The invention discloses an all-wheel-drive squirming-type
pipe robot which comprises unit joints and a cardan joint connected with the unit joints. Each unit joint comprises an installation frame, wheel leg assemblies, locking assemblies and a transmission
assembly, the wheel leg assemblies, the locking assemblies and the transmission
assembly are installed on the installation frame, the wheel leg assemblies are used for supporting the
robot to walk on the inner wall of a
pipe, the locking assemblies are used for locking the unit joints, and the transmission assemblies are used for driving the locking assemblies to move and the unit joints to relatively move under motor driving. The all-wheel-drive squirming-type
pipe robot has the advantages that screw pipes with inner threads and transmission lead screws with outer threads are adopted in the unit joints to be matched with a locking frame, the unit joints are driven by a motor to rotate forwards and backwards, the front unit joint and the back unit joint are alternatively locked, and the all-wheel-drive squirming-type pipe robot performs stretching advancing or retreating movement. According to the all-wheel-drive squirming-type pipe robot, the single-motor
driving mode is adopted, the number of power sources is effectively decreased, the size of the all-wheel-drive squirming-type pipe robot is reduced,
energy consumption is reduced, and therefore the all-wheel-drive squirming-type pipe robot is suitable for the pipe with the small
diameter and the long distance, and has the wide application prospects in aspects such as pipe detection and pipe maintenance.