robotic saw system

Abstract

The robotic saw device according to the present invention includes: a drive module capable of traveling on the ground via drive tracks; a rotating body rotatably mounted on the drive module and driving the device; a main body rotation module mounted inside the rotating body and rotating the rotating body relative to the drive module; an articulated boom mounted in front of the rotating body and capable of vertical pivoting; a saw module mounted at the end of the articulated boom and rotated by a hydraulic motor; and a pair of outriggers with height-adjustable wheels mounted on supports in front of and behind the vehicle body of the drive module and capable of vertical pivoting. The robotic saw device according to the present invention provides outriggers with height-adjustable wheels to allow the device to be horizontally positioned even on uneven ground. The tracks are precisely driven, thus the robotic saw device can travel at a constant speed while performing cutting operations. The robotic saw device adjusts the left-right tilt angle of the articulated boom, on which the wall saw is mounted, by pivoting the articulated boom itself left and right, and therefore can accurately cut walls or floors horizontally, vertically, and in a straight line, even on uneven terrain.

Description

Technical Field

[0001] This invention relates to a robotic saw system, and more particularly to a robotic saw system capable of cutting walls vertically or horizontally by mounting a multi-joint boom on a body that is capable of being driven and rotated by tracks and whose tilt angle is adjustable left and right, and by mounting a wall saw at the end of the multi-joint boom. Background Technology

[0002] Typically, a wall saw (also known as a wall cutter) is designed to cut walls vertically across a floor using a rotating cutting blade. Traditionally, the cutter moves along a guide rail fixed to the wall to cut it. Because the cutting blade rotates to cut concrete walls, the guide rail must be securely mounted to support it.

[0003] In a conventional wall saw, cutting is performed as the cutter moves along a predetermined path defined by guide rails. Therefore, when a different path needs to be cut, the previously installed guide rails must be removed and reinstalled on the new path for re-secured placement, resulting in a significant decrease in cutting efficiency. For example, even when cutting must be done at different heights on the wall, the guide rails must be reinstalled, increasing workload and taking a considerable amount of time.

[0004] When wheels are installed on the wall saw device to enable it to move, the device can move automatically to the position where the cutting operation is to be performed. However, when the ground at the working position is uneven or not level, the wall saw device must be positioned horizontally on the ground in order to perform the cutting operation accurately.

[0005] However, conventional wall saws have the problem of being unable to position themselves horizontally on uneven ground. Furthermore, when a wall saw must be driven slowly while performing a cutting operation, conventional devices struggle to maintain a constant speed by driving their wheels. Summary of the Invention

[0006] Technical issues

[0007] The purpose of this invention is to provide a robotic saw device (or system) that can be horizontally positioned even on uneven ground, can be driven at a constant speed while performing a cutting operation by precisely driving the track, and can accurately cut walls or floors horizontally, vertically or linearly even on uneven terrain by rotating and adjusting the left and right tilt angle of the multi-joint boom equipped with the wall saw.

[0008] Technical solution

[0009] According to one aspect of the invention, the above and other objectives can be achieved by providing a robotic saw device comprising: a drive module capable of driving along a track on the ground; a rotatable body rotatably mounted on the drive module to drive the device; a body rotation module mounted in the rotatable body to rotate the rotatable body relative to the drive module; a multi-joint boom mounted at the front of the rotatable body to be vertically rotatable; a saw module mounted at the distal (or end) end of the multi-joint boom and rotated by a hydraulic motor; and a pair of legs having height-adjustable wheels mounted on brackets vertically rotatably mounted to the front and rear of the drive module.

[0010] The drive module may include: a chassis that supports the rotation axis of the rotatable body; a pair of tracks mounted on opposite sides of the chassis; a pair of drive wheels configured to rotate the pair of tracks; a pair of drive motors configured to rotate the pair of drive wheels respectively; and a reducer connected between the drive motors and the drive wheels to reduce the rotational speed of the drive motors.

