A multifunctional robot for monitoring dam cracks

Abstract

This invention provides a multifunctional robot for monitoring dam cracks, relating to the field of robotics. It includes a transport trolley, a monitoring robotic arm, a pre-cleaning mechanism, and a drive mechanism. Multiple guide wheels are welded to the bottom of the transport trolley, and monitoring rails are laid on the bottom of the guide wheels. A top plate is screwed to the top of the transport trolley, and a first and second translation channel are formed on the surface of the top plate. A column is welded to the top of the monitoring robotic arm. This invention enables mobile measurement, requiring only a single monitoring device to complete the detection. It avoids obstruction by dust or debris accumulated on the dam surface, ensuring reliability and sensitivity during monitoring. Furthermore, it can selectively clean only the points about to be monitored, thus extending the manual cleaning cycle of the robot's surface dust collection box. The monitoring robotic arm at the bottom also avoids sliding friction, extending the service life of the ultrasonic probe.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a multifunctional robot for monitoring dam cracks. Background Art

[0002] Monitoring whether cracks have occurred in the dam is directly related to the stability and safety of its structure. The purpose of crack monitoring is to promptly detect the generation and expansion trend of cracks so as to take timely remedial measures to prevent further development of cracks and ensure the structural safety of the dam. Crack monitoring can provide early warning and prevent potential safety hazards through real-time and accurate monitoring and analysis. It can also extend the service life of the dam. If cracks are not handled in time, they may cause damage to the dam structure and even cause serious safety accidents.

[0003] In the prior art, multiple ultrasonic detection devices are installed at fixed points to monitor cracks in dams to detect whether cracks occur inside or on the surface of the dam. However, this solution requires a large number of ultrasonic detection devices to be installed for large dams, which is costly, and the detection accuracy in the middle area between two detection devices decreases. The use of mobile detection robots can achieve large-scale detection coverage with a single monitoring device, but the robot will press on dust or garbage on the ground during mobile detection, thereby blocking the contact between the probe and the concrete on the dam surface, which will interfere with the detection reliability of the point. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a multifunctional robot for monitoring dam cracks to solve the problems raised in the above-mentioned background technology. The present invention realizes mobile measurement and only requires a single monitoring device to complete the detection. It can also avoid being blocked by dust or garbage accumulated on the surface of the dam, thereby ensuring the reliability and sensitivity during monitoring, and can specifically clean only the points to be monitored, thereby extending the manual cleaning cycle of the dust removal box on the surface of the robot. The monitoring mechanical arm part at the bottom can also avoid sliding friction, thereby extending the service life of the ultrasonic probe.

[0005] In order to achieve the above-mentioned purpose, the present invention is implemented through the following technical scheme: a multifunctional robot for monitoring dam cracks, including a multifunctional robot body, the multifunctional robot body including a transfer trolley, a monitoring mechanical arm, a pre-cleaning mechanism and a driving mechanism, a plurality of guide wheels are welded to the bottom of the side of the transfer trolley, a monitoring guide rail is laid on the bottom of the guide wheel, a top plate is screwed to the top of the transfer trolley, a first translation channel and a second translation channel are opened on the surface of the top plate, a column is welded to the top of the monitoring mechanical arm, the top of the column passes upward from the inside of the first translation channel, a dust removal box is also screwed to the surface of the top plate, a linkage arm is inserted at one end of the monitoring mechanical arm, a pre-cleaning mechanism is sleeved at the end of the linkage arm, the top of the pre-cleaning mechanism passes upward from the inside of the second translation channel, a moving wheel is installed on the inner side of the transfer trolley, the driving mechanism passes through the middle position of the moving wheel, and the driving mechanism rests on the surface of the monitoring mechanical arm after rotation.

[0006] Furthermore, the driving mechanism includes a motor and a driving shaft, a lower hanging plate is welded to the bottom of the driving shaft, a rotating roller is sleeved on the side of the lower hanging plate, and clamping plates are integrally formed at both ends of the rotating roller.

[0007] Furthermore, a fourth spring rod is inserted in the middle of the lower hanging plate, the outer shell of the motor is screwed to the side of the transfer trolley, and the drive shaft is inserted into the output end of the motor.

