The invention relates to the technical field of pipeline
robot mechanical mechanism design, in particular to a continuous-pace tube inner
robot based on
swash plate driving. A tubular
robot body is arranged; the tubular robot body is characterized in that a driving device, self-locking devices and a supporting device are arranged on the two sides of the robot body respectively; the driving deviceis arranged on the right side of the robot body; the driving device is composed of a driving motor, a
swash plate, a driving shaft, a coupler, an
swash plate connecting shaft and a swash plate fastening nut; three self-locking devices are uniformly distributed on the left side of the robot body; each self-locking device consists of a sliding shoe, a connector, a tension spring, a guide rod, a guide rod sliding seat, a chute support, a self-locking block, a self-locking rod, a self-locking
torsion spring, a rolling bearing, a self-locking sliding block, a pressing
torsion spring and a pressingelastic block; the supporting device is composed of three supporting assemblies uniformly distributed on the outer wall of the circumference of the robot body; and each supporting
assembly is composedof a supporting sleeve, a supporting spring, a supporting rod and rollers. The robot has the advantages of being simple in structure, small in radial size, sufficient in driving force, stable and reliable in operation and the like.