Heat exchanger is an important equipment in the industrial field. It is difficult to clean the inner wall dirt of the dense pipeline group. In order to improve the efficiency in cleaning dense pipeline groups, a fast automatic cleaning robot with high pressure water gun is designed. Firstly, according to the structural characteristics of the heat exchanger, the pipe end positioning robot is designed for the positioning of the high-pressure water gun nozzle in the pipe group port. Secondly, a position feedback device is designed to improve the precision of robot end position control, and its calibration algorithm is studied. Finally, the kinematics of the pipeline cleaning robot is modelled, the correctness of the model is verified by simulation, and the automatic cleaning process of the robot is simulated by Adams software. The designed pipeline cleaning robot can accurately locate the high-pressure water gun and complete the cleaning task, providing an important reference for the automatic cleaning scheme of dense pipeline groups.