[0011] The main rotating module may include: a rotary motor mounted on the inner bottom of the rotating main body; a reducer configured to reduce the rotational speed of the rotary motor and rotate a vertically arranged drive shaft; a drive gear connected to the lower part of the drive shaft; and a driven gear disposed on the upper side of the drive module and rotated by the drive gear.

[0012] The outrigger may include: a vertically rotating bracket rotatably mounted on the front and rear of the drive module; a hydraulic cylinder connected between the chassis and the vertically rotating bracket and configured to rotate the vertically rotating bracket vertically; a pair of height-adjusting bolts vertically fastened to opposite sides of the vertically rotating bracket; and a wheel rotatably connected to the lower end of each of the pair of height-adjusting bolts.

[0013] The saw module may further include: a hydraulic motor mounted to a connecting bracket; a saw mounting portion connected to the rotating shaft of the hydraulic motor; a wall saw connected to the saw mounting portion; and a saw cover arranged to cover one side of the wall saw.

[0014] The robotic saw device may also include a boom tilt angle adjustment module, which is connected between the front of the rotatable body and the multi-joint boom, and configured to allow the multi-joint boom to rotate left and right about a horizontally oriented rotation axis arranged in the front-rear direction.

[0015] The boom tilt angle adjustment module may include: a connecting plate rotatably connected to the front frame of the rotatable body via a rotating shaft; a plurality of arc-shaped slots formed through the connecting plate; guide bolts passing through the plurality of arc-shaped slots and fastened to the front frame of the rotatable body; and a hydraulic cylinder connected between one side of the connecting plate and the rotatable body and configured to rotate the connecting plate.

[0016] Beneficial effects

[0017] According to an exemplary embodiment of the present invention, the robotic saw device can be horizontally positioned even on uneven ground by using outriggers equipped with height-adjustable wheels.

[0018] Furthermore, by precisely driving the tracks, the device can travel at a constant speed while performing a cutting operation.

[0019] Furthermore, by rotating and adjusting the left and right tilt angles of the multi-joint boom equipped with the wall saw, the device can accurately cut walls or floors horizontally, vertically, or linearly, even on uneven terrain. Attached Figure Description

[0020] Figure 1 This is a perspective view illustrating a robotic saw device according to one embodiment of the present invention.

[0021] Figure 2 This shows the removal of the multi-joint boom and saw module. Figure 1 A perspective view of the robotic saw device.

[0022] Figure 3 This is a perspective view showing the front and rear outriggers of the chassis, which are vertically and rotatably mounted to the drive module.

[0023] Figure 4 This is a partial perspective view showing the internal drive module of the rotatable body and the lower drive module of the robotic saw.

[0024] Figure 5 This is a partial perspective view showing the driven gear of the main body rotation module used to rotate the rotatable main body.

[0025] Figure 6 This is an exploded perspective view showing the drive components of the main rotating module.

[0026] Figure 7 This is a perspective view showing a wall saw being removed from a robotic saw assembly.

[0027] Figure 8 This is a partial perspective view showing the saw module with the wall saw removed.

[0028] Figure 9 This is a structural diagram showing the connection structure of the boom tilt angle adjustment module.

[0029] Figure 10 It is a perspective view showing the posture of a robotic saw device horizontally cutting a wall.

[0030] Figure 11 It is a perspective view showing the robotic saw device vertically cutting a wall. Detailed Implementation

[0031] This invention can have multiple modifications and implementations. Therefore, specific implementations have been illustrated and described in detail in the specific embodiments. However, this is not intended to limit the invention to the specific embodiments, but rather to cover all modifications, equivalents, and alternatives that fall within the spirit and technical scope of this invention.

[0032] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this invention, terms such as “comprising” or “having” indicate the presence of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but should be understood to not exclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0033] Preferred embodiments of the invention will be described in detail below with reference to the accompanying drawings. Note that, where possible, the same components are indicated by the same reference numerals throughout the drawings. Furthermore, detailed descriptions of known functions and configurations that may obscure the spirit of the invention will be omitted. For the same reason, some components in the drawings are exaggerated, omitted, or depicted schematically.

