Robot saw system

Abstract

A robot saw device according to the present invention comprises: a traveling module that can travel on the ground by driving caterpillar tracks; a rotating body that is rotatably mounted on the traveling module and drives the device; a body rotating module that is mounted inside the rotating body and rotates the rotating body relative to the traveling module; an articulated boom arm that is mounted in front of the rotating body and can pivot up and down; a saw module that is mounted on the end of the articulated boom arm and rotated by a hydraulic motor; and a pair of outriggers provided with height-adjustable wheels on brackets that are mounted in front of and behind a vehicle body of the traveling module and can pivot up and down. According to the robot saw device of the present invention, the outriggers having the height-adjustable wheels are provided to allow the device to be positioned horizontally even on uneven ground. The caterpillar tracks are precisely driven, and thus, the robot saw device can travel at a constant speed while performing cutting operations. The robot saw device adjusts the left-right tilt angle of the articulated boom arm, on which a wall saw is mounted, by pivoting the articulated boom arm itself to the left and right, and thus, walls or floors can be accurately cut horizontally, vertically, and straight, even on uneven terrain.

Description

Robotic saw system

[0001] The present invention relates to a robot saw system, and more particularly, to a robot saw system that can cut a wall vertically or horizontally by mounting a multi-joint boom on a main body that can move and rotate using an endless track and can adjust the angle of inclination left and right, and mounting a wall saw on the end of the multi-joint boom.

[0002] Typically, a wall saw, also known as a wall cutter, is designed to cut a wall vertically with a rotating cutting blade. Conventionally, the cutter moves along a guide rail fixed to the wall, cutting the wall. Because the blade rotates to cut the concrete wall, the guide rail must be firmly installed to support it.

[0003] Conventional wall saws, however, perform cuts by moving along a predetermined path along a guide rail. Therefore, if cutting is required while moving along a different path, the previously installed guide rail must be removed and re-installed along a different path. This significantly reduces cutting efficiency. For example, when cutting at a different height on a wall, the guide rail must be reinstalled, increasing the workload and time-consuming process.

[0004] If the wall saw device is equipped with wheels and configured to be mobile, it can autonomously move to the cutting location. However, if the work area is on an uneven or uneven surface, the wall saw device itself must be positioned horizontally to ensure accurate cutting.

[0005] However, conventional wall saws had the problem of being unable to be positioned horizontally on uneven ground. Furthermore, while cutting, the wall saw often had to be driven slowly, making it extremely difficult for conventional wall saws to maintain a constant speed due to their wheel drive.

[0006] The present invention aims to provide a robot saw device (system) that can be horizontally placed even on an uneven ground, can drive an endless track precisely to perform cutting work while driving at a constant speed, and can accurately cut a wall or floor horizontally, vertically, and in a straight line even on an uneven ground by rotating the left and right inclination angle of a multi-joint boom itself on which a wall saw is mounted left and right.

[0007] To achieve the above object, the robot saw device of the present invention comprises: a driving module capable of driving on the ground by driving an endless track; a rotating body rotatably mounted on the driving module and driving the device; a main body rotating module mounted inside the rotating body and rotating the rotating body with respect to the driving module; a multi-joint boom mounted to the front of the rotating body so as to be able to rotate up and down; a saw module mounted to an end of the multi-joint boom and rotated by a hydraulic motor; and a pair of outriggers having height-adjustable wheels mounted on brackets rotatably mounted on the front and rear of the body of the driving module so as to be able to rotate up and down.

[0008] The above driving module may include a body that supports the rotation axis of the rotating body, a pair of crawler tracks mounted on both sides of the body, a pair of driving wheels that rotate the pair of crawler tracks, a pair of driving motors that rotate the pair of driving wheels, and a reducer that is connected between the driving motor and the driving wheels and reduces the rotation speed of the driving motor.

[0009] The above-mentioned main body rotation module may include a rotation motor mounted on the inner bottom of the rotation body, a reducer that reduces the rotation speed of the rotation motor to rotate a drive shaft arranged vertically, a drive gear coupled to the lower portion of the drive shaft, and a driven gear provided on the upper side of the drive module and rotated by the drive gear.

[0010] The above outrigger may include an upper and lower rotation bracket that is rotatably mounted on the front and rear of the body of the driving module, a hydraulic cylinder that is connected between the body and the upper and lower rotation bracket and rotates the upper and lower rotation bracket up and down, a pair of height adjustment bolts that are connected in the upper and lower direction on both sides of the upper and lower rotation bracket, and a wheel that is rotatably connected to the lower end of the pair of height adjustment bolts.

