The invention relates to a squirming pipeline detection robot. The robot is composed of a motor and motor-driven front-end umbrella-shaped supporting mechanism, a motor and motor-driven telescopic travelling mechanism, a motor and motor-driven tail-end umbrella-shaped supporting mechanism, and a motor and motor-driven clamping mechanism, wherein the motor and motor-driven telescopic travelling mechanism is located in the middle of the robot, the motor and motor-driven front-end umbrella-shaped supporting mechanism and the motor and motor-driven tail-end umbrella-shaped supporting mechanism arelocated on the two sides of the telescopic travelling mechanism, and the clamping mechanism is connected to the front-end umbrella-shaped supporting mechanism. According to the robot, the caterpillarmotion mode is combined with the robot travelling structure, squirming of the robot in a pipeline is achieved, the uneven-inner-wall working environment caused by pipeline section deformation and dirt accumulation is overcome, the robot can work under the condition that the pipeline diameter changes along with the time, the robot has the certain capability of clearing large-scale foreign mattersin the pipeline, the umbrella-shaped supporting structure and a parallelogram linkage mechanism are arranged to improve the stability.