Based on the movement principle of the crawling worm in nature and the characteristics of its structure and movement, a soft pipe crawling robot is designed with the hexaprism driver and the cylindrical driver as the main body of the robot. Two kinds of motion modes of the robot in the pipeline are analyzed.By using the finite element analysis technology, the deformation of the hexagonal prism driver and the cylindrical driver are verified to meet the robot motion requirements. Finally, the motion parameters of the robot in different motion modes are obtained through experimental tests, and the motion performance of the robot is determined. The results show that the structure and motion mode of the robot are feasible.