A prototype of inspection robot for water wall tubes in boiler

In this research, the prototype of climbing robot carrying the electro-magnetic acoustic transducer (EMAT) probe and cameras to inspect the target position is developed. The EMAT probe can measure the thickness of the tubes without removing the scale covering the tubes. In order to reach the target position on each tube at the same height on the wall, the robot is designed to have mechanism switching from vertical motion to horizontal motion without steering. The adhesion force is provided by both magnetic wheels and the magnet bars under the robot. In the vertical direction, the robot climbs up and down using the belts driven by the magnetic wheels. For the horizontal motion, the magnetic wheels underneath of the robot provide locomotion for the robot. The feasibility of robot and EMAT device are tested. The results of tests are shown and discussed.