Robot for cleaning inner wall of nuclear reactor pressure vessel

Abstract

The utility model relates to a nuclear reactor pressure vessel inner wall cleaning robot which comprises a multi-degree-of-freedom mechanical arm, a grabbing module and a cleaning module, the executing end of the multi-degree-of-freedom mechanical arm is provided with the grabbing module and the cleaning module, and the grabbing module is used for grabbing foreign matter at the bottom of a nuclear reactor pressure vessel. The cleaning module comprises a cleaning assembly and a suction assembly, the cleaning assembly is used for cleaning the bottom of the nuclear reactor pressure vessel, and the suction assembly is used for extracting impurities at the bottom of the nuclear reactor pressure vessel; the multi-degree-of-freedom mechanical arm selectively enables at least one of the grabbing module, the cleaning assembly and the suction assembly to face the bottom of the nuclear reactor pressure vessel through posture change. A worker can remotely control and clean the interior of the nuclear reactor pressure vessel through the robot, radiation of primary loop foreign matter and activated corrosion products on the inner wall of equipment to the worker is avoided, the personal safety of the worker is guaranteed, and impurities and foreign matter in the pressure vessel can be conveniently cleaned.

Description

TECHNICAL FIELD

[0001] The utility model relates to nuclear energy development and utilization technical field, especially relate to a nuclear reactor pressure vessel inner wall cleaning robot. BACKGROUND

[0002] The foreign and domestic nuclear power unit one loop foreign matter event occurs occasionally, and it brings serious negative influence to equipment safety, fuel safety and radiation source item. According to the statistics of the known fuel assembly breakage reason of domestic nuclear power unit, the fuel breakage ratio caused by foreign matter factor is more than 50%. The one loop foreign matter and the activation corrosion product in the inner wall of equipment contribute more than 90% to the personnel collective dose, therefore, an equipment that can clean the impurities and foreign matters in the nuclear reactor pressure vessel is urgently needed. UTILITY MODEL CONTENT

[0003] The utility model discloses a nuclear reactor pressure vessel inner wall cleaning robot to clean the impurities and foreign matters in the nuclear reactor pressure vessel.

[0004] To achieve the above object, the utility model provides the following technical scheme:

[0005] A nuclear reactor pressure vessel inner wall cleaning robot, comprising a multi-degree-of-freedom manipulator, the execution end of the multi-degree-of-freedom manipulator is provided with a grabbing module and a cleaning module, the grabbing module is used to grab the foreign matters at the bottom of the nuclear reactor pressure vessel, the cleaning module comprises a cleaning assembly and a suction assembly, the cleaning assembly is used to clean the bottom of the nuclear reactor pressure vessel, the suction assembly is used to extract the impurities at the bottom of the nuclear reactor pressure vessel, and the multi-degree-of-freedom manipulator selectively directs at least one of the grabbing module, the cleaning assembly and the suction assembly to the bottom of the nuclear reactor pressure vessel by changing the posture.

[0006] In one embodiment of the application, the grabbing module comprises:

[0007] A gripper, the gripper comprises a plurality of relatively movable claw parts;

[0008] A grabbing drive mechanism, the driving end of the grabbing drive mechanism is in transmission connection with each claw part, and the grabbing drive mechanism drives each claw part to gather or move away from each other.

[0009] In one embodiment of the application, the grabbing module further comprises a touch detection mechanism, the touch detection mechanism is arranged between the grabbing module and the execution end of the multi-degree-of-freedom manipulator, and the multi-degree-of-freedom manipulator stops moving downward after the touch detection mechanism detects that the grabbing module touches the bottom.

[0010] In one embodiment of the present application, the touch detection mechanism comprises a connecting member, a reset elastic member and a micro switch, the grabbing module is arranged at the execution end of the multi-degree-of-freedom robot arm through the connecting member, the grabbing module is reciprocally movable relative to the connecting member, the reset elastic member is arranged between the grabbing module and the connecting member, and the micro switch is arranged on the connecting member.

[0011] In one embodiment of the present application, the grabbing module further comprises a rotating mechanism, and the connecting member is arranged at the execution end of the multi-degree-of-freedom robot arm through the rotating mechanism.

