本文在轮式和履带式管内行走机构的基础上，提出了一种新的管内行走机构，它利用两个电机分别驱动均布在机架上的与管内壁用弹簧力封闭的两组６个行进轮，从周向来看，３组驱动轮分别均布在３组平行四边形机构上，巧妙的把轮式和履带式管内行走机构结合在一起，使机构具有很好的越障能力．该机构紧凑，驱动效率高，工作可靠，尤其适用于管内壁有内凹障碍的管内环境． In this paper, based on wheeled and crawler tube travel mechanism, this paper proposes a new tube travel mechanism which uses two motors to drive two groups of six evenly distributed on the frame and the inner wall of the tube are closed by spring force Traveling wheels, from the circumferential point of view, the three groups of driving wheels were distributed in three groups of parallelogram mechanism, the clever combination of wheeled and crawler tube travel agencies, so that agencies have a very good obstacle clearance capability. The compact structure, high drive efficiency, reliable work, especially for the inner wall of the tube with concave barrier of the tube environment.