介绍了一种新研制开发的永磁吸附式双履带结构爬壁机器人 ,主要应用于火力发电站的大型排管锅炉中的水冷壁排管壁面的清扫和检测 ,并能够在检测到壁面厚度小于预置的极限值处发出报警信号、打标记 ,具有较高的推广应用价值。文中阐述了该机器人的结构、磁路的优化设计、自动测厚、打标系统和控制系统的研制。目前 ,该机器人已经经过多次现场试验 ,各项指标均已达到设计要求 A newly developed permanent magnet adsorption double crawler structure crawler robot is mainly used in the cleaning and testing of the wall wall of the water wall in the large-scale discharge tube boiler of the thermal power station. When the thickness of the wall surface is less than Preset limit value at the alarm signal, mark, with a high value of the promotion. The article describes the structure of the robot, the optimal design of magnetic circuit, automatic thickness measurement, marking system and control system development. At present, the robot has been tested several times, all the indicators have reached the design requirements