A power mechanism and a patrol robot

Abstract

The application provides a power mechanism and a patrol robot, and relates to the technical field of patrol equipment. The power mechanism comprises: at least two driving wheels, the driving wheels are used for abutting against a bearing cable, and each driving wheel is configured to be capable of being arranged at intervals along the length direction of the bearing cable; and at least two driving members, each driving member has an output shaft, and the output shaft is correspondingly connected to a driving wheel in a transmission mode, so as to drive the driving wheel to rotate. The power mechanism and the patrol robot provided by the application solve the problem that in the related art, in some scenes, the power mechanism of the patrol robot is difficult to provide sufficient driving force, and thus the walking effect of the patrol robot on a power transmission line is reduced.

Description

Technical Field

[0001] This application relates to the field of inspection equipment technology, and in particular to a power mechanism and an inspection robot. Background Technology

[0002] Currently, inspection robots are commonly used to inspect and monitor the operational status of power transmission lines in order to ensure the operational safety of the power system in which the transmission lines are located.

[0003] In related technologies, the inspection robot includes a main body and a power mechanism mounted on the main body. The power mechanism includes a motor and at least one drive wheel, with the motor driving each drive wheel to rotate simultaneously. During installation, the main body is hung on the power transmission line, with the drive wheels in contact with the power line. During operation, the motor drives the drive wheels to roll relative to the power line, thus enabling the inspection robot to move along the power transmission line.

[0004] However, in some scenarios (such as when passing through curved sections of power transmission lines or when there is a large slope), the aforementioned power mechanism is unable to provide sufficient driving force, thereby reducing the walking effect of the inspection robot. Utility Model Content

[0005] This application provides a power mechanism and an inspection robot to solve the problem in some scenarios where the power mechanism of the inspection robot cannot provide sufficient driving force, thereby reducing the walking effect of the inspection robot on power transmission lines.

[0006] On the one hand, this application provides a power mechanism, comprising:

[0007] At least two drive wheels are provided for abutting against a carrying cable, and each drive wheel is configured to be spaced apart along the length of the carrying cable.

[0008] At least two drive members, each drive member having an output shaft, the output shaft being correspondingly connected to a drive wheel to drive the drive wheel to rotate.

[0009] In one possible implementation, the drive wheel and the output shaft are connected by a speed reducer.

[0010] In one possible implementation, the speed reducer has an input end and an output end that are driven to each other, the input end being connected to the output shaft, and the drive wheel being provided with at least one fastener that detachably connects the drive wheel to the output end.

[0011] In one possible implementation, the output end is provided with at least one threaded hole, and the fastener is a screw that passes through the drive wheel and is threaded into the threaded hole to detachably connect the drive wheel to the output end.

[0012] In one possible implementation, the speed reducer is a hub planetary speed reducer.

[0013] In one possible implementation, the output shaft has a drive gear coaxial with itself, the hub planetary reducer includes an external gear ring and planetary gears located inside the external gear ring, the drive gear is coaxially located inside the external gear ring, and the drive gear, the planetary gears and the external gear ring mesh in sequence, and the drive wheel is coaxially connected to the external gear ring.

[0014] In one possible implementation, the outer peripheral wall of the drive wheel has an annular receiving groove coaxial with itself, the annular receiving groove being used to receive the carrying cable.

[0015] In one possible implementation, the drive wheel includes a hub and an elastic tire body, the output shaft is correspondingly connected to the hub, the elastic tire body is coaxially sleeved on the hub, and the annular receiving groove is coaxially formed on the outer peripheral wall of the elastic tire body.

[0016] In one possible implementation, the inner surface of the annular receiving groove is provided with anti-slip texture, which is used to contact the carrying cable.

[0017] In one possible implementation, the drive element is an external rotor motor.

[0018] On the other hand, the present application provides an inspection robot, which includes a main body and a power mechanism as described in any of the above embodiments disposed on the main body.

[0019] In one possible implementation, a clamping mechanism is also included, which is disposed on the main body. The clamping mechanism and the drive wheels in the power mechanism are distributed on both sides of the carrying cable and together clamp the carrying cable.

[0020] In one possible implementation, the body has an internal mounting cavity, and the drive component of the power mechanism is located within the mounting cavity.