[0034] Figure 1 This is a perspective view illustrating a robotic saw device according to one embodiment of the present invention. Figure 2 This shows the removal of the multi-joint boom and saw module. Figure 1 A perspective view of the robotic saw device. Figure 3 It is a perspective view showing the front and rear (partial) outriggers of the chassis that are vertically and rotatably mounted to the drive module.

[0035] The robotic saw device 100 according to one embodiment of the present invention may also be referred to as a robotic saw system. The robotic saw device 100 includes: a drive (or travel) module 120 configured to be driven (or travel) on the ground by drive tracks 122; a rotatable body 110 rotatably mounted on the drive module to drive the device; a body rotation module 130 mounted inside the rotatable body 110 and configured to rotate the rotatable body relative to the drive module 120; a multi-joint boom 140 rotatably mounted vertically (or vertically) to the front (part) of the rotatable body 110; a saw module 150 mounted at the distal end of the multi-joint boom 140 and rotated by a hydraulic motor 153; and a pair of outriggers 160 mounted to the front and rear (parts) of the chassis of the drive module and having height-adjustable wheels 164 mounted to vertically (or vertically) rotatable supports.

[0036] The drive module 120 can change direction and move forward or backward on the ground by driving a pair of tracks 122.

[0037] The drive module 120 may include: a chassis 121 that supports the rotation axis of the rotatable body 110; a pair of tracks 122 mounted on opposite sides of the chassis; a pair of drive wheels 123 configured to drive the tracks; a pair of drive motors 125 that respectively rotate the drive wheels 123; and a reducer 126 connected between each drive motor 125 and its corresponding drive wheel 123 to reduce the rotational speed of the drive motor.

[0038] The chassis 121 may have a rotatable body 110 rotatably mounted on its upper surface, and a pair of tracks 122 may be rotatably connected to opposite sides of the chassis.

[0039] Each pair of drive wheels 123 is independently rotated by its own drive motor 125, allowing the track 122 to be driven independently. Therefore, when the pair of drive wheels 123 rotate simultaneously, the chassis 121 can move forward or backward, and when the pair of drive wheels 123 are driven differently, the chassis 121 can be turned and its direction changed.

[0040] If the drive motor 125 directly drives the drive wheel 123, precise control of the drive wheel's movement becomes difficult. Therefore, a reducer 126 can be connected between each drive motor 125 and its corresponding drive wheel 123. The reducer 126 reduces the rotational speed of the drive motor 125 mounted in the forward / backward (or oriented) direction and transmits the reduced rotational force to the rotational axis of the drive wheel 123 mounted in the left / right direction. That is, the reducer 126 may include, for example, a bevel gear, thereby not only reducing the rotational speed of the drive motor 125 but also changing its rotational direction and transmitting power accordingly.

[0041] The rotatable body 110 can be rotatably mounted to a rotating shaft on the upper surface of the chassis 121 fixed to the drive module 120. Various control devices for driving hydraulic motors and electric motors can be installed inside the rotatable body 110. The rotatable body 110 can have a right-angled parallelepiped external shape. The rotatable body 110 can be formed from a metal plate attached to the outer surface of a metal frame. The side plates of the rotatable body 110 can be provided with rotatable doors.

[0042] The main body rotation module 130 can be installed on the inner base plate of the rotatable main body 110, and can make the rotatable main body 110 rotate relative to the drive module 120.

[0043] Figure 4 This is a partial perspective view showing the internal drive module of the rotatable body and the lower drive module of the robotic saw. Figure 5 This is a partial perspective view showing the driven gear of the main rotating module that rotates the rotatable main body. Figure 6 This is an exploded perspective view showing the drive components of the main rotating module.