[0008] Furthermore, the monitoring robot arm includes a movable rod, a first ultrasonic probe and a second ultrasonic probe, a lifting sleeve is welded on the top of both ends of the movable rod, a first spring rod is inserted inside the lifting sleeve, a pressing plate is welded on the bottom of the first spring rod, and an anti-slip pad is mounted on the bottom of the pressing plate.

[0009] Furthermore, the first ultrasonic probe and the second ultrasonic probe are both inserted into the bottom of the movable rod, and the distance between the first ultrasonic probe and the second ultrasonic probe is the same as the edge circumference of the moving wheel, and the column is welded to the surface of the movable rod.

[0010] Furthermore, a third spring rod is inserted in the middle of the column, a limiting clamp is welded on the side of the column, the limiting clamp is clamped on the surface of the top plate, a second spring rod is inserted on both sides of the column, and a telescopic groove is opened on the inner wall of the first translation channel.

[0011] Furthermore, the second spring rod is embedded in the telescopic slot, the number of the columns and the first translation channel are two, the rotating roller is used to press on the surface of the movable rod, and the spacing between the two clamping plates is the same as the width of the movable rod, and the movable rod is located in the middle position of the two moving wheels.

[0012] Furthermore, the pre-cleaning mechanism includes an enclosure bin and a limiting pipe, an air inlet hole is opened on the bottom side of the enclosure bin, a partition net is laid inside the enclosure bin, a cover plate is bonded to the top of the enclosure bin, and the cover plate is welded to the bottom of the limiting pipe.

[0013] Furthermore, a docking plate is integrally formed on the bottom side of the limiting pipe, a docking hole is opened on the side of the docking plate, a linkage arm is inserted inside the docking hole, and the other end of the linkage arm is welded to the end of the movable rod.

[0014] Furthermore, a fan is placed on the side of the dust removal box, and an exhaust pipe is inserted at one end of the fan. The top of the limiting pipe passes through the inside of the second translation channel, and the end of the exhaust pipe is embedded in the top position of the limiting pipe. The distance between the center point of the enclosure bin and the center point of the second ultrasonic probe is the same as the circumference of the moving wheel.

[0015] Beneficial effects of the present invention:

[0016] 1. The multifunctional robot for monitoring dam cracks can realize mobile measurement through the transfer trolley, driving mechanism and monitoring guide rail. Only a single monitoring device is needed to complete the detection. The monitoring mechanical arm at the bottom cooperates with its own multiple sets of elastic structures and anti-slip structures, and can break away from the synchronous movement state with the transfer trolley during the period when the ultrasonic probe is in contact with the ground. Therefore, it can avoid sliding friction and extend the service life of the ultrasonic probe.

[0017] 2. The multifunctional robot for monitoring cracks in dams is used in conjunction with the pre-cleaning mechanism at the rear end through the monitoring mechanical arm. Therefore, it can clean the dust and garbage on the ground before monitoring the surface of the dam, thus avoiding obstruction by dust or garbage accumulated on the surface of the dam and ensuring the reliability and sensitivity of monitoring.

[0018] 3. Since the pre-cleaning mechanism of the multifunctional robot for monitoring dam cracks can move synchronously with the monitoring robot arm, it can only clean the points that are about to be pressed and monitored. The other positions that will not be directly pressed and contacted by the ultrasonic probe do not need to be cleaned, thereby reducing the dust suction speed and extending the manual cleaning cycle of the dust removal box on the surface of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic structural diagram of the appearance of a multifunctional robot for monitoring dam cracks according to the present invention;

[0020] Figure 2 A side view of a multifunctional robot for monitoring dam cracks according to the present invention;

[0021] Figure 3 It is a schematic diagram of the structure of the monitoring mechanical arm part of the present invention;

[0022] Figure 4 for Figure 2 A magnified image of area A;

[0023] Figure 5 It is a structural schematic diagram of the driving mechanism part of the present invention;

[0024] Figure 6 It is a structural schematic diagram of the top plate surface of the present invention;

[0025] Figure 7 This is a disassembled view of the bottom of the pre-cleaning mechanism of the present invention;

