摘要：【中文】本发明涉及管道清洗设备领域，更具体地，涉及一种自适应管径的管道清污机器人，包括机器人主体、安装于机器人主体上的电控组件、清污组件、驱动清污组件运动的驱动组件和运动组件；运动组件包括运动电机、与运动电机连接的旋转架和安装于旋转架上的滚轮；运动电机安装于机器人主体的一端；旋转架设置有若干可伸缩的支杆，且支杆向远离驱动电机的方向倾斜；滚轮转动安装于支杆的末端，且滚轮的轴线与机器人主体的前进方向平行。本发明不但可以用于不同管道内径的污垢清理，同时通过运动组件的螺旋式的转动，既能够产生推动力，也能够通过滚轮在管道内壁上行走，使得本发明中的管道清污机器人能够通行在有液体或者没有液体的管道中。 【EN】The invention relates to the field of pipeline cleaning equipment, in particular to a pipeline cleaning robot with a self-adaptive pipe diameter, which comprises a robot main body, an electric control assembly, a cleaning assembly, a driving assembly and a moving assembly, wherein the electric control assembly is arranged on the robot main body; the motion assembly comprises a motion motor, a rotating frame connected with the motion motor and a roller arranged on the rotating frame; the motion motor is arranged at one end of the robot main body; the rotating frame is provided with a plurality of telescopic supporting rods, and the supporting rods incline towards the direction far away from the driving motor; the roller is rotatably arranged at the tail end of the supporting rod, and the axis of the roller is parallel to the advancing direction of the robot main body. The pipeline cleaning robot can be used for cleaning dirt of different pipeline inner diameters, and meanwhile, through spiral rotation of the moving assembly, driving force can be generated, and the pipeline cleaning robot can also walk on the inner wall of the pipeline through the rollers, so that the pipeline cleaning robot can pass through the pipeline with liquid or without liquid.