We propose a robust scheme to achieve optical pulling force using the guiding modes supported in a hollow core double-mode photonic crystal waveguide instead of the structured optical beams in free space investigated earlier. The waveguide under consideration supports both the 0th order mode with a larger forward momentum and the 1st order mode with a smaller forward momentum. When the 1st order mode is launched, the scattering by the object inside the waveguide results in the conversion from the 1st order mode to the 0th order mode, thus creating the optical pulling force according to the conservation of linear momentum. We present the quantitative agreement between the results derived from the mode conversion analysis and those from rigorous simulation using the finite-difference in the time-domain numerical method. Importantly, the optical pulling scheme presented here is robust and broadband with naturally occurred lateral equilibriums and has a long manipulation range. Flexibilities of the current configuration make it valuable for the optical force tailoring and optical manipulation operation, especially in microfluidic channel systems.