In order to improve the load capacity and obstacle ability of the out-pipe robot, a permanent magnet adsorption crawler-type out-of-pipe crawling robot was designed. The static and dynamic models of the robot on the pipe were established to obtain the adsorption force conditions for the robot in axial and circumferential stable motion. Ansoft Maxwell was used to compare and analyze two different layouts of permanent magnets in the magnetic track set, the appropriate layout was selected and the adsorption forces provided by the magnetic track set were calculated in axial and circumferential motion under the layout, and the rationality of the magnetic track set design was verified. Finally, the motion simulation of the robot was carried out based on ADAMS, and the change rule of the mass center during the obstacle crossing process was obtained, which verified the obstacle crossing performance of the robot.