A three-axis differential support wheel type pipeline robot

Abstract

The present invention discloses a three-axis differential support wheeled pipeline robot, comprising a drive module, a variable diameter module, an auxiliary support module, a front panel, and a rear panel. The drive mechanism includes a three-axis differential mechanism and a drive motor. The drive motor output shaft is provided with a main synchronous pulley, which is connected to the three-axis differential mechanism via a first synchronous belt. The three-axis differential mechanism is provided with a front panel on the left side and a rear panel on the right side. The variable diameter module is connected to the three-axis differential mechanism and is fixed to the rear panel. The auxiliary support module is fixed to the front panel. By incorporating a three-axis differential mechanism, the present invention enables the pipeline robot to automatically adjust the drive wheel speed when operating in a pipeline, avoiding motion interference when passing through bends and achieving better in-pipe motion performance.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline robots, and in particular to a three-axis differential support wheel type pipeline robot. Background Art

[0002] A pipeline robot is a device that can travel along the inner or outer surface of a pipeline, carrying a working device to perform tasks such as pipeline inspection, cleaning, welding, and grinding in place of humans. Wheeled pipeline robots are characterized by high efficiency, high speed, and smooth operation. They can also use a variable diameter device to provide wall support, enabling them to navigate vertical pipelines. Therefore, they are widely used in the industrial sector. However, currently, common wheeled pipeline robots are primarily driven by multiple independent motors. Changing the speed of the drive wheels requires controlling the corresponding drive motors. When operating in a straight pipe, the speed of each drive wheel can be kept constant. However, when operating in a curved pipe, the distance traveled by the drive wheels at different positions varies. If the speed of each drive wheel remains constant, the drive wheels will slide against the pipe wall, causing motion interference and increasing losses. Although losses caused by motion interference can be reduced by controlling the speed of each drive motor, the complex environment inside the pipe requires pre-measurement of the pipe bend radius and the robot's own posture to implement the appropriate control algorithm to achieve differential drive wheel speeds, which significantly increases the control difficulty.

[0003] Patent publication number CN112066155B discloses a differentially supported wheeled pipeline robot. The robot's central frame module is connected to a variable-diameter support module and an auxiliary support module on either side. The variable-diameter support module houses a planetary differential module, while the variable-diameter support module houses a transmission module on the outside. This invention allows for adaptive speed regulation when different driving wheel speeds are required for cornering and straight-line obstacle crossing, minimizing motor power loss and ensuring smooth crawling. However, this solution suffers from motion interference when the required speeds of the front and rear drive wheels differ. Summary of the Invention

[0004] In response to the problem in the prior art that drive wheel motion interference occurs when pipeline robots walk in curved pipes, the present invention provides a three-axis differentially supported wheeled pipeline robot. The pipeline robot is driven by a single motor and can adaptively adjust the speed of each drive wheel when walking in a curved pipe to avoid additional losses caused by drive wheel motion interference, and has good in-pipe movement performance.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A three-axis differential support wheeled pipeline robot, characterized in that it includes a driving module, a variable diameter module, an auxiliary support module, a front panel and a rear panel; the driving module includes a three-axis differential mechanism and a driving motor, a first synchronous pulley is provided on the output shaft of the driving motor, the first synchronous pulley is connected to the three-axis differential mechanism through a first synchronous belt, a front panel is provided on one side of the three-axis differential mechanism, and the auxiliary support module is fixed to the front panel; a rear panel is provided on the other side of the three-axis differential mechanism, and the variable diameter module is fixed to the rear panel, a group of driving wheels is provided on the variable diameter module, and the wheel center distance between a group of driving wheels can be adjusted through the variable diameter module to adapt to pipes with different inner diameters, and the driving wheels are connected to the three-axis differential mechanism through transmission.

[0007] Preferably, the three-axis differential mechanism includes a first differential, a first drive shaft, a second differential, a second drive shaft, a third differential, a third drive shaft, a fourth differential, a fifth differential, and a sixth differential. The left half shaft of the first differential is provided with a first spur gear, and the right half shaft is provided with a first bevel gear. The left end of the first drive shaft is provided with a second spur gear, and the right end is provided with a second bevel gear. The left half shaft of the second differential is provided with a third spur gear, and the right half shaft is provided with a third bevel gear. The left end of the second drive shaft is provided with a fourth spur gear, and the right end is provided with a fourth bevel gear. The left half shaft of the third differential is provided with a fifth spur gear, and the right half shaft is provided with a fifth bevel gear. The left end of the third drive shaft is provided with a sixth spur gear, and the right end is provided with a sixth bevel gear. The left half shaft of the fourth differential is provided with a seventh bevel gear, and the right half shaft is provided with an eighth bevel gear. The left half shaft of the fifth differential is provided with a ninth bevel gear, and the right half shaft is provided with a tenth bevel gear. The left half shaft of the sixth differential is provided with an eleventh bevel gear, and the right half shaft is provided with a twelfth bevel gear.