[0021] This application provides a power mechanism and an inspection robot. The power mechanism comprises: at least two drive wheels for abutting a load-bearing cable, each drive wheel being configured to be spaced apart along the length of the load-bearing cable; and at least two drive members, each drive member having an output shaft, the output shaft being correspondingly connected to a drive wheel to drive the drive wheel to rotate. In implementation, the power mechanism can be applied to an inspection robot. During use, each drive wheel sequentially abuts against the power line along its length, and then each drive member drives the drive wheel to roll relative to the power line, achieving the purpose of the inspection robot walking on the power line. This improves the overall driving force of the power mechanism, providing more sufficient power so that in some scenarios (such as when the inspection robot passes through curved sections of the power line or when the power line has a large slope), the power mechanism can provide sufficient driving force to ensure the inspection robot maintains better walking performance and is less prone to slippage. This solves the problem in related technologies where the power mechanism of the inspection robot cannot provide sufficient driving force in some scenarios, thus reducing the walking performance of the inspection robot on the power line. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0023] Figure 1 A schematic diagram of the installation structure of a power mechanism on an inspection robot provided in this application embodiment;

[0024] Figure 2 for Figure 1 Schematic diagram of the medium speed reducer;

[0025] Figure 3 An exploded view of a power mechanism installed on an inspection robot, as provided in an embodiment of this application;

[0026] Figure 4 This is a partial cross-sectional structural diagram of an inspection robot provided in an embodiment of this application.

[0027] Explanation of reference numerals in the attached figures:

[0028] 10-Main body; 11-Mounting cavity;

[0029] 100 - Drive wheel; 110 - Annular receiving groove; 120 - Wheel hub; 130 - Elastic tire carcass;

[0030] 200 - Drive component; 210 - Output shaft; 211 - Drive gear;

[0031] 300 - Reducer; 310 - External gear ring; 320 - Planetary gear;

[0032] 400 - Fasteners.

[0033] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0034] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0035] In related technologies, inspection robots are often used to inspect and monitor the usage status of power transmission lines in order to ensure the operational safety of the power system in which the transmission lines are located.

[0036] The inspection robot includes a main body and a power mechanism mounted on the main body. The power mechanism includes a motor and at least one drive wheel, with the motor driving each drive wheel to rotate simultaneously. During installation, the main body is hung on the power transmission line, with the drive wheels in contact with the power line. During operation, the motor drives the drive wheels to roll relative to the power line, enabling the inspection robot to move along the power transmission line.

[0037] However, in some scenarios, such as when the inspection robot passes through the curved parts of the power transmission line or when the power transmission line has a large slope, the aforementioned power mechanism is unable to provide sufficient driving force, which makes the inspection robot prone to slipping, thereby reducing the walking effect of the inspection robot and affecting the inspection efficiency.

[0038] Based on this, this application provides a power mechanism and an inspection robot. The power mechanism includes: at least two drive wheels for abutting against a carrying cable, and each drive wheel is configured to be spaced apart along the length of the carrying cable; at least two drive members, each drive member having an output shaft, the output shaft being correspondingly connected to a drive wheel to drive the drive wheel to rotate. In implementation, the power mechanism can be applied to an inspection robot. During use, each drive wheel abuts against the power line sequentially and at intervals along the length of the power line. Then, each drive member drives the drive wheel to roll relative to the power line, achieving the purpose of the inspection robot walking on the power line. This improves the overall driving force of the power mechanism, providing more sufficient power so that in some scenarios (such as when the inspection robot passes through curved sections of the power line or when the power line has a large slope), the power mechanism can provide sufficient driving force to ensure the inspection robot maintains a better walking effect and is less prone to slippage. This solves the problem in related technologies where the power mechanism of the inspection robot cannot provide sufficient driving force in some scenarios, thus reducing the walking effect of the inspection robot on the power line.

[0039] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0040] like Figure 1 and Figure 2 As shown in the embodiment of this application, a power mechanism includes:

[0041] At least two drive wheels 100 are provided for abutting against the carrying cable, and each drive wheel 100 is configured to be spaced apart along the length of the carrying cable.

[0042] At least two drive members 200, each drive member 200 having an output shaft 210, the output shaft 210 being connected to a drive wheel 100 to drive the drive wheel 100 to rotate.

[0043] In this embodiment, the power mechanism is applied to the inspection robot as an example. In this case, the power transmission line used to hang the inspection robot is the carrying cable.

