The utility model relates to a pipeline crawling robot, be in including flat fuselage (100), symmetric connection six foot (200) of fuselage (100) both sides, every foot (200) include: with fuselage (100) fixed connection's first festival (210), through a connecting device (240) with (210) rotatable coupling's of first festival second festival (220), through the 2nd connecting device (250) with second festival (220) rotatable coupling's the third festival (230). The utility model discloses a pipeline crawling robot has six reasonable sufficient structural design, and the different gait of cooperation allows the robot to pass through barriers such as check valve, butterfly valve, and the free travelling function who realizes at complicated pipeline can be through the bend that turns round, reserve a large amount of spaces on the flat fuselage, can carry on and extend the molding die dress, can realize more functions, for example carry on the arm and pick up the shedding, carry on electric welding welding etc. Greatly extended pipeline robot's range of application.