The invention relates to a pipe robot, in particular to an umbrella-shaped driving wheel structure for the pipe robot. The umbrella-shaped driving wheel structure is an umbrella-shaped retraction and release structure, and comprises a tension spring, a tension slide block, an umbrella-shaped structure top frame, a main support arm, a secondary support arm, a driving wheel and a wheel frame; the umbrella-shaped structure top frame is a main body of the whole driving wheel structure; one end of the main support arm is connected with the umbrella-shaped structure top frame, and the other end is suspended with the driving wheel and the wheel frame structure; the middle section of the main support arm is connected with the secondary support arm; the other end of the secondary support arm is connected with the tension slide block; the tension slide block can slide on the umbrella-shaped structure top frame; and the tension spring is arranged between the tension slide block and the umbrella-shaped structure top frame. When the slide block moves, the tension spring can give proper return force to the slide block to further drive the secondary support arm to push the main support arm so as to give enough tension force to the driving wheel and the wheel frame.