[0008] Preferably, the first differential, the first transmission shaft, the second differential, the second transmission shaft, the third differential, and the third transmission shaft are all arranged in parallel, the first differential, the second differential, and the third differential are arranged at a phase interval of 120°, the first transmission shaft, the second transmission shaft, and the third transmission shaft are arranged at a phase interval of 120°, the axes of the fourth differential, the fifth differential, and the sixth differential are perpendicular to the axes of the first differential, the first transmission shaft, the second differential, the second transmission shaft, the third differential, and the third transmission shaft, The fifth differential and the sixth differential are arranged with a phase interval of 120°. The first spur gear is engaged with the second spur gear, the second bevel gear is engaged with the seventh bevel gear, the eighth bevel gear is engaged with the third bevel gear, the third spur gear is engaged with the fourth spur gear, the fourth bevel gear is engaged with the ninth bevel gear, the tenth bevel gear is engaged with the fifth bevel gear, the fifth spur gear is engaged with the sixth spur gear, the sixth bevel gear is engaged with the eleventh bevel gear, and the twelfth bevel gear is engaged with the first bevel gear.

[0009] Preferably, the first differential is provided with a second synchronous pulley, the second differential is provided with a third synchronous pulley, the third differential is provided with a fourth synchronous pulley, the fourth differential is provided with a fifth synchronous pulley, the fifth differential is provided with a sixth synchronous pulley, and the sixth differential is provided with a seventh synchronous pulley, and the first synchronous pulley is connected to the first synchronous pulley, the second synchronous pulley, and the third synchronous pulley through the first synchronous belt.

[0010] Preferably, the variable diameter module includes three groups of driving support feet, three arc-shaped support rods, a variable diameter block, a threaded optical axis, a linear bearing, an optical axis fixing seat, a first spring, a locking nut, and a round nut. The three groups of driving support feet are respectively connected to the fourth differential, the fifth differential, and the sixth differential. The three arc-shaped support rods are respectively connected to the three groups of driving support feet. The three arc-shaped support rods are connected to the variable diameter block through a pin shaft. The variable diameter block is fixed on the linear bearing. The first spring is connected to the variable diameter block. The linear bearing is installed on the threaded optical axis. The left end of the threaded optical axis is connected to the optical axis fixing seat. The optical axis fixing seat is fixed on the rear panel. The round nut and the locking nut are installed on the right end of the threaded optical axis.

[0011] Preferably, the driving support foot includes a left supporting foot, a right supporting foot, a tensioning wheel, a tensioning wheel fixing block, a small synchronous pulley, an auxiliary synchronous belt, a driving wheel axle, and a wheel, the three left supporting feet are respectively connected to the left half-shafts of the fourth differential, the fifth differential, and the sixth differential, the three right supporting feet are respectively connected to the right half-shafts of the fourth differential, the fifth differential, and the sixth differential, the left supporting foot is fixedly connected to the right supporting foot through a double-headed internal threaded cylindrical pin, the tensioning wheel is connected to the tensioning wheel fixing block through a plug screw, the tensioning wheel fixing block is fixed to the right supporting foot through a screw, the small synchronous pulley is fixed to the right end of the driving wheel axle through a tightening screw, the three auxiliary synchronous belts are respectively connected to the small synchronous pulley, the fifth synchronous pulley, the sixth synchronous pulley, and the seventh synchronous pulley, the wheel is fixed to the middle of the wheel axle through a tightening screw, the right side of the driving wheel axle is connected to the right supporting foot, and the left side is connected to the left supporting foot.

[0012] Preferably, the auxiliary support module includes six support bars, six fixing bars, three optical axes, three compression springs, three reducing rods, a head fixing plate, a synchronous reducing ring, and wheels. The six support bars are connected to the six fixing bars through bearings, the right ends of the three groups of fixing bars are fixed to the front panel by screws, the three optical axes are fixed to the front panel with a phase interval of 120°, the synchronous reducing ring is connected to the three optical axes, one end of the three reducing rods is connected to the synchronous reducing ring, and the other end is connected to the support bar, and the head fixing plate is fixed to the left end of the three groups of fixing bars.

