The anchor sealing mechanism directly affects the safety and reliability of the high-pressure plugging operation of the intelligent plugging robot in the maintenance and repair of long-distance oil and gas pipelines. In order to evaluate the dynamic performance of the new anchor sealing mechanism and its hydraulic control system, shorten the development cycle and improve the design reliability, this paper uses the joint simulation method of virtual prototype and hydraulic control system to analyze the working process of the pipeline intelligent plugging robot in the anchoring and plugging stage, and carries out the functional test. The results show that the thrust of the anchored hydraulic cylinder is 252.5kN under the condition of 10MPa oil and gas pressure, and the relative error with the joint simulation result of 234kN is 7.3%. The thrust of the sealing hydraulic cylinder is 718.76kN, and the relative error with the joint simulation result of 658kN is 8.45%, and the maximum error does not exceed 8.45%, which meets the requirements of engineering application. The inlet flow rate of the anchoring hydraulic cylinder is 9.2L/min and the pressure is 29.8MPa. The inlet flow rate of the plugging hydraulic cylinder is 8.05L/min and the pressure is 25.9MPa, which are in line with the design range. The test results are basically consistent with the simulation data, and the system runs smoothly and reliably. The research verifies the feasibility of the new double-cylinder anchor sealing mechanism, which is of great significance to improve the reliability of the design of the pipeline intelligent plugging robot and the value of engineering application.