For　urban　pipelines,　in-pipe　robots　are　used　for　routine　maintenance　and　inspection,　but　they　are　difficult　to　charge.　To　address　this　need,　this　article　proposes　a　modular　reconfigurable　wireless　power　transfer　(WPT)　system　with　multiple　constant-voltage　(CV)　and　constant-current　(CC)　hybrid　outputs.　The　proposed　system　consists　of　a　power　module　and　several　load　modules　in　cascade,　with　each　load　module　not　only　acting　as　a　receiver　to　provide　power　to　the　output　but　also　acting　as　the　power　relay　to　transfer　energy　to　the　succeeding　modules.　The　introduction　of　a　reconfigurable　structure　allows　the　loads　to　achieve　a　CV　output　or　a　CC　output　independently,　while　realizing　zero　voltage　switching　and　high　efficiency.　Various　decoupling　methods　are　utilized　to　integrate　the　compensation　inductors　into　the　couplers.　A　WPT　experimental　prototype　is　constructed　to　verify　the　feasibility　of　the　proposed　system.　The　output　has　the　capability　to　achieve　a　CV　output　or　a　CC　output,　with　a　maximum　fluctuation　rate　of　2.88%　and　a　maximum　efficiency　of　over　97%.