The invention discloses a self-energy-acquisition inner pipeline wall cleaning robot, and relates to the field of robots. The robot comprises two cleaning discs, supporting feet, an inner shaft, a driving disc, a crown gear, a gear pair, a shaft sleeve, two magnets, two push rods and a cam; the two cleaning discs are arranged at the two ends of a supporting sleeve respectively; the inner shaft isinstalled in the supporting sleeve; multiple supporting feet are evenly and circumferentially arranged in the two cleaning disc, located at the outer end of the supporting sleeve and matched with theinner shaft through the shaft sleeve, the surface, matched with the supporting foot, of the inner shaft is an inclined surface, and the gradients of the inclined surfaces of the two ends of the innershaft are complementary; the shaft sleeve is provided with the driving disc and the crown gear fixed coaxially with the driving disc, the gear pair conducts matched movement with the crown gear, and ashaft of the gear pair is fixedly connected with the cam in the inner shaft; the two ends of the cam are provided with the push rods in matched movement with the cam, and the tail ends of the push rods are fixedly provided with the magnets; the robot solves the problems that current inner wall cleaning robots are complex in structure, high in cost, low in working efficiency, incomplete during cleaning and the like.