Supporting wheel type pipeline crawler based on three-axis differential mechanism

The supporting wheel type pipeline crawler based on the three-axis differential comprises a crawler body and a detection unit, and the detection unit is installed at one end of the crawler body; the crawler comprises a three-axis differential driving device, a walking mechanism and a pre-tightening reducing mechanism. The three-shaft differential driving device comprises three differential mechanisms of the same structure, a transfer case and a crawling driving motor device. The walking mechanism comprises a two-stage chain transmission device, a front crawling wheel and a rear crawling wheel. The robot can be suitable for pipelines with large pipe diameters, and can walk in pipelines with variable diameters. 本发明公开一种基于三轴差速器的支撑轮式管道爬行器，包括爬行器和探测单元，爬行器的一端安装有探测单元；爬行器包括三轴差速驱动装置、行走机构和预紧变径机构；三轴差速驱动装置包括三个结构相同的差速器，分动器、爬行驱动电机装置，行走机构包括两级链传动装置、前爬行轮和后爬行轮。本发明能适用于大管径的管道，并且能在直径变化的管道内行走。