[0012] In one embodiment of the present application, the cleaning module comprises a mounting base, the cleaning assembly and the suction assembly are arranged at two ends of the mounting base respectively, the cleaning assembly comprises a mounting member, a cleaning roller and a cleaning driving mechanism, the mounting member is arranged on the mounting base, the cleaning roller is rotatably arranged on the mounting member, and the cleaning driving device is in transmission connection with the cleaning roller to drive the cleaning roller to rotate, the suction assembly comprises a suction mechanism, a hose and a quick connector, and the hose is connected to the suction mechanism through the quick connector.

[0013] In one embodiment of the present application, the mounting member comprises a first mounting piece, a second mounting piece and a universal joint, the first mounting piece and the second mounting piece are connected through the universal joint, the cleaning roller is arranged on the first mounting piece, and the second mounting piece is connected with the mounting base.

[0014] In one embodiment of the present application, the mounting member is arranged on the mounting base through a flexible joint.

[0015] In one embodiment of the present application, the multi-degree-of-freedom robot arm comprises a base, a first arm body, a second arm body, a third arm body, a fourth arm body, a fifth arm body and a sixth arm body, a first rotating driving mechanism is arranged in the first arm body, a driving end of the first rotating mechanism is connected to the base, a second rotating driving mechanism is arranged in the second arm body, a driving end of the second rotating mechanism is connected to the first arm body, the third arm body is connected with one end of the second arm body away from the first arm body, a third rotating driving mechanism is arranged in the third arm body, a driving end of the third rotating driving mechanism is connected to the fourth arm body, a fourth rotating driving mechanism is arranged in one end of the fourth arm body away from the third arm body, a driving end of the fourth rotating driving mechanism is connected to the fifth arm body, a fifth rotating driving mechanism is arranged in one end of the fifth arm body connected to the fourth arm body, a driving end of the fifth rotating driving mechanism is connected to the sixth arm body, and a sixth rotating driving mechanism is arranged in one end of the sixth arm body away from the fifth arm body, and a driving end of the sixth rotating driving mechanism is connected to the mounting base.

[0016] In one embodiment of the application, the grabbing module is arranged on the sixth arm body.

[0017] From the above technical solution, it can be seen that the utility model discloses a nuclear reactor pressure vessel inner wall cleaning robot, the nuclear reactor pressure vessel inner wall cleaning robot includes multi -freedom degree mechanical arm, grab module and cleaning module, wherein, the execution end of multi -freedom degree mechanical arm is provided with grab module and cleaning module, grab module is used to grab the foreign matter of nuclear reactor pressure vessel bottom, cleaning module includes cleaning assembly and suction assembly, cleaning assembly is used to clean nuclear reactor pressure vessel bottom, and suction assembly is used to extract the impurity of nuclear reactor pressure vessel bottom, and multi -freedom degree mechanical arm changes the posture selectively at least one of grab module, cleaning assembly and suction assembly is directed to nuclear reactor pressure vessel bottom.

[0018] In application, multi -freedom degree mechanical arm drives grab module and cleaning module to move to the nuclear reactor pressure vessel inner wall that needs to be cleaned, when moving to the corresponding position, multi -freedom degree mechanical arm makes grab module or cleaning module towards nuclear reactor pressure vessel inner wall to carry out cleaning operation, grab module is used to grab the relatively large volume of foreign matter of nuclear reactor pressure vessel bottom, cleaning module is used to clean the relatively small volume of impurity that is inconvenient to grab on the side wall and bottom of nuclear reactor pressure vessel, and the cleaning assembly in cleaning module can sweep the impurity from the side wall and bottom of nuclear reactor pressure vessel and gather in one place, and suction assembly is used to extract the impurity, so that the cleaning of nuclear reactor pressure vessel inside is realized, and it can be seen that the staff can realize remote control cleaning to the inside of nuclear reactor pressure vessel by the above-mentioned nuclear reactor pressure vessel inner wall cleaning robot, and the staff does not need to enter the inside of nuclear reactor pressure vessel, avoids the radiation of the activated corrosion product of loop foreign matter and equipment inner wall to the staff, that is, guarantees the personal safety of staff, and is convenient for the cleaning of impurity and foreign matter in the inside of nuclear reactor pressure vessel. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0020] Figure 1 The front view of the nuclear reactor pressure vessel inner wall cleaning robot provided by the embodiments of the utility model is shown in the drawings.