[0044] The main rotating module 130 may include: a rotary motor 131 mounted on the inner bottom surface of the rotatable main body 110; a reducer 132 configured to reduce the rotational speed of the rotary motor 131 and rotate a vertically (or vertically) arranged drive shaft 133; a drive gear 134 connected to the lower part of the drive shaft 133; and a driven gear 135 arranged above the drive module 120 and rotated by the drive gear 134.

[0045] like Figure 1 As shown, the rotary motor 131 can be mounted on the internal base plate of the rotatable body 110. The rotary motor 131 can have its rotation axis arranged in the front-back direction (or orientation). The rotary motor 131 can be configured as a motor, and in particular, can be implemented as a servo motor.

[0046] The reducer 132 can be mounted on the inner base plate of the rotatable body 110 and can reduce the rotational force of the rotary motor 131 and transmit it to the drive shaft 133, which can be mounted vertically through the reducer 132.

[0047] like Figure 6 As shown, the lower end of the drive shaft 133 can extend downward beyond the lower surface of the reducer 132 and can be mounted through the base plate of the rotatable body 110. The drive gear 134 can be coupled to the lower end of the drive shaft 133 and rotate with it. The drive gear 134 can be protected by a bracket coupled to the lower surface of the reducer 132.

[0048] like Figure 5As shown, the driven gear 135 can be fixed by connecting to the upper end of a cylindrical bearing fixed to the upper surface of the chassis 121. Both the driving gear 134 and the driven gear 135 can be spur gears, and the diameter of the driven gear 135 can be significantly larger than the diameter of the driving gear 134.

[0049] When the rotary motor 131 operates, the rotational force is reduced by the reducer 132, thereby causing the driven gear 135 to rotate. Since the driving gear 134 is mounted to the reducer 132 connected to the base plate of the rotatable body 110, and the driven gear 135 is fixed above the chassis 121 of the drive module 120, the rotation of the driving gear 134 causes the driving gear 134 to revolve around the fixed driven gear 135, thereby causing the rotatable body 110 to rotate.

[0050] The multi-joint boom 140 can be mounted to the front (partial) of the rotatable body 110 and can rotate vertically. Similar to an excavator, the multi-joint boom 140 may include three or more articulated links that are pivotally connected to each other, and each articulated link can be rotated relative to the adjacent articulated link by a hydraulic cylinder.

[0051] The saw module 150, including the wall saw 155, can be detachably mounted to the distal end of the articulated boom 140.

[0052] Figure 7 This is a perspective view showing a wall saw being removed from a robotic saw assembly, and Figure 8 This is a partial perspective view showing the saw module with the wall saw removed.

[0053] like Figure 1 , Figure 7 and Figure 8 As shown, the saw module 150 may include: a mounting bracket 151 connected to the distal end of the multi-joint boom 140; a connecting bracket 152 fastened to the mounting bracket 151 by a plurality of bolts, such that its connecting angle can be changed; a hydraulic motor 153 mounted to the connecting bracket 152; a saw mounting part 154 connected to the rotating shaft of the hydraulic motor 153; a wall saw 155 connected to the saw mounting part 154; and a saw cover 156 arranged to cover one side of the wall saw 155.

[0054] Mounting bracket 151 can be connected to the end bracket of the multi-joint boom 140 by multiple bolts. Mounting bracket 151 can rotate vertically about the horizontal axis together with the end bracket of the multi-joint boom 140.

[0055] The connecting bracket 152 can be fastened to the mounting bracket 151 by four or more bolts and nuts. The connecting flanges of the connecting bracket 152 and the mounting bracket 151 can be formed as square plates, thereby allowing the connecting bracket 152 to rotate 90 degrees relative to the mounting bracket 151 and be fastened. Therefore, the axis of rotation of the wall saw 155 can be changed to be oriented vertically or horizontally relative to the ground.