[0026] In the figure: 1. transfer trolley; 2. top plate; 3. guide wheel; 4. monitoring guide rail; 5. driving mechanism; 6. monitoring robot arm; 7. pre-cleaning mechanism; 8. moving wheel; 9. movable rod; 10. first ultrasonic probe; 11. second ultrasonic probe; 12. lifting sleeve; 13. first spring rod; 14. pressing plate; 15. anti-slip pad; 16. column; 17. limit clamp; 18. second spring rod; 19. third spring rod ; 20. linkage arm; 21. telescopic slot; 22. first translation channel; 23. motor; 24. driving shaft; 25. lower hanging plate; 26. fourth spring rod; 27. rotating roller; 28. clamping plate; 29. ​​second translation channel; 30. dust removal box; 31. fan; 32. exhaust duct; 33. limiting duct; 34. docking plate; 35. docking hole; 36. enclosure bin; 37. air inlet; 38. partition net; 39. cover plate. DETAILED DESCRIPTION

[0027] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0028] See also Figures 1 to 7The present invention provides the following technical solutions: a multifunctional robot for monitoring cracks in a dam, comprising a multifunctional robot body, the multifunctional robot body comprising a transfer trolley 1, a monitoring mechanical arm 6, a pre-cleaning mechanism 7 and a driving mechanism 5, a plurality of guide wheels 3 are welded to the bottom of the side of the transfer trolley 1, a monitoring guide rail 4 is laid on the bottom of the guide wheel 3, a top plate 2 is screwed to the top of the transfer trolley 1, a first translation channel 22 and a second translation channel 29 are opened on the surface of the top plate 2, a column is welded to the top of the monitoring mechanical arm 6 16, the top of the column 16 passes upward from the inside of the first translation channel 22, the surface of the top plate 2 is also screwed with a dust removal box 30, one end of the monitoring robot arm 6 is inserted with a linkage arm 20, the end of the linkage arm 20 is sleeved with a pre-cleaning mechanism 7, the top of the pre-cleaning mechanism 7 passes upward from the inside of the second translation channel 29, the inner side of the transfer trolley 1 is equipped with a moving wheel 8, the driving mechanism 5 passes through the middle position of the moving wheel 8, and the driving mechanism 5 is against the surface of the monitoring robot arm 6 after rotation. The multifunctional robot for monitoring dam cracks monitors dam cracks in the moving area through ultrasonic detection technology.

[0029] When the present invention is used, by laying the monitoring rail 4 on the surface of the dam, and then placing the transfer trolley 1 on the surface of the monitoring rail 4, the driving mechanism 5 at the bottom can be started, and the entire transfer trolley 1 is driven by the driving mechanism 5 to move along the laying route of the monitoring rail 4, and the monitoring mechanical arm 6 at the bottom is periodically controlled to perform reciprocating lifting and lowering movements and intermittent translational movements during the movement, so that the ultrasonic probe part at the bottom can be pressed on the concrete on the surface of the dam, and after the first ultrasonic probe 10 and the second ultrasonic probe 11 are pressed on the surface of the dam, the propagation characteristics of ultrasonic waves in the medium are used to detect cracks in the concrete structure. In this process, the ultrasonic tester sends a series of electrical pulses through the transmitting transducer, and these pulses are converted into ultrasonic pulses and pass through the structure to be tested. The receiving transducer receives these ultrasonic waves and converts them into electrical signals, and the digital signal acquisition system converts the acoustic signals into discrete digital signals. Finally, the measurement and analysis software of the computer system is used to judge the parameters such as the acoustic time when the ultrasonic wave passes through the concrete, the amplitude of the first wave received, and the main frequency of the received wave, and the judgment of whether there are cracks is realized by using these parameters. The ultrasonic probe and the matching ultrasonic tester are both existing mature technologies and do not belong to the protection scope of the present invention, so their specific structure and principle will not be described in detail here. During the monitoring process, the present invention also uses the pre-cleaning mechanism 7 on the top to detect cracks in the concrete structure by using the propagation characteristics of ultrasonic waves in the medium that each subsequent ultrasonic probe is about to press. Specifically, the ultrasonic tester emits a series of electrical pulses through the transmitting transducer, and these pulses are converted into ultrasonic pulses and pass through the structure to be tested. The receiving transducer receives these ultrasonic waves and converts them into electrical signals. The digital signal acquisition system converts the acoustic signal into a discrete digital signal. Finally, the measurement and analysis software of the computer system is used to judge the sound time when the ultrasonic wave passes through the concrete, the amplitude of the first wave received, and the main frequency of the received wave, and other parameters of the surface point for targeted cleaning.