[0021] Figure 2The utility model provides a bottom view of nuclear reactor pressure vessel inner wall cleaning robot provided for the utility model embodiment,

[0022] Figure 3 The utility model provides a side view of nuclear reactor pressure vessel inner wall cleaning robot provided for the utility model embodiment,

[0023] In the drawing,

[0024] 1 is multi -freedom degree mechanical arm, 110 is base, 120 is first arm body, 130 is second arm body, 140 is third arm body, 150 is fourth arm body, 160 is fifth arm body, 170 is sixth arm body, 2 is grabbing module, 210 is clamping jaw, 220 is grabbing drive mechanism, 230 is rotating mechanism, 3 is cleaning module, 310 is cleaning subassembly, 311 is first mounting piece, 312 is second mounting piece, 313 is universal joint, 314 is cleaning roller, 320 is suction subassembly, 321 is suction mechanism, 322 is flexible pipe, 323 is quick coupling, 330 is installation base, 340 is flexible joint. DETAILED DESCRIPTION

[0025] The utility model discloses a kind of nuclear reactor pressure vessel inner wall cleaning robots, the structural design of the nuclear reactor pressure vessel inner wall cleaning robot makes it can be convenient to clean the impurity, foreign matter inside nuclear reactor pressure vessel.

[0026] The technical solutions in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0027] Please refer to Figures 1 to 3 , Figure 1 The utility model provides a front view of nuclear reactor pressure vessel inner wall cleaning robot provided for the utility model embodiment, Figure 2 The utility model provides a bottom view of nuclear reactor pressure vessel inner wall cleaning robot provided for the utility model embodiment, Figure 3 The utility model provides a side view of nuclear reactor pressure vessel inner wall cleaning robot provided for the utility model embodiment.

[0028] The utility model discloses a kind of nuclear reactor pressure vessel inner wall cleaning robots, the nuclear reactor pressure vessel inner wall cleaning robot includes multi -freedom degree mechanical arm 1, grabbing module 2 and cleaning module 3.

[0029] The one end of the multi-degree-of-freedom mechanical arm 1 is provided with a base 110, the base 110 is used for fixing the multi-degree-of-freedom mechanical arm 1, and the one end of the multi-degree-of-freedom mechanical arm 1 away from the base 110 is an execution end, in an embodiment of the utility model, the multi-degree-of-freedom mechanical arm 1 includes a plurality of arm bodies, two adjacent arm bodies are rotationally connected through motors, and the rotation shaft axes of two adjacent motors are intersected, and it needs to be explained that the multi-degree-of-freedom mechanical arm 1 is not limited to the above structure, and the multi-degree-of-freedom mechanical arm 1 can also adopt other structures, which are not limited here.

[0030] The execution end of the multi-degree-of-freedom mechanical arm 1 is provided with a grabbing module 2 and a cleaning module 3, the grabbing module 2 is used for grabbing foreign matters on the bottom of the nuclear reactor pressure vessel, the cleaning module 3 includes a cleaning assembly 310 and a suction assembly 320, the cleaning assembly 310 is used for cleaning the bottom of the nuclear reactor pressure vessel, and the suction assembly 320 is used for sucking impurities on the bottom of the nuclear reactor pressure vessel, and the multi-degree-of-freedom mechanical arm 1 selectively directs at least one of the grabbing module 2, the cleaning assembly 310 and the suction assembly 320 towards the bottom of the nuclear reactor pressure vessel through posture change.

[0031] Compared with the prior art, when the nuclear reactor pressure vessel inner wall cleaning robot is applied, the multi-degree-of-freedom mechanical arm 1 drives the grabbing module 2 and the cleaning module 3 to move to the nuclear reactor pressure vessel inner wall that needs to be cleaned, when moving to the corresponding position, the multi-degree-of-freedom mechanical arm 1 acts to make the grabbing module 2 or the cleaning module 3 towards the nuclear reactor pressure vessel inner wall to perform cleaning work, the grabbing module 2 is used for grabbing relatively large impurities on the bottom of the nuclear reactor pressure vessel, the cleaning module 3 is used for cleaning relatively small impurities on the sidewall and the bottom of the nuclear reactor pressure vessel, which are not convenient to grab, the cleaning assembly 310 in the cleaning module 3 can sweep the impurities from the sidewall and the bottom of the nuclear reactor pressure vessel and gather them at one place, and the suction assembly 320 is used for sucking the impurities out, so that the cleaning of the inside of the nuclear reactor pressure vessel is realized.