[0013] Preferably, a bearing is provided at the connection between the three-axis differential mechanism and the front panel, and a bearing is provided at the connection between the three-axis differential mechanism and the rear panel.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The present invention provides a three-axis differential support wheel-type pipeline robot, which is equipped with a three-axis differential mechanism inside. The three-axis differential function can be realized using a single drive motor. When the robot runs in a curved pipe, it can autonomously adjust the speed of each drive wheel, avoiding the loss caused by motion interference caused by sliding friction between the drive wheel and the inner wall of the pipe, thereby giving the robot better adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 Schematic diagram of the driving module of the present invention;

[0018] Figure 3 Schematic diagram of the three-axis differential mechanism of the present invention;

[0019] Figure 4 Schematic diagram of the variable diameter module of the present invention;

[0020] Figure 5 This is a schematic diagram of the auxiliary support module of the present invention;

[0021] Figure 6 This is a schematic diagram of a fixing method for a drive motor according to the present invention;

[0022] Figure 7 This is a schematic diagram of a fixing method for a drive module according to the present invention;

[0023] In the figure: 1-drive module, 2-auxiliary support module, 3-front panel, 4-rear panel, 5-variable module, 11-drive motor, 12-first synchronous pulley, 13-first synchronous belt, 14-idler, 15-second synchronous pulley, 16-third synchronous pulley, 17-fourth synchronous pulley, 18-fifth synchronous pulley, 19-sixth synchronous pulley, 20-seventh synchronous pulley, 101-first differential, 102-second differential, 103-third differential, 104- fourth differential, 105- fifth differential, 106- sixth differential, 107- first transmission shaft, 108- second transmission shaft, 109- third transmission shaft, 111- first spur gear, 112- second spur gear, 113- second bevel gear, 114- seventh bevel gear, 115- eighth bevel gear, 116- third bevel gear, 117- third spur gear, 118- fourth spur gear, 119- fourth bevel gear, 120- ninth bevel gear, 12 1-10th bevel gear, 122-5th bevel gear, 123-5th spur gear, 124-6th spur gear, 125-6th bevel gear, 126-11th bevel gear, 127-12th bevel gear, 128-1st bevel gear, 201-reducing rod, 202-fixing bar, 203-optical axis, 204-compression spring, 205-synchronizing reducing ring, 206-head fixing plate, 207-support bar, 401-bearing end cover, 402-double-headed internal thread fixing rod , 501-wheel, 502-small synchronous pulley, 503-tensioning wheel fixing block, 504-right support foot, 505-optical axis fixing seat, 506-linear bearing, 507-reducing block, 508-driving wheel shaft, 509-first spring, 510-round nut, 511-locking nut, 512-threaded optical axis, 513-arc support rod, 514-auxiliary synchronous belt, 515-left support foot, 516-tensioning wheel, 601-fixed plate, 602-fixed column. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] like Figure 1-5 As shown, a three-axis differential support wheeled pipeline robot includes a driving module 1, an auxiliary support module 2, a front panel 3, a rear panel 4, and a variable diameter module 5. The front panel 3 is provided on the left side of the driving module 1, and the rear panel 4 is provided on the right side of the driving module 1. The variable diameter module 5 is connected to the driving module 1, the variable diameter module 5 is fixed to the rear panel 4, and the auxiliary support module 2 is fixed to the front panel 3.

[0026] like Figure 2 As shown, the drive motor 11 is located at the center of the drive module 1, and a first synchronous pulley 12 is fixed on the output shaft of the drive motor 11. The first synchronous pulley 12 is connected to the first synchronous belt 13, and the first synchronous belt 13 is also connected to the second synchronous pulley 15, the third synchronous pulley 16, and the fourth synchronous pulley 17. Two idler pulleys 14 are located below the first synchronous pulley 12 and are used to tension the first synchronous belt 13. When the drive motor 11 is working, the first synchronous pulley 12 rotates, and the second synchronous pulley 15, the third synchronous pulley 16, and the fourth synchronous pulley 17 are driven to rotate synchronously through the first synchronous belt 13.

