Abstract: 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.