[0011] The above-mentioned saw module may include a mounting bracket coupled to an end of the multi-joint boom, a coupling bracket that is fastened to the mounting bracket by a plurality of bolts so that the coupling angle can be changed, a hydraulic motor mounted on the coupling bracket, a saw mounting portion coupled to a rotational shaft of the hydraulic motor, a wall saw coupled to the saw mounting portion, and a saw cover arranged to cover one side of the wall saw.

[0012] It may further include a boom left-right tilt angle adjustment module that is connected between the front of the above-mentioned rotating body and the above-mentioned multi-joint boom to rotate the multi-joint boom left and right.

[0013] The above boom left-right tilt angle adjustment module may include a connecting plate that is rotatably connected to the front frame of the rotating body by a rotation axis, a plurality of arc-shaped holes formed through the connecting plate, a guide bolt that is fastened to the front frame of the rotating body through the plurality of arc-shaped holes, and a hydraulic cylinder that is connected between one side of the connecting plate and the rotating body and rotates the connecting plate.

[0014] According to the robot saw device of the present invention described above, the device can be placed horizontally even on uneven ground by having an outrigger with height-adjustable wheels.

[0015] Additionally, it can drive at a constant speed while performing cutting work by precisely driving the infinite track.

[0016] In addition, by adjusting the left and right tilt angle of the multi-joint boom itself on which the wall saw is mounted by rotating it left and right, it is possible to accurately cut walls or floors horizontally, vertically, and in a straight line even on uneven terrain.

[0017] FIG. 1 is a perspective view showing a robot saw device according to one embodiment of the present invention.

[0018] Figure 2 is a perspective view showing the robot saw device of Figure 1 excluding the multi-joint boom and saw module.

[0019] Figure 3 is a perspective view showing outriggers mounted on the front and rear of the body of the driving module so as to be rotatable up and down.

[0020] Figure 4 is a partial perspective view showing the internal drive unit and lower driving module of the rotating body of the robot saw device.

[0021] Figure 5 is a partial perspective view showing a driven gear of a main body rotation module that rotates the main body.

[0022] Figure 6 is an exploded perspective view showing the driving parts of the main body rotation module.

[0023] Figure 7 is a perspective view showing the wall saw separated from the robot saw device.

[0024] Figure 8 is a partial perspective view showing the saw module with the wall saw separated.

[0025] Figure 9 is a configuration diagram showing the combined structure of the boom left-right tilt angle adjustment module.

[0026] Figure 10 is a perspective view showing a posture for cutting a wall horizontally using a robot saw device.

[0027] Figure 11 is a perspective view showing a posture for cutting a wall vertically using a robot saw device.

[0028] The present invention is susceptible to various modifications and embodiments. Specific embodiments are illustrated and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention.

[0029] The terminology used herein is merely used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In the present invention, it should be understood that the terms "comprise" or "have" are intended to specify the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0030] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. Please note that, where possible, identical components are represented by identical reference numerals throughout the drawings. Furthermore, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted. For the same reason, some components in the attached drawings are exaggerated, omitted, or schematically depicted.

[0031] FIG. 1 is a perspective view showing a robot saw device according to one embodiment of the present invention, FIG. 2 is a perspective view showing the robot saw device of FIG. 1 excluding the multi-joint boom and the saw module, and FIG. 3 is a perspective view showing an outrigger mounted to the front and rear of the body of the driving module so as to be rotatable up and down.

[0032] A robot saw device (100) according to one embodiment of the present invention may be called by various names such as a robot saw system. The robot saw device (100) includes a driving module (120) that can drive on the ground by driving an endless track (122), a rotating body (110) that is rotatably mounted on the driving module and drives the device, a main body rotating module (130) that is mounted inside the rotating body and rotates the rotating body with respect to the driving module, a multi-joint boom (140) that is rotatably mounted on the front of the rotating body in a vertical direction, a saw module (150) that is mounted on an end of the multi-joint boom and rotated by a hydraulic motor (153), and a pair of outriggers (160) that are provided with height-adjustable wheels (164) on brackets that are rotatably mounted on the front and rear of the body of the driving module in a vertical direction.

[0033] The driving module (120) can change direction and move forward and backward on the ground by driving a pair of infinite tracks (122).

