A reshaping robot was designed to solve the problem of bulge for the bi-metal lined pipe. The parts of each mechanism were modeled and assembled by using SolidWorks software. The robot was designed with the modular design concept, which was composed of four modules, such as guiding, shaping, controlling and driving. 6-claw spring adaptive mechanism was used to design the guiding module, which could automatically adapt to the change of pipe diameter. 4 sets of repair roller were used to design the repair work module, which could repair the drum part by rotating and rolling. The track-type driving walking module was designed, by which the adhesion of the robot to the inner wall of the pipe was greatly increased and the operation stability was improved. The research results provide reference for the construction of multifunctional modular pipeline robots.