[0032] It can be seen that the staff can realize remote control cleaning of the inside of the nuclear reactor pressure vessel through the above-mentioned nuclear reactor pressure vessel inner wall cleaning robot, without the need for the staff to enter the inside of the nuclear reactor pressure vessel, avoiding the radiation of the primary loop foreign matters and the activated corrosion products on the inner wall of the equipment to the staff, that is, the personal safety of the staff is ensured, and the impurities and foreign matters in the inside of the nuclear reactor pressure vessel are conveniently cleaned.

[0033] It can be foreseen that, since the staff needs to remotely control the nuclear reactor pressure vessel inner wall cleaning robot, in order to facilitate the staff to observe the inside of the nuclear reactor pressure vessel, so as to facilitate the cleaning of the nuclear reactor pressure vessel, in the embodiment of the utility model, the execution end of the multi-degree-of-freedom mechanical arm 1 is further provided with an illumination module and a camera module, the illumination module is used for illuminating the nuclear reactor pressure vessel, the camera module is a camera provided at the execution end of the multi-degree-of-freedom mechanical arm 1, the camera is connected with the screen of the remote control end of the nuclear reactor pressure vessel inner wall cleaning robot, and is used for feeding back the real-time picture of the nuclear reactor pressure vessel to the staff, the staff can clearly observe the inside of the nuclear reactor pressure vessel by means of the illumination module and the camera module, quickly and accurately find the position needing to be cleaned in the inside of the nuclear reactor pressure vessel and clean it, and observe the cleaning effect after cleaning, if the cleaning effect of a certain position is poor, the nuclear reactor pressure vessel inner wall cleaning robot can be operated to clean the position for many times.

[0034] Further, the illumination module comprises a plurality of light sources which are circumferentially spaced apart from the grabbing module 2 and the cleaning module 3, at least one light source is arranged on the grabbing module 2 through the first angle adjusting mechanism, and the remaining light sources are arranged on the cleaning module 3 through the first angle adjusting mechanism, so that the position of the light source can be adjusted according to the position of the multi-degree-of-freedom mechanical arm 1, the grabbing module 2 and the cleaning module 3 through the first angle adjusting mechanism, so as to realize effective illumination.

[0035] Correspondingly, the camera module comprises at least two cameras, at least one camera is arranged on the grabbing module 2 through the second angle adjusting mechanism, and the remaining cameras are arranged on the cleaning module 3 through the second angle adjusting mechanism, and the second angle adjusting mechanism is used for adjusting the relative angle of the camera and the grabbing module 2 or the cleaning module 3.

[0036] In an embodiment of the utility model, the grabbing module 2 comprises a clamping jaw 210 and a grabbing driving mechanism 220, wherein the clamping jaw 210 comprises a plurality of claw parts that can move relatively, the clamping jaw 210 can comprise at least two claw parts, and at least one claw part is a movable structure to realize the gathering and opening of each claw part of the clamping jaw 210, the movable structure of the claw part comprises but is not limited to a rotating structure, a sliding structure, the driving end of the grabbing driving mechanism 220 is in transmission connection with each claw part, the grabbing driving mechanism 220 drives each claw part to gather or move away from each other, and the grabbing driving mechanism 220 comprises but is not limited to a rotary motor, a linear motor, a piston cylinder or a combination structure of one of the above three and a transmission mechanism.

[0037] Specifically, in the specific embodiment of the utility model, the clamping jaw 210 includes two jaw parts, both of which are arranged on the mounting seat in a reciprocating manner, the grabbing driving mechanism 220 includes a rotary motor, a gear and two racks, the gear is arranged on the rotating shaft of the rotary motor, the two racks are symmetrically arranged about the center of the gear and are engaged with the gear respectively, and the two jaw parts are connected with the two racks respectively.