[0044] In practice, the drive component 200 can be fixed to the inspection robot by screwing, welding, snapping or other means. The drive component 200 is a motor, so that the drive component 200 itself has an output shaft 210. The type of motor is not limited.

[0045] The drive wheel 100 is connected to the output shaft 210 of the drive component 200. The drive wheel 100 can be rotatably connected to the inspection robot at the same time; or it can be connected only to the output shaft 210 and not directly connected to the inspection robot.

[0046] In use, each drive wheel 100 can be sequentially and spaced against the power line along its length. Then, each drive component 200 drives the drive wheels 100 to roll relative to the power line, enabling the inspection robot to move along the power line. This improves the overall driving force of the power mechanism, providing more sufficient power in scenarios such as when the inspection robot passes through bends or steep slopes of the power line. This ensures the robot maintains optimal walking performance and prevents slippage, solving the problem in related technologies where the power mechanism of the inspection robot often fails to provide sufficient driving force in certain scenarios, thus reducing its walking performance on power lines.

[0047] In other embodiments, this power mechanism can also be applied to cable traction equipment or other equipment that needs to move on cables, in which case the cable used to support the corresponding equipment is the carrying cable.

[0048] like Figure 1 and Figure 2 As shown, in some embodiments, the drive wheel 100 and the output shaft 210 are connected by a reducer 300.

[0049] In this embodiment, the reducer 300 can be connected to the inspection robot. Furthermore, the reducer 300 also acts between the output shaft 210 and the drive wheel 100 to realize the transmission between the drive wheel 100 and the output shaft 210, thereby achieving the purpose of deceleration and torque increase.

[0050] Therefore, when the drive component 200 is running and drives the drive wheel 100 to rotate, the torque can be amplified by the reducer 300 to further enhance the driving force, while also facilitating the control of the rotational speed of the drive wheel 100 and the walking speed of the inspection robot.

[0051] like Figure 3 As shown, in some embodiments, the reducer 300 has an input end and an output end that are driven to each other. The input end is connected to the output shaft 210, and the drive wheel 100 is provided with at least one fastener 400, which detachably connects the drive wheel 100 to the output end.

[0052] In this embodiment, the reducer 300 has an input end and an output end that are connected to each other. The input end can be coaxially connected to the output shaft 210, and the output end is detachably connected to the drive wheel 100 through a fastener 400.

[0053] Therefore, the drive wheel 100 and the output end of the reducer 300 can be detachably connected by the fastener 400, which improves the convenience of installation and replacement of the drive wheel 100 and facilitates maintenance.

[0054] Specifically, the output end of the reducer 300 is provided with at least one threaded hole, and the fastener 400 is a screw. The screw passes through the drive wheel 100 and is threaded into the threaded hole to detachably connect the drive wheel 100 to the output end of the reducer 300.

[0055] The number of screws in fastener 400 is not limited; for example, it can be four, five, six, etc. Furthermore, fastener 400 can also be a bolt. Of course, fastener 400 can also include a threaded rod and a nut, with the threaded rod welded to the output end of reducer 300, so that after passing through drive wheel 100, the threaded rod is fastened with a nut.

[0056] In this embodiment, the reducer 300 can be a hub planetary reducer. This allows the output shaft 210 to drive the drive wheel 100 to rotate via the hub planetary reducer, achieving the purpose of speed reduction and torque increase. Hub planetary reducers have advantages such as high torque density, small size, and high transmission efficiency.

[0057] In other embodiments, the reducer 300 can also be replaced by a cylindrical gear reducer, a worm gear reducer, etc., and there is no limitation on the model of the reducer 300.

[0058] like Figure 2 As shown, in some embodiments, the output shaft 210 has a drive gear 211 coaxial with itself. The hub planetary reducer includes an outer gear ring 310 and a planetary gear 320 located inside the outer gear ring 310. The drive gear 211 is coaxially located inside the outer gear ring 310, and the drive gear 211, planetary gear 320 and outer gear ring 310 mesh in sequence. The drive wheel 100 is coaxially connected to the outer gear ring 310.

[0059] In this embodiment, the drive gear 211 can be coaxially fixed to the output shaft 210 by welding, integral molding or other means, so that when the drive unit 200 is working, the drive gear 211 can be driven to rotate by the output shaft 210.

[0060] There can be multiple planetary gears 320, and the number is not limited. In this embodiment, there are three planetary gears 320, but there can also be two, four or other numbers.

