The invention discloses a cross-shaped pipeline robot. The cross-shaped pipeline robot comprises two symmetrical cross-shaped supports, wherein the cross-shaped supports are connected through a connecting rod, a damping wheel is installed at the tail end of each support, a driving mechanism is vertically installed on each support, each driving mechanism comprises a driving frame, a conical tooth shaft and a transmission conical tooth shaft are installed in each driving frame, each conical tooth shaft is vertically connected with the corresponding transmission conical tooth shaft in a meshed mode, each spoon rod is connected with the corresponding conical tooth shaft, each transmission conical tooth shaft is connected with a conical tooth telescopic motor, and transmission is carried out and interrupted by controlling the conical tooth telescopic motors; a driving synchronous belt shaft is connected with the conical tooth telescopic motors, and a synchronous belt is connected with the driving synchronous belt shaft and a driven synchronous belt shaft; and the damping wheels are installed on the driven synchronous belt shaft, and four spoon rods and rotating spoons are installed at the tail ends of the conical tooth shafts in the circumferential direction. According to the cross-shaped pipeline robot, the rotation of the conical tooth shafts is realized through the rotation of the rotating spoons, the rotation of the transmission conical tooth shafts is driven, then the transmission conical tooth shafts connected with the transmission conical tooth shafts rotate, and the synchronous belt is connected with the driving synchronous belt shaft and the driven synchronous belt shaft to drive the damping wheels to rotate.