目的 针对目前清洗设备工作效率低和成本高等问题，设计出一种基于矛盾冲突理论和物–场模型的高效率冷凝器清洗机器人。方法 通过TRIZ系统组件分析和因果轴问题分析，找出冷凝器清洗机器人的有效功能和不足功能;运用TRIZ的技术矛盾理论、物理冲突理论以及物–场分析得出针对上述原因的解决方案。结果 最终创新设计出了基于混联机构的多喷枪协同式冷凝器清洗机器人，并制作了实物样机进行测试。与传统机器人相比，该创新设计的机器人节省维修工时76%，节约成本约25%。结论 结果表明，该清洗机器人能克服现有技术的缺陷，在结构刚度、运动精度、灵活性和作业效率均得到提高，并降低了劳动强度和人力成本。

The work aims to design a high-efficiency condenser cleaning robot based on contradiction theory and object-field model to solve the problems of low efficiency and high cost of cleaning equipment. Through the TRIZ system component analysis and causal axis problem analysis, the effective and insufficient functions of the condenser cleaning robot were found out. The solutions to the above causes were obtained by TRIZ's technical contradiction theory, physical conflict theory and object-field model. Finally, a multi spray gun collaborative condenser cleaning robot based on hybrid mechanism was innovatively designed and the prototype was manufactured for testing. Compared with the traditional robot, the innovative robot saved 76% maintenance man hours and about 25% cost. The cleaning robot can overcome the existing technology effects, improve the structural stiffness, motion accuracy, flexibility and operation efficiency, and reduce the labor intensity and labor cost.