The Design of an Inspection Robot for Boiler Tubes Inspection

A climbing robot with magnetic wheels is designed for the inspection of boiler tubes in fossil power plants, which can inspect the boiler tubes automatically. The climbing robot will move on the boiler tubes. The magnetic wheels of the robot can be move on the tubes and the tubing can be inspected through the magnetic flux leakage sensor installed in the end of the front transverse slide arm. The moving mechanisms, inspecting device and inspection algorithm are introduced. The experiment has been carried out to verify the effectiveness of the proposed controller. These results are shown that this method can inspect the crack of the boiler tubes.