[0056] The hydraulic motor 153 can be mounted on one side of the connecting bracket 152, and the saw mounting part 154 can be mounted on the opposite side of the connecting bracket 152. The rotating shaft of the hydraulic motor 153 is mounted to pass through the connecting bracket 152, and the saw mounting part 154, which is configured as a plurality of discs, can be connected to the distal end of the rotating shaft.

[0057] The wall saw 155 can be mounted between multiple discs of the saw mounting section 154 so as to be rotated by the rotating shaft of the hydraulic motor 153. The wall saw 155 may have multiple teeth formed on the outer circumferential surface of the discs, and the teeth may be made of diamond or may be coated with diamond.

[0058] The saw cover 156 can be attached to one side of the connecting bracket 152 and can cover a portion of the wall saw 155. Since debris may fly when the wall saw 155 rotates to cut the wall, the saw cover 156 can reduce debris flying by covering the area near the wall saw 155.

[0059] like Figures 1 to 3 As shown, a pair of outriggers 160 can be vertically (or vertically) rotatably mounted to the front and rear of the chassis 121 of the drive module 120. Two height-adjustable wheels 164 can be connected to opposite sides of the bracket 161 of each outrigger 160.

[0060] More specifically, each outrigger 160 may include: a vertically rotating bracket 161, which is vertically rotatably mounted to the front and rear of the chassis 121 of the drive module 120; a hydraulic cylinder 162, which is connected between the chassis 121 and the vertically rotating bracket 161 and configured to cause the vertically rotating bracket 161 to rotate vertically; a pair of height adjusting bolts 163, which are vertically fastened to opposite sides of the vertically rotating bracket 161; and a wheel 164, which is rotatably connected to the lower end of the pair of height adjusting bolts 163.

[0061] The vertical rotating bracket 161 can be vertically and rotatably mounted to the front and rear of the chassis 121 of the travel module 120 about a horizontal axis. The rear vertical rotating bracket 161 can be configured in a T-shape, and the front vertical rotating bracket 161 can be configured in which two vertical rods are integrally connected to a single horizontal rod. Since a pair of drive motors 125 are arranged at the rear of the chassis 121, the rear vertical rotating bracket 161 can be configured in a T-shape to avoid interfering with the pair of drive motors 125.

[0062] Hydraulic cylinder 162 can be connected between chassis 121 and vertical rotating support 161, and the axis of rotation of hydraulic cylinder 162 on chassis 121 can be positioned slightly higher than the axis of rotation of vertical rotating support 161. Therefore, when hydraulic cylinder 162 extends, vertical rotating support 161 can pivot downward, and when hydraulic cylinder 162 retracts, vertical rotating support 161 can pivot upward.

[0063] A pair of height adjusting bolts 163 can pass through a pair of fastening holes formed at opposite ends of the horizontal bar of the vertical rotating bracket 161. Each height adjusting bolt 163 may include a body with threads formed on its outer surface and a polygonal head integrally formed on the upper part of the body. When the head of the height adjusting bolt 163 is rotated with a wrench, the relative vertical position of the height adjusting bolt 163 with respect to the horizontal bar of the vertical rotating bracket 161 can be adjusted.

[0064] The wheel 164 can be rotatably mounted on a bracket that is rotatably connected to the lower end of the height adjusting bolt 163.

[0065] After the robotic saw 100 moves to the desired position on the ground via a pair of tracks 122, the front and rear vertical rotating supports 161 can pivot downwards, causing the four wheels 164 to contact the ground. Then, when the ground is uneven, the height of the four height adjusting bolts 163 can be adjusted so that the pair of outriggers 160 can support the robotic saw 100 in a leveling state.

[0066] Figure 9 This is a structural diagram showing the connection structure of the boom tilt angle adjustment module.

[0067] The robotic saw device 100 of the present invention may further include a boom tilt angle adjustment module 170, which is connected between the front (part) of the rotatable body 110 and the multi-joint boom 140, and is configured to allow the multi-joint boom 140 to rotate left and right.