[0034] The driving module (120) may include a body (121) that supports the rotation axis of the rotating body (110), a pair of crawler tracks (122) mounted on both sides of the body, a pair of driving wheels (123) that rotate the pair of crawler tracks, a pair of driving motors (125) that rotate the pair of driving wheels, and a reducer (126) that is connected between the driving motor and the driving wheels and reduces the rotation speed of the driving motor.

[0035] The body (121) has a rotating body (110) rotatably mounted on the upper surface, and a pair of infinite tracks (122) can be rotatably coupled on both sides.

[0036] A pair of driving wheels (123) are each independently rotated by a driving motor (125), so that a pair of crawler tracks (122) can be independently rotated. Accordingly, when a pair of driving wheels (123) rotate simultaneously, the vehicle body (121) can move forward and backward, and when a pair of driving wheels (123) are driven differently, the vehicle body (121) can change direction and move.

[0037] Since precise driving control of the driving wheel (123) is difficult when the driving motor (125) directly drives the driving wheel (123), a reducer (126) may be connected between the driving motor (125) and the driving wheel (123). The reducer (126) can reduce the rotational force of the driving motor (125) installed in the front-back direction and transmit it to the rotational axis of the driving wheel (123) installed in the left-right direction. That is, the reducer (126) may be equipped with, for example, a bevel gear, and not only reduce the rotational speed of the driving motor (125), but also change the direction of the rotational force and transmit it.

[0038] The rotating body (110) can be rotatably mounted on a rotating shaft fixed to the upper surface of the body (121) of the driving module (120). Control devices for driving various motors such as a hydraulic motor and an electric motor can be installed inside the rotating body (110). The rotating body (110) can have a rectangular parallelepiped shape. The rotating body (110) can be formed in a form in which metal plates are combined and surrounded on the outer surface of a metal frame. A door can be rotatably provided on the side plates of the rotating body (110).

[0039] The main body rotation module (130) is mounted on the inner bottom plate of the rotation body (110) and can rotate the rotation body (110) relative to the driving module (120).

[0040] Fig. 4 is a partial perspective view showing the internal drive unit and lower drive module of the rotating body of the robot saw device, Fig. 5 is a partial perspective view showing the driven gear of the main body rotation module that rotates the rotating body, and Fig. 6 is an exploded perspective view showing the drive unit parts of the main body rotation module.

[0041] The main body rotation module (130) may include a rotation motor (131) mounted on the inner bottom of the rotation body (110), a reducer (132) that reduces the rotation speed of the rotation motor to rotate a drive shaft (133) arranged vertically, a drive gear (134) coupled to the lower portion of the drive shaft, and a driven gear (135) provided on the upper side of the driving module (120) and rotated by the drive gear (134).

[0042] As illustrated in Fig. 1, the rotary motor (131) may be mounted on the inner bottom plate of the rotary body (110). The rotary motor (131) may have its rotation axis arranged in the forward and backward direction. The rotary motor (131) may be configured as an electric motor, and among them, may be configured as a servo motor.

[0043] The reducer (132) is mounted on the inner bottom plate of the rotating body (110) and can transmit the rotational power of the rotating motor (131) to the drive shaft (133) mounted so as to penetrate the interior thereof vertically.

[0044] As illustrated in Fig. 6, the lower end of the drive shaft (133) may be mounted so as to extend lower than the lower surface of the reducer (132) and penetrate the bottom plate of the rotating body (110). The drive gear (134) may be coupled to the lower end of the drive shaft (133) and may rotate together with the drive shaft (133). The drive gear (134) may be protected by being wrapped by a bracket coupled to the lower surface of the reducer (132).

[0045] As illustrated in Fig. 5, the driven gear (135) can be fixed by being coupled to the upper part of a circular tube-shaped bearing fixed to the upper surface of the body (121). Both the driving gear (134) and the driven gear (135) are composed of spur gears, and the driven gear (135) can be formed to have a diameter much larger than that of the driving gear (134).

[0046] When the rotary motor (131) is operated, it is reduced by the reducer (132) and the driven gear (135) rotates. The driving gear (134) is mounted on the reducer (132) coupled to the bottom plate of the rotary body (110), and the driven gear (135) is fixed to the upper side of the body (121) of the driving module (120). Therefore, when the driving gear (134) rotates, the driving gear (134) rotates around the fixed driven gear (135), so that the rotary body (110) can rotate.

[0047] The multi-joint boom (140) is mounted at the front of the rotating body (110) and can rotate up and down. Like an excavator, the multi-joint boom (140) has three or more joint links rotatably connected to each other, and each joint link can be rotated relatively by a hydraulic cylinder.