[0030] In this embodiment, the driving mechanism 5 includes a motor 23 and a driving shaft 24. A lower hanging plate 25 is welded to the bottom of the driving shaft 24. A rotating roller 27 is sleeved on the side of the lower hanging plate 25. Both ends of the rotating roller 27 are integrally formed with a clamping plate 28. A fourth spring rod 26 is inserted in the middle of the lower hanging plate 25. The outer shell of the motor 23 is screwed to the side of the transfer trolley 1, and the driving shaft 24 is inserted into the output end of the motor 23.

[0031] Specifically, after starting the motor 23, the driving shaft 24 is driven to rotate by the motor 23, and the lower hanging plate 25 on the driving shaft 24 can rotate synchronously until the rotating drum 27 in the middle of the lower hanging plate 25 is pressed against the top of the movable rod 9 on the monitoring robot arm 6, and the monitoring robot arm 6 can be pressed toward the bottom. After the ultrasonic probe on the monitoring robot arm 6 is pressed to the surface of the dam, a large extrusion force will be generated, and the extrusion force can compress the first spring rod 13 on the lower hanging plate 25 to ensure that it will not block the rotating drum 27 and the driving shaft 24 from continuing to rotate.

[0032] In this embodiment, the monitoring mechanical arm 6 includes a movable rod 9, a first ultrasonic probe 10 and a second ultrasonic probe 11. The tops of both ends of the movable rod 9 are welded with lifting sleeves 12. The inside of the lifting sleeve 12 is inserted with a first spring rod 13. The bottom of the first spring rod 13 is welded with a pressing plate 14. The bottom of the pressing plate 14 is attached with an anti-slip pad 15. The first ultrasonic probe 10 and the second ultrasonic probe 11 are both inserted at the bottom of the movable rod 9, and the spacing between the first ultrasonic probe 10 and the second ultrasonic probe 11 is the same as the edge circumference of the moving wheel 8. The column 16 is welded on the surface of the movable rod 9. A third spring rod 19 is inserted in the middle of the column 16. A limiting clamp 17 is welded on the side of the column 16. The limiting clamp 17 is stuck on the surface of the top plate 2. The second spring rod 18 is inserted on both sides of the column 16. The inner wall of the first translation channel 22 is provided with a telescopic groove 21. The second spring rod 18 is embedded in the telescopic slot 21, the number of the column 16 and the first translation channel 22 are both two, the rotating roller 27 is used to press on the surface of the movable rod 9, and the spacing between the two clamping plates 28 is the same as the width of the movable rod 9, and the movable rod 9 is located in the middle of the two moving wheels 8. By combining the transfer trolley 1 with the driving mechanism 5 and the monitoring guide rail 4, mobile measurement can be achieved, and only a single monitoring device is required to complete the detection. The monitoring mechanical arm 6 at the bottom cooperates with its own multiple sets of elastic structures and anti-skid structures, and can be separated from the synchronous moving state between the transfer trolley 1 during the period of time when the ultrasonic probe is in contact with the ground, thereby avoiding the generation of sliding friction and extending the service life of the ultrasonic probe.

