This paper describes the structure and control of a new kind of micro robot in fine pipe, analyzes moving principle. The robot is based on bionic principle, its structure is simple, design novel, unique. It can move forwards and backwards, can walk in any bent pipe easily and move fast. The robot has the function of image recognition and manipulation. The system is achieved intellectual control and can learn by itself. Its diameter is 8mm, and the minimum length is 16mm. The most moving speed is 40/mm, the driving force is more than 0.5N. The robot can apply in maintaining and inspecting the fine pipe in nucleus power plant, space shuttle and other special field.