[0048] A saw module (150) including a wall saw (155) can be detachably mounted on the joint link end of the multi-joint boom (140).

[0049] Fig. 7 is a perspective view showing the wall saw separated from the robot saw device, and Fig. 8 is a partial perspective view showing the saw module with the wall saw separated.

[0050] As illustrated in FIG. 1, FIG. 7, and FIG. 8, the saw module (150) may include a mounting bracket (151) coupled to an end of a multi-joint boom (140), a coupling bracket (152) that is fastened to the mounting bracket by a plurality of bolts so that the coupling angle can be changed, a hydraulic motor (153) mounted on the coupling bracket, a saw mounting portion (154) coupled to a rotational shaft of the hydraulic motor, a wall saw (155) coupled to the saw mounting portion, and a saw cover (156) arranged to cover one side of the wall saw.

[0051] The mounting bracket (151) can be connected to the end bracket of the multi-joint boom (140) by a plurality of bolts. The mounting bracket (151) can be rotated up and down about a horizontal axis together with the end bracket of the multi-joint boom (140).

[0052] The coupling bracket (152) can be fastened to the mounting bracket (151) by four or more bolts and nuts. The coupling flange of the coupling bracket (152) and the coupling flange of the mounting bracket (151) are formed in the shape of a square plate, so that the coupling bracket (152) can be fastened by rotating it 90 degrees relative to the mounting bracket (151). Accordingly, the rotation axis of the wall saw (155) can be changed to be arranged vertically or horizontally with respect to the ground.

[0053] A hydraulic motor (153) may be mounted on one side of the coupling bracket (152), and a saw attachment (154) may be mounted on the other side of the coupling bracket (152). The rotational shaft of the hydraulic motor (153) may be mounted by penetrating the coupling bracket (152), and a saw attachment (154) configured in the shape of a plurality of circular disks may be coupled to an end of the rotational shaft.

[0054] The wall saw (155) can be mounted to rotate by the rotation axis of the hydraulic motor (153) between a plurality of circular disks of the saw mounting part (154). The wall saw (155) has a plurality of teeth formed on the outer surface of the circular disk, and the teeth can be made of diamond or at least coated with diamond.

[0055] The saw cover (156) can be attached to one side of the joining bracket (152) to cover a portion of the wall saw (155). Since fragments may fly out when the wall saw (155) is rotated to cut the wall, the saw cover (156) covers the area around the wall saw (155) close to the wall saw (155), thereby reducing the fragments from flying out to the surroundings.

[0056] As illustrated in FIGS. 1 to 3, a pair of outriggers (160) can be rotatably mounted up and down on the front and rear of the body of the driving module (120). Two wheels (164) that can be adjusted in height can be coupled to both sides of the bracket (161) of each outrigger (160).

[0057] Specifically, each outrigger (160) may include an upper and lower rotation bracket (161) that is rotatably mounted on the front and rear of the body (121) of the driving module (120), a hydraulic cylinder (162) that is connected between the body (121) and the upper and lower rotation bracket (161) to rotate the upper and lower rotation bracket up and down, a pair of height adjustment bolts (163) that are connected in the upper and lower direction on both sides of the upper and lower rotation bracket (161), and a wheel (164) that is rotatably connected to the lower end of the pair of height adjustment bolts (163).

[0058] The upper and lower rotation brackets (161) can be mounted to the front and rear of the body (121) of the driving module (120) so as to be rotatable up and down around a horizontal axis. The rear upper and lower rotation brackets (161) can be formed in an approximately T-shape, and the front upper and lower rotation brackets (161) can be formed in a form in which two vertical bars are integrally connected to approximately one horizontal bar. Since a pair of driving motors (125) are arranged at the rear of the body (121), the rear upper and lower rotation brackets (161) are formed in an approximately T-shape so as not to interfere with the pair of driving motors (125).

[0059] The hydraulic cylinder (162) is connected between the body (121) and the upper and lower rotation bracket (161), and the rotation axis of the hydraulic cylinder (162) in the body (121) can be positioned slightly above the rotation axis of the upper and lower rotation bracket (161). Therefore, when the hydraulic cylinder (162) extends, the upper and lower rotation bracket (161) can rotate downward, and when the hydraulic cylinder (162) contracts, the upper and lower rotation bracket (161) can rotate upward.

