollutants attached to the inner wall of the tunnel to the ground control center.

2. A nuclear power cold source cleaning robot according to claim 1, characterized in that: The bearing member comprises a main frame (1), the interior of the main frame (1) is hollowed out, a sealed cabin (2) is fixedly connected to the top of the exterior of the main frame (1), a battery, a communication module, and a main control module are arranged inside the sealed cabin (2), the communication module and the main control module are electrically connected to the battery, the communication module and the main control module are electrically connected to the ground control center via an optical cable (3), the multi-degree-of-freedom mechanical arm (4) is arranged at the front end of the sealed cabin (2), the pollutant crushing and cleaning component and the lighting and image acquisition module are arranged at the front end of the main frame (1), the auxiliary cleaning component is arranged at the rear end of the main frame (1), the spare parts storage component is arranged inside the main frame (1), the lighting and image acquisition module is arranged at the front end of the sealed cabin (2), and the driving walking component is arranged on both sides of the exterior of the main frame (1).

3. A nuclear power cold source cleaning robot according to claim 2, characterized in that: The multi-degree-of-freedom robotic arm (4) comprises a robotic arm base joint (26), wherein the robotic arm base joint (26) is fixedly arranged at the front end of the sealed cabin (2), the robotic arm base joint (26) is rotatably connected to one end of a robotic arm upper wall (27), the robotic arm upper wall (27) and the rotation direction of the robotic arm base joint (26) are spatially perpendicular, the other end of the robotic arm upper wall (27) is rotatably connected to one end of a robotic arm middle arm (28), the other end of the robotic arm middle arm (28) is rotatably connected to one end of a robotic arm lower arm (29), the other end of the robotic arm lower arm (29) is rotatably connected to a fixed end of a robotic arm telescopic arm (30), the telescopic end of the robotic arm telescopic arm (30) is fixedly connected to a robotic arm wrist joint (31), and the robotic arm wrist joint (31) is rotatably connected to a replaceable rotating dirt cleaning brush head (18).

4. A nuclear power cold source cleaning robot according to claim 3, characterized in that: The replaceable rotating cleaning brush head (18) comprises a cleaning brush head driver (32), the cleaning brush head driver (32) is rotatably connected to the wrist joint (31) of the mechanical arm, the cleaning brush head driver (32) is transmission-connected to a cleaning brush head (33), and a high-pressure water gun nozzle (38) is arranged in the middle of the cleaning brush head (33).

5. A nuclear power cold source cleaning robot according to claim 4, characterized in that: The auxiliary cleaning component comprises a high-pressure water gun pump (14), the high-pressure water gun pump (14) being fixedly arranged at the rear end of the main frame (1), the outlet end of the high-pressure water gun pump (14) being fixedly connected to one end of a high-pressure water gun hose (13), and the other end of the high-pressure water gun hose (13) being fixedly connected to the high-pressure water gun nozzle (38).

6. A nuclear power cold source cleaning robot according to claim 2, characterized in that: The pollutant crushing and cleaning component comprises a multifunctional cleaning shovel (9), the multifunctional cleaning shovel (9) comprising a shovel body (37), the rear end of the shovel body (37) being movably connected to the front end of the main frame (1), the rear end of the shovel body (37) being rotatably provided with a toothed roller (36), the rear end of the shovel body (37) being provided with one end of a cleaning shovel sewage discharge pipe (16), the other end of the cleaning shovel sewage discharge pipe (16) being fixedly connected to the inlet end of a sewage suction pump (15), the sewage suction pump (15) being fixedly arranged inside the main frame (1), the outlet end of the sewage suction pump (15) being fixedly connected to the sewage suction pump sewage discharge pipe (17), the front end of the main frame (1) being fixedly connected to the fixed end of a control hydraulic cylinder (12), the telescopic end of the control hydraulic cylinder (12) being rotatably connected to the rear end of the shovel body (37).

7. A nuclear power cold source cleaning robot according to claim 2, characterized in that: The driving and traveling assembly comprises a driving part and a traveling part, the driving part is arranged on the sealed cabin (2), and the traveling part is arranged on the main frame (1); The driving unit comprises four vector underwater thrusters (5), and the four vector underwater thrusters (5) are respectively arranged at four corners of the sealed cabin (2); The walking part comprises two crawlers (7), the two crawlers (7) are respectively arranged on both sides of the main frame (1), and each crawler (7) is provided with swing arm crawlers (8) at both ends of a side away from the main frame (1).

8. A nuclear power cold source cleaning robot according to claim 2, characterized in that: The spare parts storage assembly comprises a tool rotating hanger (11), wherein the tool rotating hanger (11) is fixedly arranged at the middle part of the inner side of the main frame (1), and a plurality of receiving grooves are provided on the tool rotating hanger (11), wherein replaceable rotating cleaning brush heads (18) and replaceable manipulators (19) are contained in the receiving grooves.

9. A nuclear power cold source cleaning robot according to claim 2, characterized in that: The lighting and image acquisition module comprises a visual module (6) and a plurality of searchlights (10); the visual module (6) is fixedly arranged at the middle of the front end of the sealed cabin (2); and the plurality of searchlights (10) are symmetrically fixedly arranged at both sides of the front end of the main frame (1).

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