[0061] The driving gear 211 is coaxially located inside the external gear ring 310, and each planetary gear 320 is also located inside the external gear ring 310, with the planetary gears 320 positioned between the driving gear 211 and the external gear ring 310. Each planetary gear 320 is evenly wound around the driving gear 211. The driving gear 211, planetary gears 320, and external gear ring 310 mesh sequentially, enabling sequential power transmission and achieving the purpose of speed reduction and torque increase. The drive wheel 100 is coaxially connected to the external gear ring 310.

[0062] Therefore, when the drive unit 200 is working, the output shaft 210 rotates, and then drives the drive wheel 100 to rotate through the transmission of the drive gear 211, the planetary gear 320 and the external gear ring 310 in sequence, thereby achieving the purpose of deceleration and increasing torque.

[0063] It should be noted that the drive gear 211 can be regarded as the input end of the reducer 300, and the external gear ring 310 can be regarded as the output end of the reducer 300.

[0064] At this time, the drive wheel 100 is detachably connected to the output end of the reducer 300 via fastener 400. That is, as... Figure 3 As shown, in this embodiment, the drive wheel 100 can be detachably connected to the external gear ring 310 via fastener 400 on the same axis.

[0065] Specifically, threaded holes can be made on the external gear ring 310, and the threaded holes can be evenly spaced along the circumference of the external gear ring 310. During installation, the drive wheel 100 can be coaxially abutted against the external gear ring 310, and then the fastener 400 can be passed through the drive wheel 100 and threaded into the threaded hole on the external gear ring 310, realizing a detachable connection between the drive wheel 100 and the external gear ring 310. Understandably, during implementation, a through hole corresponding to the threaded hole should be made on the drive wheel 100 so that the fastener 400 can pass through.

[0066] like Figure 3 As shown, in some embodiments, the outer peripheral wall of the drive wheel 100 is provided with an annular receiving groove 110 coaxial with itself, and the annular receiving groove 110 is used to receive the carrying cable.

[0067] In this embodiment, the annular receiving groove 110 is coaxially formed on the outer peripheral wall of the drive wheel 100, and the width of the annular receiving groove 110 is adapted to the diameter of the power transmission line on which the inspection robot operates. This allows the inspection robot to be more securely mounted on the power transmission line via the drive wheel 100, improving the stability of the inspection robot as it moves along the power transmission line.

[0068] In implementation, the cross-sectional profile of the annular receiving groove 110 can be set to U-shape. Of course, the cross-sectional profile can also be rectangular, trapezoidal, dovetail, etc., without limitation.

[0069] To address this, limiting components such as limit rods and limit blocks can be installed on the inspection robot. These components then abut against both sides of the power transmission line in the horizontal direction during use. The gap between these limiting components accommodates the power transmission line, thus improving the stability and reliability of the inspection robot's mounting on the power transmission line. Alternatively, the annular receiving groove 110 on the drive wheel 100 can be omitted depending on actual needs.

[0070] like Figure 3 As shown, in some embodiments, the drive wheel 100 includes a hub 120 and an elastic tire body 130, the output shaft 210 is correspondingly connected to the hub 120, the elastic tire body 130 is coaxially sleeved on the hub 120, and the annular receiving groove 110 is coaxially formed on the outer peripheral wall of the elastic tire body 130.

[0071] In this embodiment, the output shaft 210 of the drive unit 200 can be connected to the hub 120 via the reducer 300. That is, the hub 120 can be detachably connected to the outer gear ring 310 of the reducer 300 using fasteners 400. The hub 120 can be made of metal, alloy, or other materials, such as aluminum alloy.

[0072] Secondly, the elastic tire body 130 is annular and coaxially sleeved on the outer peripheral wall of the hub 120. In implementation, the inner diameter of the elastic tire body 130 must match the outer diameter of the hub 120 to ensure proper fit and reduce the possibility of mutual rotation during use. The elastic tire body 130 can be made of rubber, silicone, or other materials, such as polyurethane.

[0073] At this time, the annular receiving groove 110 can be coaxially formed on the outer peripheral wall of the elastic tire body 130.

[0074] Therefore, when the inspection robot is attached to the power transmission line, the elastic pad 130 on the drive wheel 100 abuts against the power transmission line, while simultaneously allowing the power transmission line to be contained within the annular receiving groove 110. This effectively increases the frictional resistance between the drive wheel 100 and the power transmission line through the elastic pad 130, and the limiting effect of the annular receiving groove 110 effectively ensures the stability of the drive wheel 100 as it rolls along the power transmission line, preventing it from slipping off.

