The purpose of this paper is to propose a new model of magnetic wheeled climbing robot for climbing various types of structures that include significant obstacles, besides inspection of industrial vessels made of various materials, including non-ferromagnetic material. The inspection consists of live video streaming of the inspection surface, sensing the surface and sub-surface cracks by using the GMR sensor array. The design mainly consists a flexible structure of the mobile robot with four specially designed magnetic wheels. An improved magnetic adhesion way by using the magnetic wheels was used to as the adhesion system for this climbing robot. This system generates the required adhesion force to support the robot on the climbed surfaces. Dynamic simulation and calculation of magnetic flux density, using ADAMS and FEM are performed and ensures the success of this idea. Experimental tests to check the capabilities of inspection robot, climbing different surfaces, such as smooth, rough, flat and cylindrical surfaces like the real vessel, are successfully carried out. In addition, the robot stops accurately on the climbed surface at any desired location for inspection purposes, and it overcomes significant obstacles up to 40 mm. This proposed climbing can be implanted for industries such as petrochemical, construction, bridges and many more where a regular inspection of the welds and the wall thickness is required. But here the primary motive task is the inspection of overhead cranes girders for which this robot is proposed.