Aiming at the problem that the difficulty of cleaning the stagnant materials in the oil pipeline,a pipeline snake-shaped robot based on ultrasonic cleaning with STM32 single-chip microcomputer as the control core was designed.The ultrasonic principle was used to reduce the adhesion of the dirt on the inner wall of the pipeline,and at the same time the oil dirt was removed through a mechanical rotary oil suction device to achieve the effect of ultrasonic-mechanical double cleaning.The robot own movement in the variable pipe diameter pipeline was realized through the mutual cooperation of a variety of sensors,motors and steering gears.The orthogonal experiment,MATLAB simulation and mathematical calculation and analysis were carried out.The results show that the designed robot can effectively clean the dirt on the inner wall of the pipeline and has good operability and expandability,which provide reference for remote cleaning the inner wall of the pipeline and increasing the transportation volume of oil and gas.