[0060] A pair of height adjustment bolts (163) can be coupled to penetrate a pair of fastening holes formed at both ends of the crossbar of the upper and lower rotation bracket (161). The height adjustment bolt (163) can include a main body having screw threads formed on an outer circumference thereof and a polygonal head integrally formed on the upper end of the main body. By turning the head of the height adjustment bolt (163) with a wrench, the relative height at which the height adjustment bolt (163) is arranged with respect to the crossbar of the upper and lower rotation bracket (161) can be adjusted.

[0061] The wheel (164) can be rotatably mounted on a bracket that is freely rotatably connected to the lower end of the height adjustment bolt (163).

[0062] After moving to a specific position on the ground by a pair of crawler tracks (122), the front and rear upper and lower rotation brackets (161) can be lowered and rotated to allow the four wheels (164) to contact the ground. Then, when the ground is uneven, the height of the four height adjustment bolts (163) can be adjusted so that the pair of outriggers (160) can support the robot saw device (100) so that it is placed horizontally.

[0063] Figure 9 is a configuration diagram showing the combined structure of the boom left-right tilt angle adjustment module.

[0064] The robot saw device (100) of the present invention may further include a boom tilt angle adjustment module (170) that is connected between the front of the rotating body (110) and the multi-joint boom (140) and rotates the multi-joint boom (140) left and right.

[0065] The boom tilt angle adjustment module (170) may include a connecting plate (171) that is rotatably connected to the front frame of the rotating body (110) by a rotation axis, a plurality of arc-shaped holes (173) formed through the connecting plate, a guide bolt (174) that is fastened to the front frame of the rotating body through the plurality of arc-shaped holes, and a hydraulic cylinder (175) that is connected between one side of the connecting plate (171) and the rotating body (110) to rotate the connecting plate.

[0066] The front frame of the rotating body (110) is formed with a front end in the shape of a square plate, and a square plate-shaped connecting plate (171) 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) is connected and fixed to the front end of the front frame, and the connecting plate (171) can be rotatably mounted and supported on the rotating shaft (172).

[0067] Four arc-shaped holes (173) can be formed through the inside of the four corners of the joint plate (171). Each arc-shaped hole (173) can be formed at an angle of about 20 degrees with respect to the center of the rotation axis (172).

[0068] A guide bolt (174) may be inserted into each of the arc-shaped holes (173) and fastened to the front frame of the rotating body. The guide bolt (174) may be configured as a general bolt including a head, and the head may be configured to support the front surface of the coupling plate (171). Alternatively, the guide bolt (174) may be configured as a rotation shaft coupled to the front end of the front frame, and a nut may be fastened to the end of the rotation shaft protruding through the arc-shaped hole (173) to support the front surface of the coupling plate (171).

[0069] The hydraulic cylinder (175) can be rotatably connected at both ends between a bracket formed to extend from the upper side of the coupling plate (171) and one side frame of the rotating body (110). As the hydraulic cylinder (175) expands, the coupling plate (171) can rotate left and right about the center of the coupling plate (171). Accordingly, the multi-joint boom (140) mounted on the front of the coupling plate (171) can also rotate left and right, thereby adjusting the left and right inclination angle of the multi-joint boom (140) with respect to the rotating body (110).

[0070] In case the ground is uneven, the robot saw device (100) can be fixed and supported so that it is horizontally placed at a specific location on the ground by adjusting the height adjustment bolt (163) of the outrigger (160). However, in order to cut a wall horizontally, the robot saw device (100) must be driven and cut even on an uneven ground. In the latter case, the wall saw (155) can be kept horizontal by operating the boom left-right tilt angle adjustment module (170) to tilt the multi-joint boom (140) left-right with respect to the rotating body (110). In addition, when performing vertical cutting, if the ground is uneven, the wall saw (155) can be accurately maintained vertically on an inclined ground and the cutting work can be performed by using the outrigger (160) and the boom left-right tilt angle adjustment module (170).

[0071] According to the robot saw device of the present invention, the device can be placed horizontally even on uneven ground by having an outrigger with height-adjustable wheels, and the device can be driven at a constant speed while performing cutting work by precisely driving an endless track, and the left-right inclination angle of the multi-joint boom itself on which the wall saw is mounted can be adjusted by rotating it left-right, so that the device can accurately cut a wall or floor horizontally, vertically, and in a straight line even on uneven ground.

[0072]

[0073] Above, one embodiment of the present invention has been described, but a person having ordinary skill in the art will be able to modify and change the present invention in various ways by adding, changing, deleting or adding components, etc., within the scope that does not depart from the spirit of the present invention described in the claims, and this is also included within the scope of the present invention.

