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提出了用气动控制系统实现管外自爬升的新机构。该机构采用蠕动爬升的方式，由气缸作驱动器，上、下体交替夹紧和爬升，PLC控制。机构可荷重150kg垂直爬升，安全可靠。
A new mechanism to realize self-climbing outside the pipe with pneumatic control system is proposed. The organization uses creep climbing approach, the cylinder for the drive, the upper and lower body alternately clamping and climbing, PLC control. Institutions can load 150kg vertical climb, safe and reliable.