[0075] Furthermore, since the elastic tire body 130 is fitted onto the wheel hub 120 via a sleeve-like manner, the elastic tire body 130 is detachable from the wheel hub 120. This means that in practical applications, the elastic tire body 130 can be replaced or disassembled for maintenance as needed, improving the ease of maintenance for the drive wheel 100. For example, when the diameter of the applied power transmission line is different, the elastic tire body 130 with a matching annular receiving groove 110 can be replaced accordingly.

[0076] like Figure 3 As shown, during implementation, a receiving cavity can be recessed in the middle of the hub 120 so that the hub 120 can be fitted onto the outer gear ring 310 of the reducer 300, so that the hub 120 completely covers the reducer 300, thereby providing a certain degree of protection for the reducer 300, improving safety and extending service life.

[0077] Furthermore, the inner surface of the annular receiving groove 110 is provided with anti-slip texture, which is used to contact the carrying cable.

[0078] In this embodiment, the anti-slip texture can be multiple grooves formed on the inner surface of the annular receiving groove 110, and each groove is evenly distributed around the elastic tire body 130.

[0079] Therefore, when the drive wheel 100 contacts the power transmission line through the elastic tire body 130, the anti-slip pattern can further increase the frictional resistance between the drive wheel 100 and the power transmission line, reducing the possibility of the drive wheel 100 slipping.

[0080] In other embodiments, the anti-slip texture may also be formed by forming multiple raised strips on the inner surface of the annular receiving groove 110, with each raised strip evenly spaced around the elastic tire body 130.

[0081] In some embodiments, the drive unit 200 may be configured as an external rotor motor.

[0082] It should be noted that, during implementation, a braking device can be installed on the inspection robot to brake the drive component 200. The braking device can be an existing product, and its structure is not limited. This allows the braking device to achieve braking by abutting against the outer contour of the outer rotor motor, thereby improving the braking effect on the drive wheel 100.

[0083] In summary, the power structure provided in this application embodiment allows each drive wheel 100 to sequentially and at intervals abut against the power line along its length. Then, each drive component 200 drives the drive wheels 100 to roll relative to the power line, enabling the inspection robot to move along the power line. This improves the overall driving force of the power mechanism, providing more sufficient power in scenarios such as when the inspection robot passes through curved sections or steep slopes of the power line. This ensures the robot maintains optimal walking performance and is less prone to slippage, solving the problem in related technologies where the power mechanism of the inspection robot often fails to provide sufficient driving force in certain scenarios, thus reducing its walking performance on power lines.

[0084] like Figure 4 As shown in the figure, an inspection robot provided in this application includes: a main body 10 and a power mechanism as described in any of the above embodiments disposed on the main body 10.

[0085] The power mechanism has been described in detail in the above embodiments and will not be repeated here.

[0086] It should be noted that the drive component 200 in the power mechanism can be fixed to the main body 10 by screwing, welding, snapping, or other means, and the drive wheel 100 in the power mechanism is connected to the drive component 200 through the reducer 300. Each drive component 200 and each drive wheel 100 are distributed at intervals along the length of the power transmission line.

[0087] In use, each drive component 200 drives the drive wheel 100 to roll relative to the power transmission line, enabling the inspection robot to move along the power transmission line. This improves the overall driving force of the power mechanism, providing more power so that in some scenarios, such as when the inspection robot passes through curved sections of the power transmission line or when the power transmission line has a large slope, the power mechanism can provide sufficient driving force to ensure that the inspection robot can maintain a better walking effect and is less prone to slippage.

[0088] During implementation, additional detection instruments, such as temperature detectors, humidity detectors, and vision cameras, can be added to the main body 10 to enrich the detection functions of the inspection robot.

[0089] In some embodiments, the inspection robot may also include a clamping mechanism, which is disposed on the main body 10. The clamping mechanism and the drive wheels 100 in the power mechanism are distributed on both sides of the carrying cable and together clamp the carrying cable.

[0090] In this embodiment, taking the application of an inspection robot on a power transmission line as an example, the power transmission line used to mount the inspection robot is the supporting cable. Of course, when the inspection robot is applied to cables in other fields, the corresponding cable that carries the inspection robot is the supporting cable.

