Setting up a Workflow allows you to use your Form in an automated multi-stage process, and by using the Update Workflow Action you can set up the form so that its Workflow status changes upon submission.
In order to use Workflows, you first need to opt in to make them available for your company's use. (How do I Opt in to Workflows?)
In order to add an Email Action to your Form, go to Forms > View Form Templates > choose the edit arrow for the template you would like the action added to > Actions tab > + New Action. Then you can select Update Workflow in the Action type dropdown.
Once you've edited the settings for the Email PDF Action, then new forms created with the from template will automatically send the report as an email to the specified recipients upon Submission.
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