[0038] A buffer pad is arranged between the two jaw parts of the clamping jaw 210 to increase the friction force on the sundries during clamping and avoid the sundries from falling off. The buffer pad includes but is not limited to a rubber pad and a silica gel pad.

[0039] It can be foreseen that, since the staff remotely controls the nuclear reactor pressure vessel inner wall cleaning robot, it is difficult to accurately determine whether the grabbing module 2 has contacted the nuclear reactor pressure vessel inner wall. In order to avoid damage to the nuclear reactor pressure vessel inner wall by the grabbing module 2, in the embodiment of the utility model, the grabbing module 2 further includes a touch detection mechanism, which is arranged between the grabbing module 2 and the execution end of the multi-degree-of-freedom mechanical arm 1. The multi-degree-of-freedom mechanical arm 1 stops moving downward after the touch detection mechanism detects that the grabbing module 2 has touched the bottom. By arranging the touch detection mechanism between the grabbing module 2 and the execution end of the multi-degree-of-freedom mechanical arm 1, when the grabbing module 2 touches the nuclear reactor pressure vessel inner wall, the touch detection mechanism can send a signal to the staff, so that the staff can obtain the wall touching information of the grabbing module 2 in time, stop controlling the multi-degree-of-freedom mechanical arm 1 to move toward the nuclear reactor pressure vessel inner wall, and protect the nuclear reactor pressure vessel inner wall from being damaged by the grabbing module 2.

[0040] The above-mentioned touch detection mechanism includes but is not limited to a pressure sensor, a torsion sensor, a proximity switch and a micro switch.

[0041] Specifically, in the specific embodiment of the utility model, the above-mentioned touch detection mechanism includes a connecting member, a reset elastic member and a micro switch. The grabbing module 2 is arranged at the execution end of the multi-degree-of-freedom mechanical arm 1 through the connecting member, and the grabbing module 2 can reciprocate relative to the connecting member. The reset elastic member is arranged between the grabbing module 2 and the connecting member, and the micro switch is arranged on the connecting member. When the grabbing module 2 touches the nuclear reactor pressure vessel inner wall, the nuclear reactor pressure vessel inner wall exerts a force on the grabbing module 2, and the grabbing module 2 moves toward the micro switch against the action force of the reset elastic member. When the grabbing module 2 triggers the micro switch, the micro switch sends a signal to the controller of the nuclear reactor pressure vessel inner wall cleaning robot. The controller converts the signal into a text, image or sound and light signal and feeds it back to the staff. At the same time, the reset elastic member can also ensure that the grabbing module 2 is tightly attached to the nuclear reactor pressure vessel inner wall, facilitating the grabbing module 2 to grab sundries.

[0042] Further optimization of the above technical solutions, in the utility model embodiment, the above-mentioned grabbing module 2 further includes rotating mechanism 230, connecting member is set to the execution end of multi-degree of freedom mechanical arm 1 through rotating mechanism 230, and staff can adjust the attitude of grabbing module 2 relative to target sundries in real time through rotating mechanism 230, so that grabbing module 2 is adjusted to the attitude that target sundries are more easily grabbed, more conveniently staff operation makes the adjustment of grabbing module 2 more fine.

[0043] As Figures 1 to 3 Indicated, in the utility model embodiment, the above-mentioned cleaning module 3 includes installation base 330, and cleaning assembly 310 and suction assembly 320 are set to both ends of installation base 330, and cleaning assembly 310 includes installation member, cleaning roller 314 and cleaning drive mechanism, installation member is set to installation base 330, cleaning roller 314 is rotatably set to installation member, and cleaning drive device is connected with cleaning roller 314 transmission to drive cleaning roller 314 rotation, and suction assembly 320 includes suction mechanism 321, hose 322 and quick connector 323, hose 322 is connected to suction mechanism 321 through quick connector 323, quick connector 323 can facilitate the detachable connection of hose 322 and suction mechanism 321, and it is convenient to transport, and hose 322 is high in softness, and suction position can be adjusted at will.

