The invention discloses an in-pipe walking robot. The in-pipe walking robot comprises a running mechanism, a connecting rod assembly and a universal connecting mechanism connected with the running mechanism and the connecting rod assembly. The running mechanism comprises a transmission mechanism, a first pressure spring, two road wheels and two rocker connecting rods. The connecting rod assembly comprises a center rod, a front locking block, a rear locking block, a sliding block, at least two pairs of connecting rod slices, at least two pulleys and a second pressure spring. According to the in-pipe walking robot, the synergistic effect of worm gears, a worm and the first pressure spring is adopted, the close fit of the worm gears and the worm is retained, and the road wheels are made to roll on the inner wall of a pipe in a tightly attached mode. When the worm is in a shape of a taper or a circular truncated cone, the running mechanism can automatically adjust the interval of the worm gears in pipes with different diameters, so that the road wheels are ensured to make contact with the inner wall of the pipe all the time and the adhesive force is retained; due to the second pressure spring, the symmetrical pulleys are always pushed by the sliding block to make contact with the inner wall of the pipe, so that a flange plate is ensured to be positioned on the central axis of the pipe all the time, and an operating mechanism externally connected with the flange plate can run with the flange plate steadily.