针对球罐等大型承压设备的自动化检测存在工作强度大等问题，对目前标准要求的主要检测方法，提出了一种基于机器人的大型承压设备多功能检测系统，该系统综合集成了永磁爬壁机器人、磁悬液喷淋、视频检测、超声测厚检测、交叉磁轭磁粉检测等技术，能够实现大型承压设备的多种检测方式一体化作业。试验结果表明，该系统具有良好的运动性能，磁粉检测灵敏度能够达到A1：30 μm/100 μm，能够提高工作效率，降低劳动强度，具有较大的应用前景。

The automated inspection of large pressure equipment such as spherical tanks has become an urgent problem to be solved. According to the main inspection methods specified in current standards, a multi-function inspection system for large pressure equipment based on robot was proposed in this paper. The system was integrated with permanent magnet wall climbing robot, magnetic suspension spray structure, video detection system, ultrasonic thickness measurement system, as well as cross yoke magnetic particle testing system. It could carry out multiple type inspection jobs at the same time for large pressure equipment. The experimental results showed that the system had good motion performance, and the sensitivity of magnetic particle testing reached A1:30 μm/100 μm. The system can improve work efficiency and reduce labor intensity, and has good application prospect.