[0044] The above-mentioned cleaning roller 314 includes wheel body and brush, the brush is set to the outer peripheral surface of wheel body, and the brush is spirally wound on the outer peripheral surface of wheel body, and the as-formed design can be more attached to the inner wall of nuclear reactor pressure vessel, to improve the cleaning effect, and the cleaning assembly 310 can simultaneously set multiple cleaning rollers 314, and the wheel shafts of multiple cleaning rollers 314 are engaged through gear to realize synchronous rotation.

[0045] The installation member has an open cavity, and the cleaning roller 314 is partially embedded in the open cavity, in the utility model embodiment, most of the cleaning roller 314 is embedded in the open cavity, and only a small part is exposed to the installation member, so that in the cleaning process, the cleaning roller 314 can avoid bouncing and splashing impurities to other places, and improve the cleaning efficiency.

[0046] As Figure 1As shown, in a specific embodiment of the utility model, the mounting member comprises a first mounting piece 311, a second mounting piece 312 and a universal joint 313, the first mounting piece 311 is connected with the second mounting piece 312 through the universal joint 313, the cleaning roller 314 is arranged on the first mounting piece 311, the opening cavity is arranged on the first mounting piece 311, the second mounting piece 312 is connected with the mounting base 330, and the structure of the mounting member can provide adaptive function, so that the cleaning roller 314 can be adjusted according to the nuclear reactor pressure vessel inner wall running direction, thereby providing multidimensional working direction.

[0047] Further optimize the above technical solutions, in the utility model embodiment, the mounting member is arranged on the mounting base 330 through the flexible joint 340, the flexible joint 340 makes the mounting member can move relative to the mounting base 330, plays the role of protecting the cleaning assembly 310 and the nuclear reactor pressure vessel inner wall.

[0048] Please refer to Figures 1 to 3 , the multi-degree-of-freedom mechanical arm 1 includes a base 110, a first arm body 120, a second arm body 130, a third arm body 140, a fourth arm body 150, a fifth arm body 160 and a sixth arm body 170, a first rotating drive mechanism is arranged in the first arm body 120, the driving end of the first rotating mechanism 230 is connected to the base 110, a second rotating drive mechanism is arranged in the second arm body 130, the driving end of the second rotating mechanism 230 is connected to the first arm body 120, the third arm body 140 is connected to the end of the second arm body 130 away from the first arm body 120, a third rotating drive mechanism is arranged in the third arm body 140, the driving end of the third rotating drive mechanism is connected to the fourth arm body 150, a fourth rotating drive mechanism is arranged in the end of the fourth arm body 150 away from the third arm body 140, the driving end of the fourth rotating drive mechanism is connected to the fifth arm body 160, a fifth rotating drive mechanism is arranged in one end of the fifth arm body 160 connected to the fourth arm body 150, the driving end of the fifth rotating drive mechanism is connected to the sixth arm body 170, a sixth rotating drive mechanism is arranged in the end of the sixth arm body 170 away from the fifth arm body 160, the driving end of the sixth rotating drive mechanism is connected to the mounting base 330, it needs to be explained that the shape, length of the first arm body 120, the second arm body 130, the third arm body 140, the fourth arm body 150, the fifth arm body 160 and the sixth arm body 170 are different, and the shafts of adjacent two rotating drive mechanisms intersect, it can be seen that the multi-degree-of-freedom mechanical arm 1 is a six-axis mechanical arm, which moves stably, can be executed according to the motion trajectory, can satisfy the space requirement, and has high positioning accuracy.

[0049] Further optimize the above technical solutions, as shown in Figure 1 and Figure 3 , the grabbing module 2 is arranged on the end of the sixth arm body 170 close to the fifth arm body 160.

[0050] It should be noted that each of the embodiments in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same and similar parts between the embodiments can be referred to each other.

[0051] The principle and implementation mode of the present application are described by using specific examples, and the above embodiment is only used to help understand the core idea of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the principle of the present application, the present application can be improved and modified, and these improvements and modifications also fall within the protection scope of the present application.

