Composite drive self-adaptive pipeline robot

The utility model relates to a composite drive self-adaptive pipeline robot which is characterized by comprising a wheel type drive spring passive reducing mechanism, a parallel mechanism and a spiral drive lead screw active reducing mechanism, and the two ends of the parallel mechanism are connected with the wheel type drive spring passive reducing mechanism and the spiral drive lead screw active reducing mechanism respectively. The device can better adapt to the operation of a complex pipeline, has high-efficiency power transmission and high-stability movement capability, has the simplest mechanical structure, and is convenient to control. Wheel type and spiral combined driving becomes the main driving mode of the pipeline robot. The mode of combining active diameter changing of the lead screw nut and passive diameter changing of the spring is adopted, stable walking and turning of the pipeline robot are achieved, and the pipeline robot can adapt to various kinds of pipelines with different pipe diameters;