Sea creature cleaning robot for intake tunnel for nuclear power plant

A sea creature cleaning robot for an intake tunnel for a nuclear power plant, comprising:

• a plurality of annular frames with a diameter less than a diameter of a tunnel concrete pipe to be cleaned,
• a plurality of cutter assemblies each comprising a plurality of cutter assembly units, wherein each of the cutter assembly units are capable of moving up and down in a radial direction of a respective annular frame of the plurality of annular frames, wherein each of the plurality of cutter assemblies are detachably and uniformly mounted on an outer circumferential surface of each respective annular frame, and
• a plurality of walking wheel assemblies each comprising a plurality of walking wheel assembly units, wherein each of the plurality of walking wheel assemblies are detachably and uniformly mounted at a lower part of each respective annular frame;
• wherein each cutter assembly unit comprises a frame connecting plate, a cutter mounting plate, and a cutter;
• each cutter assembly unit is connected to the outer circumferential surface of each respective annular frame by the frame connecting plate;
• for each cutter assembly unit, the cutter mounting plate and the frame connecting plate are disposed in parallel and are movably connected by means of a plurality of connecting rods,
• two ends of a lifting hydraulic cylinder are respectively connected to the cutter mounting plate and the frame connecting plate,
• the cutter is mounted on one side of the cutter mounting plate distal from the frame connecting plate,
• a guide rail is connected on one side of the cutter mounting plate distal from the frame connecting plate,
• a slide block capable of sliding on the guide rail is connected on one side of the cutter,
• one end of the cutter distal from a cutting edge is connected to the cutter mounting plate by means of a telescopic hydraulic cylinder;
• each walking wheel assembly unit comprises a crawler wheel mounting block, a motor, and a crawler wheel;
• the crawler wheel mounting block of each walking wheel assembly unit is connected to an inner circumferential surface of the respective annular frame by means of a crawler wheel connecting plate;
• for each walking wheel assembly unit, a motor mounting seat is connected to the crawler wheel mounting block, the motor is mounted at a bottom of the motor mounting seat,
• a rotary shaft of the motor is disposed perpendicular to an axial direction and a radial direction of the respective annular frame simultaneously, and directly drives the crawler wheel;
• each of the plurality of cutter assemblies are disposed on respective annular frames in the same manner, and each of the walking wheel assemblies are disposed on respective annular frames in the same manner, wherein adjacent annular frames are coaxially disposed and are detachably connected together, and cutter assemblies disposed on adjacent annular frames are staggered.