[0033] Specifically, in the initial state, there are gaps between the pressing plate 14 at the bottom of the movable rod 9, the first ultrasonic probe 10 and the second ultrasonic probe 11 and the surface of the dam, and the top column 16 is also in the middle position of the first translation channel 22 due to the second spring rods 18 on both sides. After the top driving mechanism 5 is subsequently started, the driving mechanism 5 will be rotated to clamp the card plate 28 on both sides of the movable rod 9, and the rotating roller 27 will be pressed on the top of the movable rod 9 to move the movable rod 9 downward. At this time, the third spring rod 19 is stretched until the pressing plate 14 is pressed on the surface of the dam through the anti-slip pad 15 at the bottom. At this time, affected by the friction resistance of the anti-slip pad 15, the entire monitoring robot arm 6 is subject to resistance to forward movement, which will make it impossible to translate synchronously with the transfer trolley 1, causing the column 16 to partially move backward until the second spring rod 1 8, and in the process, the rotating roller 27 continues to rotate downward, and finally presses the first ultrasonic probe 10 and the second ultrasonic probe 11 of the movable rod 9 onto the dam surface. At this time, the movable rod 9 is blocked by the first ultrasonic probe 10 and the second ultrasonic probe 11 and cannot move further downward. Therefore, the subsequent rotating roller 27 continues to rotate downward, which can cause the fourth spring rod 26 to be compressed, so as to ensure that the rotating sleeve can bypass the center point of the movable rod 9 with the driving shaft 24. During the whole process, after the first ultrasonic probe 10 and the second ultrasonic probe 11 are pressed onto the dam surface, the entire monitoring robot arm 6 is always in a state of relative stillness with the dam, and no longer moves synchronously with the transfer trolley 1, so that the friction phenomenon caused by the relative movement of the first ultrasonic probe 10 and the second ultrasonic probe 11 and the dam surface can be avoided.

[0034] In this embodiment, the pre-cleaning mechanism 7 includes a baffle 36 and a limiting pipe 33. An air inlet 37 is provided at the bottom side of the baffle 36. A partition net 38 is laid inside the baffle 36. A cover plate 39 is bonded to the top of the baffle 36. The cover plate 39 is welded to the bottom of the limiting pipe 33. A docking plate 34 is integrally formed at the bottom side of the limiting pipe 33. A docking hole 35 is provided at the side of the docking plate 34. A linkage arm 20 is inserted inside the docking hole 35. The other end of the linkage arm 20 is welded to the end of the movable rod 9. A fan 31 is placed at the side of the dust removal box 30. An exhaust pipe 32 is inserted at one end of the fan 31. The top of the limiting pipe 33 passes through the inside of the second translation channel 29, and the end of the exhaust pipe 32 is embedded in the top position of the limiting pipe 33. The distance between the center point of the baffle 36 and the center point of the second ultrasonic probe 11 is the same as the circumference of the moving wheel 8. By using the monitoring robot arm 6 in conjunction with the pre-cleaning mechanism 7 at the rear end, the dust and garbage on the ground can be cleaned before monitoring the dam surface, avoiding obstruction by dust or garbage accumulated on the dam surface and ensuring reliability and sensitivity during monitoring.

[0035] Since the pre-cleaning mechanism 7 can move synchronously with the monitoring robot arm 6, it can only clean the points that are about to be pressed and monitored, and the other positions that will not be directly pressed and contacted by the ultrasonic probe do not need to be cleaned, thereby reducing the dust suction speed and extending the manual cleaning cycle of the robot surface dust removal box 30. Specifically, after the first ultrasonic probe 10 and the second ultrasonic probe 11 are pressed on the dam, the enclosure bin 36 is also pressed on the surface of the dam. At this time, the fan 31 is started, and the dust inside the enclosure bin 36 is sucked out with the help of the exhaust pipe 32 and the limit pipe 33, so as to clean the points on the surface of the dam inside the enclosure bin 36. In the subsequent repeated pressing and monitoring process of the first ultrasonic probe 10 and the second ultrasonic probe 11, since the spacing between the first ultrasonic probe 10 and the second ultrasonic probe 11, and between the second ultrasonic probe 11 and the enclosure bin 36 are the same as the circumference of the moving wheel 8, it is possible to ensure that the first ultrasonic probe 10 and the second ultrasonic probe 11 are always pressed in the area cleaned by the pre-cleaning mechanism 7, and the use of the partition net 38 can block large volumes of garbage, and when the pre-cleaning mechanism 7 is lifted and moved again with the monitoring robot 6, the suction of the fan 31 is stopped, so that the garbage can be transported to the pressing point of the non-ultrasonic probe, thereby avoiding the large volume of garbage from being drawn into the dust removal box 30 and avoiding affecting the ultrasonic monitoring process.

[0036] The basic principles and main features of the present invention and the advantages of the present invention are shown and described above. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention.