[0027] like Figure 3 In the three-axis differential mechanism shown, the axes of the first differential 101, the first transmission shaft 107, the second differential 102, the second transmission shaft 108, the third differential 103, and the third transmission shaft 109 are parallel to each other, and the plane where the axes of the fourth differential 104, the fifth differential 105, and the sixth differential 106 are located is parallel to the axes of the first differential 101, the first transmission shaft 107, the second differential 102, the second transmission shaft 108, the third differential 103, and the third transmission shaft 109. Vertically, when the robot is in the straight tube, when the second synchronous pulley 15, the third synchronous pulley 16, and the fourth synchronous pulley 17 rotate synchronously, the first differential 101, the second differential 102, and the third differential 103 rotate together, and at the same time, the first bevel gear 128, the third bevel gear 116, and the fifth bevel gear 122 rotate, because the first spur gear 111 is engaged with the second spur gear 112, the third spur gear 117 is engaged with the fourth spur gear 118, and the fifth spur gear 123 and The sixth spur gear 124 is engaged, so the first transmission shaft 107, the second transmission shaft 108, and the third transmission shaft 109 are also driven. At this time, the second bevel gear 113, the fourth bevel gear 119, and the sixth bevel gear 125 rotate, because the second bevel gear 113 is engaged with the seventh bevel gear 114, the eighth bevel gear 115 is engaged with the third bevel gear 116, the fourth bevel gear 119 is engaged with the ninth bevel gear 120, the tenth bevel gear 121 is engaged with the fifth bevel gear 122, and the sixth bevel gear 125 is engaged. The bevel gear 125 is meshed with the eleventh bevel gear 126, and the twelfth bevel gear 127 is meshed with the first bevel gear 128, so the seventh bevel gear 114, the eighth bevel gear 115, the ninth bevel gear 120, the tenth bevel gear 121, the eleventh bevel gear 126, and the twelfth bevel gear 127 rotate, causing the fourth differential 104, the fifth differential 105, and the sixth differential 106 to rotate, thereby realizing the rotation of the fifth synchronous pulley 18, the sixth synchronous pulley 19, and the seventh synchronous pulley 20.

[0028] like Figure 4As shown, the three groups of driving support feet of the variable diameter module 5 include a left supporting foot 515, a right supporting foot 504, a tensioning wheel 516, a tensioning wheel fixing block 503, a small synchronous pulley 502, an auxiliary synchronous belt 514, a driving wheel shaft 508, and a wheel 501. The left supporting foot 515 and the right supporting foot 504 are connected and fixed with a double-headed internal threaded cylindrical pin. The driving wheel shaft 508 has bearings at both ends and is installed on the head of the left supporting foot 515 and the right supporting foot 504. The small synchronous pulley 502 is fixed to the right end of the driving wheel shaft 508. The small synchronous pulley 502 is connected to the fifth synchronous pulley 18, the sixth synchronous pulley 19, and the seventh synchronous pulley 20 through the auxiliary synchronous belt 514. When the fifth synchronous pulley 18, the sixth synchronous pulley 19, and the seventh synchronous pulley 20 rotate, the small synchronous pulley 502 also rotates, driving the wheel 501 to rotate to realize the walking of the robot. The tensioning wheel fixing block 503 is arranged on the side of the right supporting foot 504. The tensioning wheel 516 is fixed on the tension wheel fixing block. The bottom of the tension wheel fixing block 503 has a groove, which can be translated along the protrusion of the right support foot 504 to adjust the tightness of the auxiliary synchronous belt 514. The threaded optical axis 512 is fixed on the optical axis fixing seat 505. The reducing block 507 and the linear bearing 506 are fixed by screws and can slide on the threaded optical axis 512. The reducing block 507 is moved by twisting the round nut 510 and the locking nut 511. The arc support rod 5 One end of the robot 13 is connected to the reducing block 507, and the other end is connected to the supporting foot. The bottoms of the left supporting foot 515 and the right supporting foot 504 are connected to the left and right half-axles of the fourth differential 104, the fifth differential 105, and the sixth differential 106, respectively. This allows the three sets of supporting feet to rotate around the fourth differential 104, the fifth differential 105, and the sixth differential 106 to achieve a variable diameter function. The first spring 509 enables the robot to achieve adaptive diameter change within a small range.

