Design of an NDT Robot for Water Wall Tube Using Magnetic Flux Leakage and Ultrasonic Testing

According to the service environment and defect characteristics of boiler water wall tubes, the nondestructive testing method using magnetic flux leakage and ultrasonic was used to inspect the corrosion and wall loss defects. An inspection robot system, which include the crawler, magnetization, inspection device, control system, data processing and vision software was developed. The inspection experiment demonstrated that the apparatus could climb the full height of the boiler from bottom, inspect and locate the erosion and wall loss effectively, the quantitative inspection of the defect could be achieved using ultrasonic testing.