[0068] The boom tilt angle adjustment module 170 may include: a connecting plate 171 rotatably connected to the front frame of the rotatable body 110 via a rotating shaft; a plurality of arc-shaped slots 173 extending through the connecting plate 171; guide bolts 174 passing through the plurality of arc-shaped slots 173 and fastened to the front frame of the rotatable body; and a hydraulic cylinder 175 connected between one side of the connecting plate 171 and the rotatable body 110 and configured to rotate the connecting plate 171.

[0069] The front frame of the rotatable body 110 can be formed such that its front end is a square plate, and a connecting plate 171, also formed as a square plate, can be connected to this front end by a plurality of bolts. A rotating shaft 172 can be installed between the center of the front end of the front frame and the center of the connecting plate 171. The rotating shaft 172 can be fixed to the front end of the front frame, and the connecting plate 171 can be rotatably mounted to the rotating shaft 172.

[0070] Four arc-shaped slots 173 can extend through the interior regions formed at the four corners of the connecting plate 171. Each arc-shaped slot 173 can be formed at an angle of approximately 20 degrees relative to the center of the rotation axis 172.

[0071] Guide bolts 174 can pass through each arcuate slot 173 and be fastened to the front frame of the rotatable body. Guide bolts 174 can be ordinary bolts including a head that supports the front surface of the connecting plate 171. Alternatively, guide bolts 174 can be implemented as a rotating shaft coupled to the front end of the front frame, and nuts can be fastened to the distal end of the rotating shaft protruding through each arcuate slot 173, thereby supporting the front surface of the connecting plate 171.

[0072] Hydraulic cylinder 175 may have opposite ends rotatably connected between a bracket extending upward from connecting plate 171 and a side frame of rotatable body 110. As hydraulic cylinder 175 extends and retracts, connecting plate 171 can rotate left and right about its center. Therefore, multi-joint boom 140 mounted on the front side of connecting plate 171 can also rotate left and right, thereby enabling adjustment of the left and right tilt angle of multi-joint boom 140 relative to rotatable body 110.

[0073] When the ground is uneven, the height of the height adjustment bolt 163 of the outrigger 160 can be adjusted so that the robotic saw 100 can be placed and supported at a specific position on the ground in a horizontally leveled state. However, when it is necessary to cut a wall horizontally, the robotic saw 100 must cut while moving, even on uneven ground. In this case, the wall saw 155 can be kept horizontal by operating the boom tilt angle adjustment module 170 to tilt the multi-joint boom 140 left and right relative to the rotatable body 110. Similarly, when performing vertical cuts on uneven ground, the outrigger 160 and the boom tilt angle adjustment module 170 can be used to keep the wall saw 155 in a precise vertical state on the inclined surface while performing the cutting operation.

[0074] The robotic saw device according to the present invention can be horizontally positioned even on uneven ground by using outriggers equipped with height-adjustable wheels. It can move at a constant speed while performing cutting operations by precisely driving the tracks. Furthermore, by rotating and adjusting the left and right tilt angles of the multi-joint boom equipped with the wall saw, it can accurately cut walls or floors horizontally, vertically, or linearly even on uneven terrain.

[0075] Although one embodiment of the invention has been described above, those skilled in the art will understand that various modifications, additions, deletions or substitutions may be made to the invention without departing from the spirit and scope of the invention as defined by the appended claims, and such variations are also intended to fall within the scope of the invention.

[0076] [List of reference numerals]

[0077] 100: Robotic saw device

[0078] 110: Rotatable main body

[0079] 120: Drive module; 121: Chassis

[0080] 122: Tracks 123: Drive wheels

[0081] 125: Drive motor; 126: Reducer

[0082] 130: Main rotating module; 131: Rotating motor

[0083] 132: Reducer; 133: Drive shaft

[0084] 134: Driving gear; 135: Driven gear

[0085] 140: Multi-joint boom

[0086] 150: Saw module; 151: Mounting bracket

[0087] 152: Connecting bracket; 153: Hydraulic motor

[0088] 154: Saw installation section 155: Wall saw

[0089] 156: Saw cover

[0090] 160: Support leg; 161: Vertical rotating support.

