Abstract: A modular chain pipeline robot was designed based on fluid dynamics theory and oil and gas pipeline parameters. It is used to solve the problem of large circumferential volume of traditional fluid-driven pipeline robots and the difficulty of accurate prediction of frictional resistance. The robot model was established by the 3D software Solidworks, and the robot and pipe geometry were analyzed based on the robot and pipe geometry to analyze the driving force and friction variation law of the pipe robot. The new design of pipeline robot friction resistance can be detected in real time, and the maximum friction force is reduced by 40% compared with the traditional skin bowl contact support pipeline robot, and the lowest applicable pipeline flow speed is 4 m/s. The speed control scheme of the robot in the pipeline is given based on the theoretical basis of the study. The simulation of the robot differential pressure regulation effect was performed using Ansys Workbench software. Using the maximum flow rate of oil and gas pipelines and municipal water supply pipelines in service as the condition, the variation of the maximum bearing pressure displacement of sealing bowls of different structures in the robot drive unit was analyzed. It is concluded that the edge curvature inclination bowl is better than the traditional straight bowl in terms of resistance to pressure deformation and sealing performance. The edge-variable curvature inclination skin bowl is more suitable for pressure retention and sealing between the pipeline robot drive unit and the pipe wall.