Actively driven spiral pipeline robot

An actively driven spiral pipeline robot, comprising:

• a driving wheel carrier;
• a body;
• a guide wheel carrier;
• and a power device;
• wherein the power device is fixedly disposed in the body;
• wherein the driving wheel carrier is mounted at one end of the body via a bearing and is coinciding with an axle center of the body;
• wherein the guide wheel carrier is fixedly disposed on the body;
• a variable diameter mechanism disposed on the driving wheel carrier;
• a driving shaft disposed on the driving wheel carrier;
• an axle disposed on the driving wheel carrier;
• a driving wheel fixedly mounted on the axle;
• a bearing saddle disposed on the variable diameter mechanism;
• wherein the axle is mounted in the bearing saddle via a hearing;
• wherein the driving shah is mounted on the driving wheel carrier via a hearing;
• wherein the driving, shaft and the axle are connected via a connector;
• wherein the driving shaft is further connected with an output shaft of the power device via a transmission device;
• wherein there is an included angle θ between an axis of the axle and an axis of the body, where 0°≦θ<90°;
• wherein the variable diameter mechanism is a hydraulic cylinder disposed along a direction perpendicular to the axis of the body, the bearing saddle is fixed disposed at an end of a piston rod A of the hydraulic cylinder.