[0029] like Figure 5 As shown, the supporting foot of the auxiliary support module 2 is composed of a wheel 501 and a support bar 207. The two support bars 207 are connected and fixed with a double-headed internal threaded cylindrical pin. The wheel 501 is set at the head of the support bar 207 and can rotate around the axis. The bottom of the support bar 207 is connected to the fixed bar 202. A bearing is provided at the connection. The support bar 207 is rotatable. The front end of the fixed bar 202 is provided with a head fixing plate 206, and the rear end is fixed to the front panel 3. The head fixing plate 206 is fixed to the fixed bar 202 with screws, which can make it fixed. The fixed bar 202 is more stable, the left end of the optical axis 203 is connected to the head fixing plate 206, and the right end is fixed to the front panel 3. The synchronous reducing ring 205 passes through the three optical axes 203 and can slide on the optical axis 203. One end of the reducing rod 201 is connected to the synchronous reducing ring 205 through a pin shaft, and the other end is connected to the double-headed internal threaded cylindrical pin of the fixed support bar 207. The compression spring 204 is sleeved on the optical axis 203 and contacts with the synchronous reducing ring 205 and the front panel 3, which can realize adaptive diameter change of the auxiliary support module 2 within a certain range.

[0030] like Figure 6 As shown, a fixing plate 601 is provided at the front end cover of the driving motor 11, and both ends of the fixing column 602 are provided with internal threads. The left end is fixed to the driving motor 11 by screws, and the right end is fixed to the rear panel 4 by screws.

[0031] like Figure 7 As shown, bearings are provided at the connections between the first differential 101, the first transmission shaft 107, the second differential 102, the second transmission shaft 108, the third differential 103, the third transmission shaft 109 and the front panel 3 and the rear panel 4, and are all fixed with bearing end covers 401. The front panel 3 and the rear panel 4 are fixed by a double-headed internal threaded fixing rod 402.

[0032] The working process of this embodiment is: place the three-axis differential support wheel pipeline robot auxiliary support module 2 forward into the pipeline, manually twist the round nut 510 and the locking nut 511 to open the variable diameter module 5, adjust it until the wheel 501 is in full contact with the inner wall of the pipeline, fix the locking nut 511, control the drive motor 11 to rotate, the wheel 501 rotates, and the robot moves forward in the pipeline. When the robot runs in a straight pipe, the three wheels 501 on the side of the variable diameter module 5 travel the same distance and at the same speed, and the three-axis differential mechanism does not play a differential role. When the robot passes through a curved pipe, the distance traveled by the wheels 501 is different, and the required speed is different. Due to the torque distribution characteristics of the differential, the three-axis differential mechanism will automatically adjust the speed of the three wheels 501, and will not cause motion interference and increase additional losses.

[0033] The embodiments of this specification are merely examples of implementations of the invention and are provided for illustrative purposes only. The scope of protection of the present invention should not be considered limited to the specific embodiments described in these embodiments. The scope of protection of the present invention also extends to equivalent technical means that can be conceived by a person of ordinary skill in the art based on the invention.

