For the condition of the ash pipeline scaling at our country’s coal-fired power stations, a pipeline descaling robot with a rotating tool was developed. The body construction, drive system and the cutter of the robot were designed, 3D digital model was created, the whole assembly was completed by SolidWorks2012, and the interference analysis and initial simulated analysis were done also. Besides, the entity prototype controlled by MCU and DSP was realized according to the engineering graphics，which was based on the three-dimension mechanical structures.