Novel pipeline robot for cleaning urban central heating main pipeline

The utility model discloses a novel pipeline robot for cleaning a heating main pipeline in cities and towns, which relates to the technical field of pipeline cleaning and comprises a main body structure, a propelling system, a visual identification system and a lighting system. A main body structure comprises a three-section modular case, and the three-section modular case comprises a case front section module, a case middle section module and a case tail section module; the propelling system comprises two groups of active driving connecting rod mechanisms and a group of driven driving connecting rod mechanisms, and each group of mechanisms is provided with four connecting rods which are distributed on the front side and the rear side of the three-section modular case and comprise lower limb connecting rods and upper limb connecting rods; two driving AGV omnidirectional wheels located on the same side and two driven AGV omnidirectional wheels located on the same side are arranged at the tail ends of the four