[0037] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A multifunctional robot for monitoring dam cracks, comprising a multifunctional robot body, characterized in that: The multifunctional robot body comprises a transfer trolley (1), a monitoring mechanical arm (6), a pre-cleaning mechanism (7) and a driving mechanism (5); a plurality of guide wheels (3) are welded to the bottom of the side of the transfer trolley (1); a monitoring guide rail (4) is laid on the bottom of the guide wheel (3); a top plate (2) is screwed to the top of the transfer trolley (1); a first translation channel (22) and a second translation channel (29) are opened on the surface of the top plate (2); a column (16) is welded to the top of the monitoring mechanical arm (6); the top of the column (16) extends upward from the inside of the first translation channel (22); a dust removal box (30) is screwed to the surface of the top plate (2); and a linkage is inserted at one end of the monitoring mechanical arm (6). The linkage arm (20) is provided with a pre-cleaning mechanism (7) at the end thereof, the top of the pre-cleaning mechanism (7) protrudes upward from the inside of the second translation channel (29), a moving wheel (8) is installed on the inner side of the transfer trolley (1), the driving mechanism (5) passes through the middle position of the moving wheel (8), and the driving mechanism (5) abuts against the surface of the monitoring mechanical arm (6) after rotational movement, the driving mechanism (5) comprises a motor (23) and a driving shaft (24), a lower hanging plate (25) is welded to the bottom of the driving shaft (24), a rotating roller (27) is provided on the side of the lower hanging plate (25), and a card plate (28) is integrally formed at both ends of the rotating roller (27), and the monitoring mechanical arm (6) is provided with a pre-cleaning mechanism (7) at the end thereof. The arm (6) comprises a movable rod (9), a first ultrasonic probe (10) and a second ultrasonic probe (11); a lifting sleeve (12) is welded to the top of both ends of the movable rod (9); a first spring rod (13) is inserted into the interior of the lifting sleeve (12); a pressing plate (14) is welded to the bottom of the first spring rod (13); a non-slip pad (15) is attached to the bottom of the pressing plate (14); the first ultrasonic probe (10) and the second ultrasonic probe (11) are both inserted into the bottom of the movable rod (9); and the spacing between the first ultrasonic probe (10) and the second ultrasonic probe (11) is the same as the edge circumference of the moving wheel (8); the column (16) is welded to the surface of the movable rod (9); and the column (16) is welded to the surface of the movable rod (9); and the column (16) is welded to the surface of the movable rod (9). A third spring rod (19) is inserted in the middle of the column (16), a limiting clamp (17) is welded on the side of the column (16), and the limiting clamp (17) is clamped on the surface of the top plate (2). Second spring rods (18) are inserted on both sides of the column (16), and a telescopic groove (21) is opened on the inner wall of the first translation channel (22), and the second spring rod (18) is embedded in the inside of the telescopic groove (21). The number of the column (16) and the first translation channel (22) is two, and the rotating roller (27) is used to press on the surface of the movable rod (9), and the spacing between the two clamping plates (28) is the same as the width of the movable rod (9), and the movable rod (9) is located in the middle position of the two moving wheels (8).The pre-cleaning mechanism (7) comprises a baffle (36) and a limiting pipe (33), the bottom side of the baffle (36) is provided with an air inlet (37), the interior of the baffle (36) is provided with a partition net (38), the top of the baffle (36) is bonded with a cover plate (39), the cover plate (39) is welded to the bottom of the limiting pipe (33), a fan (31) is placed on the side of the dust removal box (30), an exhaust pipe (32) is inserted at one end of the fan (31), the top of the limiting pipe (33) passes through the interior of the second translation channel (29), and the end of the exhaust pipe (32) is embedded in the top position of the limiting pipe (33), and the distance between the center point of the baffle (36) and the center point of the second ultrasonic probe (11) is the same as the circumference of the moving wheel (8).

2. A multifunctional robot for monitoring dam cracks according to claim 1, characterized in that: A fourth spring rod (26) is inserted in the middle of the lower hanging plate (25), the outer shell of the motor (23) is screwed to the side of the transfer trolley (1), and the drive shaft (24) is inserted into the output end of the motor (23).

3. The multifunctional robot for monitoring dam cracks according to claim 1, characterized in that: A docking plate (34) is integrally formed on the bottom side of the limiting pipe (33), a docking hole (35) is provided on the side of the docking plate (34), a linkage arm (20) is inserted into the docking hole (35), and the other end of the linkage arm (20) is welded to the end of the movable rod (9).

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