[0091] The clamping mechanism can be a clamping arm, clamping wheel, or clamping block, etc., that is slidably or rotatably connected to the main body 10. The clamping component can be controlled to move by a spring or by a motor. This allows the clamping component to abut against the side of the power line away from the drive wheel 100 after the drive wheel 100 contacts the power line. This allows the clamping component and the drive wheel 100 to clamp the power line from opposite sides, further optimizing the stability of the drive wheel 100 on the power line and improving the stability of the inspection robot as it moves along the power line.

[0092] When implementing, such as Figure 4 As shown, the main body 10 can also be configured as a shell structure, so that the interior of the main body 10 has a mounting cavity 11, the drive component 200 in the power mechanism is located inside the mounting cavity 11, and the drive wheel 100 is located outside the main body 10.

[0093] Therefore, the main body 10 can protect the drive component 200, so that the main body 10 can provide electromagnetic compatibility and environmental compatibility protection for the drive component 200, improve system reliability, and be more suitable for outdoor or high-voltage scenarios.

[0094] Finally, it should be noted that other embodiments of this utility model will readily occur to those skilled in the art upon consideration of the specification and practice of the utility model disclosed herein. This utility model is intended to cover any variations, uses, or adaptations of this utility model that follow the general principles of this utility model and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this utility model is limited only by the appended claims.

Claims

1. A power mechanism, characterized in that, include: At least two drive wheels (100) are provided for abutting against a carrying cable, and each drive wheel (100) is configured to be spaced apart along the length direction of the carrying cable. At least two drive members (200), each of the drive members (200) having an output shaft (210), the output shaft (210) being correspondingly connected to a drive wheel (100) to drive the drive wheel (100) to rotate.

2. The power mechanism according to claim 1, characterized in that, The drive wheel (100) and the output shaft (210) are connected by a reducer (300).

3. The power mechanism according to claim 2, characterized in that, The reducer (300) has an input end and an output end that are connected to each other. The input end is connected to the output shaft (210). The drive wheel (100) is provided with at least one fastener (400) that detachably connects the drive wheel (100) to the output end.

4. The power mechanism according to claim 3, characterized in that, The output end is provided with at least one threaded hole, and the fastener (400) is a screw. The screw passes through the drive wheel (100) and is threaded into the threaded hole to detachably connect the drive wheel (100) to the output end.

5. The power mechanism according to claim 2, characterized in that, The speed reducer (300) is a hub planetary speed reducer.

6. The power mechanism according to claim 5, characterized in that, The output shaft (210) has a drive gear (211) coaxial with itself. The hub planetary reducer includes an outer gear ring (310) and a planetary gear (320) located inside the outer gear ring (310). The drive gear (211) is coaxially located inside the outer gear ring (310), and the drive gear (211), the planetary gear (320) and the outer gear ring (310) mesh in sequence. The drive wheel (100) is coaxially connected to the outer gear ring (310).

7. The power mechanism according to claim 1, characterized in that, The outer peripheral wall of the drive wheel (100) is provided with an annular receiving groove (110) coaxial with itself, and the annular receiving groove (110) is used to receive the carrying cable.

8. The power mechanism according to claim 7, characterized in that, The drive wheel (100) includes a hub (120) and an elastic tire body (130). The output shaft (210) is correspondingly connected to the hub (120). The elastic tire body (130) is coaxially sleeved on the hub (120). The annular receiving groove (110) is coaxially formed on the outer peripheral wall of the elastic tire body (130).

9. The power mechanism according to claim 8, characterized in that, The inner surface of the annular receiving groove (110) is provided with anti-slip texture, which is used to contact the carrying cable.

10. The power mechanism according to any one of claims 1-9, characterized in that, The drive unit (200) is an external rotor motor.

11. An inspection robot, characterized in that, It includes a main body (10) and a power mechanism as described in any one of claims 1-10 disposed on the main body (10).

12. The inspection robot according to claim 11, characterized in that, It also includes a clamping mechanism, which is disposed on the main body (10). The clamping mechanism and the drive wheel (100) in the power mechanism are distributed on both sides of the carrying cable and together clamp the carrying cable.

13. The inspection robot according to claim 11 or 12, characterized in that, The main body (10) has an internal mounting cavity (11), and the drive component (200) in the power mechanism is located inside the mounting cavity (11).

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