Claims

1. A nuclear reactor pressure vessel inner wall cleaning robot, characterized in that: It includes a multi-degree-of-freedom robotic arm, the execution end of which is provided with a grabbing module and a cleaning module, the grabbing module is used to grab foreign objects at the bottom of the nuclear reactor pressure vessel, the cleaning module includes a cleaning component and a suction component, the cleaning component is used to clean the bottom of the nuclear reactor pressure vessel, and the suction component is used to extract impurities at the bottom of the nuclear reactor pressure vessel, and the multi-degree-of-freedom robotic arm selectively directs at least one of the grabbing module, the cleaning component and the suction component toward the bottom of the nuclear reactor pressure vessel by changing its posture.

2. The nuclear reactor pressure vessel inner wall cleaning robot according to claim 1, characterized in that: The crawling module includes: A clamping jaw, comprising a plurality of relatively movable jaws; A grabbing drive mechanism, wherein a driving end of the grabbing drive mechanism is transmission-connected with each of the claws, and the grabbing drive mechanism drives each of the claws to gather together or move away from each other.

3. The nuclear reactor pressure vessel inner wall cleaning robot according to claim 2, characterized in that: The grasping module further includes a touch detection mechanism, which is disposed between the grasping module and the execution end of the multi-degree-of-freedom robotic arm. The multi-degree-of-freedom robotic arm stops moving downward after the touch detection mechanism detects that the grasping module touches the bottom.

4. The nuclear reactor pressure vessel inner wall cleaning robot according to claim 3, characterized in that: The touch detection mechanism includes a connecting member, a reset elastic member and a micro switch. The grabbing module is arranged at the execution end of the multi-degree-of-freedom robotic arm through the connecting member. The grabbing module can move back and forth relative to the connecting member. The reset elastic member is arranged between the grabbing module and the connecting member, and the micro switch is arranged on the connecting member.

5. The nuclear reactor pressure vessel inner wall cleaning robot according to claim 4, characterized in that: The grasping module further includes a rotating mechanism, and the connecting member is arranged at the execution end of the multi-degree-of-freedom robotic arm through the rotating mechanism.

6. The nuclear reactor pressure vessel inner wall cleaning robot according to any one of claims 1 to 5, characterized in that: The cleaning module includes a mounting base, the cleaning component and the suction component are respectively arranged at both ends of the mounting base, the cleaning component includes a mounting member, a cleaning roller and a cleaning drive mechanism, the mounting member is arranged on the mounting base, the cleaning roller is rotatably arranged on the mounting member, the cleaning drive mechanism is connected to the cleaning roller to drive the cleaning roller to rotate, the suction component includes a suction mechanism, a hose and a quick connector, and the hose is connected to the suction mechanism through the quick connector.

7. The nuclear reactor pressure vessel inner wall cleaning robot according to claim 6, characterized in that: The mounting component includes a first mounting member, a second mounting member and a universal joint. The first mounting member and the second mounting member are connected through the universal joint. The cleaning roller is arranged on the first mounting member, and the second mounting member is connected to the mounting base.

8. The nuclear reactor pressure vessel inner wall cleaning robot according to claim 6, characterized in that: The mounting member is arranged on the mounting base through a flexible joint.

9. The nuclear reactor pressure vessel inner wall cleaning robot according to claim 6, characterized in that: The multi-degree-of-freedom robotic arm includes a base, a first arm body, a second arm body, a third arm body, a fourth arm body, a fifth arm body and a sixth arm body. A first rotation drive mechanism is arranged in the first arm body, a driving end of the first rotation drive mechanism is connected to the base, a second rotation drive mechanism is arranged in the second arm body, a driving end of the second rotation drive mechanism is connected to the first arm body, the third arm body is connected to an end of the second arm body away from the first arm body, a third rotation drive mechanism is arranged in the third arm body, a driving end of the third rotation drive mechanism is connected to the fourth arm body, a fourth rotation drive mechanism is arranged in an end of the fourth arm body away from the third arm body, a driving end of the fourth rotation drive mechanism is connected to the fifth arm body, a fifth rotation drive mechanism is arranged at an end of the fifth arm body connected to the fourth arm body, a driving end of the fifth rotation drive mechanism is connected to the sixth arm body, a sixth rotation drive mechanism is arranged in an end of the sixth arm body away from the fifth arm body, and a driving end of the sixth rotation drive mechanism is connected to the mounting base.

10. The nuclear reactor pressure vessel inner wall cleaning robot according to claim 9, characterized in that: The grabbing module is arranged on the sixth arm.

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