[0091] 162: Hydraulic cylinder; 163: Height adjusting bolt

[0092] 164: Wheel

[0093] 170: Boom tilt angle adjustment module; 171: Connecting plate

[0094] 172: Rotating shaft; 173: Arc-shaped long groove

[0095] 174: Guide bolt; 175: Hydraulic cylinder

[0096] Industrial applicability

[0097] The robotic saw system according to the present invention can be used on construction sites, etc., and therefore has industrial applicability.

Claims

1. A robotic saw device, comprising: A drive module that can drive along the tracks on the ground; A drive module that is capable of driving along the tracks on the ground; A rotatable body, which is rotatably mounted on the drive module to drive the device; A main body rotation module is installed in the rotatable main body to allow the rotatable main body to rotate relative to the drive module; A multi-joint boom is mounted at the front of the rotatable body to enable vertical rotation; A saw module, which is mounted to the distal end of the multi-joint boom and rotated by a hydraulic motor; as well as A pair of outriggers, each having height-adjustable wheels, are mounted on brackets vertically and rotatably attached to the front and rear of the drive module. The saw module includes a mounting bracket connected to the distal end of the multi-joint boom and a connecting bracket fastened to the mounting bracket by multiple bolts for connection at different connection angles.

2. The robotic saw device according to claim 1, wherein, The driving module includes: The chassis supports the axis of rotation of the rotatable body; A pair of tracks, mounted on opposite sides of the chassis; A pair of drive wheels configured to rotate the pair of tracks; A pair of drive motors configured to rotate the pair of drive wheels respectively; and A speed reducer is connected between the drive motor and the drive wheel to reduce the rotational speed of the drive motor.

3. The robotic saw device according to claim 1, wherein, The main rotating module includes: A rotary motor is mounted on the inner bottom of the rotating body; A speed reducer configured to reduce the rotational speed of the rotary motor and rotate a vertically arranged drive shaft; A drive gear, which is connected to the lower part of the drive shaft; and The driven gear is located on the upper side of the drive module and is rotated by the driving gear.

4. The robotic saw device according to claim 1, wherein, The outrigger includes: A vertically rotating bracket, which is vertically rotatably mounted on the front and rear of the drive module; and A hydraulic cylinder is connected between the chassis and the vertical rotating support and configured to rotate the vertical rotating support vertically.

5. The robotic saw device according to claim 4, wherein, The support leg also includes: A pair of height-adjusting bolts, vertically fastened to opposite sides of the vertical rotating bracket; and A wheel, which is rotatably connected to the lower end of each of the pair of height-adjusting bolts.

6. The robotic saw device according to claim 1, wherein, The saw module also includes: A hydraulic motor, which is mounted to the connecting bracket; The saw mounting part is connected to the rotating shaft of the hydraulic motor; A wall saw, which is connected to the saw mounting portion; and A saw cover, which is arranged to cover one side of the wall saw.

7. The robotic saw device according to claim 1, further comprising: A boom tilt angle adjustment module is connected between the front of the rotatable body and the multi-joint boom, and is configured to allow the multi-joint boom to rotate left and right about a horizontally oriented rotation axis arranged in the front-rear direction.

8. The robotic saw device according to claim 7, wherein, The boom tilt angle adjustment module includes: A connecting plate, which is rotatably connected to the front frame of the rotatable body via a rotating shaft; Multiple arc-shaped long grooves are formed through the connecting plate; Guide bolts, which pass through the plurality of arc-shaped slots and are fastened to the front frame of the rotatable body; and A hydraulic cylinder is connected between one side of the connecting plate and the rotatable body and is configured to rotate the connecting plate.

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