The invention discloses a flexible wriggle pipeline robot with a guide head, comprising a left hemispheric shell and a right hemispheric shell, wherein the end parts of the left hemispheric shell and the right hemispheric shell are provided with a left ring flange and a right ring flange; the left hemispheric shell is internally provided with a driving device, screw drive is formed by the driving device and a threaded flexible shaft, and the right end of the threaded flexible shaft passes through the left hemispheric shell to fixedly connect the right ring flange; the top end of the right hemispheric shell is spherically articulated with the guide head, the left surface of a bottom plate of the guide head is provided with four chutes which are uniformly distributed along a circumferential direction, and the chutes are connected with guide mechanisms in a sliding way; the other ends of the guide mechanisms respectively correspond to four electromagnets positioned on the left ring flange, the right ring flange is provided with a retaining device which corresponds to the guide mechanisms, and the left ring flange and the right ring flange are respectively annularly provided with a plurality of push-pull wheel rod mechanisms and a plurality of supporting wheels. The flexible wriggle pipeline robot with the guide head can successfully pass through a T-shaped pipeline; in addition, electromagnetic wheels of push-pull wheel rods are contacted with the inner part of the pipeline all the time in the motion process, thereby achieving good stability.