[0074] [Explanation of symbols]

[0075] 100: Robotic saw device

[0076] 110: Rotating body

[0077] 120: Driving module 121: Body

[0078] 122: Tracks 123: Drive wheels

[0079] 125: Drive motor 126: Reducer

[0080] 130: Main body rotation module 131: Rotation motor

[0081] 132: Reducer 133: Drive shaft

[0082] 134: Drive gear 135: Driven gear

[0083] 140: Multi-joint boom

[0084] 150: Saw module 151: Mounting bracket

[0085] 152: Joint bracket 153: Hydraulic motor

[0086] 154: Saw mounting part 155: Wall saw

[0087] 156: Socover

[0088] 160: Outrigger 161: Upper and lower pivot bracket

[0089] 162: Hydraulic cylinder 163: Height adjustment bolt

[0090] 164: Wheel

[0091] 170: Boom left-right tilt angle adjustment module 171: Combination plate

[0092] 172: Rotating axis 173: Arc-shaped long hole

[0093] 174: Guide bolt 175: Hydraulic cylinder

[0094] The robot saw system according to the present invention can be used at construction sites and the like, and thus has industrial applicability.

Claims

1. A driving module that can drive on the ground by driving an infinite track; A driving module capable of driving on the ground by driving a commercial orbit; A rotating body that is rotatably mounted on the above driving module and drives the device; A main body rotation module mounted inside the above-mentioned rotating body and rotating the above-mentioned rotating body with respect to the driving module; A multi-joint boom mounted in front of the above rotating body so as to be rotatable up and down; A saw module mounted at the end of the above multi-joint boom and rotated by a hydraulic motor; and A pair of outriggers having height-adjustable wheels mounted on brackets that are rotatably mounted up and down on the front and rear of the body of the above driving module, A robot saw device, characterized in that the above saw module includes a mounting bracket that is coupled to an end of the multi-joint boom and a coupling bracket that is fastened to the mounting bracket by a plurality of bolts so that the coupling angle can be changed.

2. In paragraph 1, The above driving module A body that supports the rotation axis of the above rotating body, A pair of caterpillar tracks mounted on both sides of the above body, A pair of driving wheels that rotate the above pair of infinite tracks, A pair of drive motors that each rotate the pair of drive wheels, A robot saw device characterized by including a reducer connected between the driving motor and the driving wheel to reduce the rotational speed of the driving motor.

3. In paragraph 1, The above main body rotation module A rotary motor mounted on the inner bottom of the above rotary body, A reducer that reduces the rotation speed of the above-mentioned rotary motor to rotate the drive shafts arranged vertically, A driving gear coupled to the lower portion of the above driving shaft, A robot saw device characterized by including a driven gear provided on the upper side of the driving module and rotated by the driving gear.

4. In paragraph 1, The above outrigger A vertical rotation bracket that is mounted on the front and rear of the body of the above driving module so as to be able to rotate up and down, A robot saw device characterized by including a hydraulic cylinder connected between the body and the upper and lower rotation bracket to rotate the upper and lower rotation bracket up and down.

5. In paragraph 4, The above outrigger A pair of height adjustment bolts that are fastened in the vertical direction on both sides of the above upper and lower rotation bracket, A robot saw device characterized in that it further includes a wheel rotatably coupled to the lower end of the pair of height adjustment bolts.

6. In paragraph 1, The above saw module A hydraulic motor mounted on the above-mentioned coupling bracket, A saw attachment coupled to the rotating shaft of the above hydraulic motor, A wall saw connected to the above-mentioned saw attachment, A robot saw device characterized in that it further includes a saw cover arranged to cover one side of the above-mentioned wall saw.

7. In paragraph 1, A robot saw device characterized in that it further includes a boom left-right tilt angle adjustment module that rotates the multi-joint boom left-right around a rotation axis that is connected between the front of the rotating body and the multi-joint boom and is horizontally arranged in the front-back direction.

8. In paragraph 7, The above boom left-right tilt angle adjustment module A connecting plate rotatably connected to the front frame of the above rotating body by a rotating shaft, A plurality of arc-shaped holes formed through the above-mentioned joint plate, A guide bolt that is fastened to the front frame of the rotating body through the plurality of arc-shaped holes, A robot saw device characterized by including a hydraulic cylinder connected between one side of the above-mentioned joining plate and the above-mentioned rotating body to rotate the above-mentioned joining plate.

Images