The invention relates to a thin and long pipeline omni-directional tumor removal robot. According to the thin and long pipeline omni-directional tumor removal robot, by means of design on a wheel andan installation mode of the tumor removal robot, force balance performed by the robot in working is realized, and stable balance is achieved at all times; by means of the design on a machine body automatic transposition mechanism of the tumor removal robot, the robot is made to be capable of effectively disposing welding tumors at any position of a pipeline; by means of the design on a grinding mechanism of the tumor removal robot, the robot is made to be capable of controlling the grinding speed and the grinding degree; and by means of the visual system design, the tumor removal robot is madeto be capable of performing man-machine interaction with operators. By means of the thin and long pipeline omni-directional tumor removal robot, generated radial force will be eliminated only needingthe pipe wall to provide a counterforce to the robot, and the robot is made to be capable of working normally inside the round pipeline.