Claims

1. A three-axis differential support wheeled pipeline robot, characterized in that: It includes a driving module, a variable diameter module, an auxiliary support module, a front panel and a rear panel; the driving module includes a three-axis differential mechanism and a driving motor, a first synchronous pulley is provided on the output shaft of the driving motor, and the first synchronous pulley is connected to the three-axis differential mechanism through a first synchronous belt, a front panel is provided on one side of the three-axis differential mechanism, and the auxiliary support module is fixed to the front panel; a rear panel is provided on the other side of the three-axis differential mechanism, and the variable diameter module is fixed to the rear panel, a group of driving wheels is provided on the variable diameter module, and the wheel center distance between the group of driving wheels can be adjusted by the variable diameter module to adapt to pipes with different inner diameters, and the driving wheels are connected to the three-axis differential mechanism in a transmission manner; The three-axis differential mechanism includes a first differential, a first transmission shaft, a second differential, a second transmission shaft, a third differential, a third transmission shaft, a fourth differential, a fifth differential and a sixth differential, the left half shaft of the first differential is provided with a first spur gear, and the right half shaft is provided with a first bevel gear, the left end of the first transmission shaft is provided with a second spur gear, and the right end is provided with a second bevel gear, the left half shaft of the second differential is provided with a third spur gear, and the right half shaft is provided with a third bevel gear, the left end of the second transmission shaft is provided with a fourth spur gear, and the right end is provided with a fourth bevel gear, the left half shaft of the third differential is provided with a fifth spur gear, and the right half shaft is provided with a fifth bevel gear, the left end of the third transmission shaft is provided with a sixth spur gear, and the right end is provided with a sixth bevel gear, the left half shaft of the fourth differential is provided with a seventh bevel gear, and the right half shaft is provided with an eighth bevel gear, the left half shaft of the fifth differential is provided with a ninth bevel gear, and the right half shaft is provided with a tenth bevel gear, the left half shaft of the sixth differential is provided with an eleventh bevel gear, and the right half shaft is provided with a twelfth bevel gear; The first differential, the first transmission shaft, the second differential, the second transmission shaft, the third differential, and the third transmission shaft are all arranged in parallel. The first differential, the second differential, and the third differential are arranged at a phase interval of 120°. The first transmission shaft, the second transmission shaft, and the third transmission shaft are arranged at a phase interval of 120°. The axes of the fourth differential, the fifth differential, and the sixth differential are perpendicular to the axes of the first differential, the first transmission shaft, the second differential, the second transmission shaft, the third differential, and the third transmission shaft. The first spur gear and the sixth differential are arranged at a phase interval of 120°, the first spur gear is engaged with the second spur gear, the second bevel gear is engaged with the seventh bevel gear, the eighth bevel gear is engaged with the third bevel gear, the third spur gear is engaged with the fourth spur gear, the fourth bevel gear is engaged with the ninth bevel gear, the tenth bevel gear is engaged with the fifth bevel gear, the fifth spur gear is engaged with the sixth spur gear, the sixth bevel gear is engaged with the eleventh bevel gear, and the twelfth bevel gear is engaged with the first bevel gear; The first differential is provided with a second synchronous pulley, the second differential is provided with a third synchronous pulley, the third differential is provided with a fourth synchronous pulley, the fourth differential is provided with a fifth synchronous pulley, the fifth differential is provided with a sixth synchronous pulley, and the sixth differential is provided with a seventh synchronous pulley, and the first synchronous pulley is connected to the first synchronous pulley, the second synchronous pulley, and the third synchronous pulley through the first synchronous belt; The variable diameter module includes three groups of driving support feet, three arc-shaped support rods, a variable diameter block, a threaded optical axis, a linear bearing, an optical axis fixing seat, a first spring, a locking nut, and a round nut. The three groups of driving support feet are respectively connected to the fourth differential, the fifth differential, and the sixth differential. The three arc-shaped support rods are respectively connected to the three groups of driving support feet. The three arc-shaped support rods are connected to the variable diameter block through a pin shaft. The variable diameter block is fixed on the linear bearing. The first spring is connected to the variable diameter block. The linear bearing is installed on the threaded optical axis. The left end of the threaded optical axis is connected to the optical axis fixing seat. The optical axis fixing seat is fixed on the rear panel. The round nut and the locking nut are installed on the right end of the threaded optical axis. The driving support foot includes a left supporting foot, a right supporting foot, a tensioning wheel, a tensioning wheel fixing block, a small synchronous pulley, an auxiliary synchronous belt and a driving wheel shaft, the three left supporting feet are respectively connected to the left half-shafts of the fourth differential, the fifth differential and the sixth differential, the three right supporting feet are respectively connected to the right half-shafts of the fourth differential, the fifth differential and the sixth differential, the left supporting foot is fixedly connected to the right supporting foot through a double-headed internal threaded cylindrical pin, the tensioning wheel is connected to the tensioning wheel fixing block through a plug screw, the tensioning wheel fixing block is fixed to the right supporting foot through a screw, the small synchronous pulley is fixed to the right end of the driving wheel shaft through a tightening screw, the three auxiliary synchronous belts are respectively connected to the small synchronous pulley, the fifth synchronous pulley, the sixth synchronous pulley and the seventh synchronous pulley, the driving wheel is fixed to the middle of the driving wheel shaft through a tightening screw, the right side of the driving wheel shaft is connected to the right supporting foot, and the left side is connected to the left supporting foot.

2. A three-axis differential support wheeled pipeline robot according to claim 1, characterized in that: The auxiliary support module includes six support bars, six fixing bars, three optical axes, three compression springs, three reducing rods, a head fixing plate, a synchronous reducing ring and a wheel. The six support bars are connected to the six fixing bars through bearings. The right ends of the three groups of fixing bars are fixed to the front panel by screws. The three optical axes are fixed to the front panel with a phase interval of 120°. The synchronous reducing ring is connected to the three optical axes. One end of the three reducing rods is connected to the synchronous reducing ring, and the other end is connected to the support bar. The head fixing plate is fixed to the left end of the three groups of fixing bars.

3. The three-axis differential support wheeled pipeline robot according to claim 1, characterized in that: A bearing is provided at the connection between the three-axis differential mechanism and the front panel, and a bearing is provided at the connection between the three-axis differential mechanism and the rear panel.

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