CN210025293U - Lightweight modular chiseling robot - Google Patents

Abstract

The utility model provides a light-weight modularization chiseling robot relates to fighting robot field, include: a body adapted to support a robot; the weapon system comprises a chiseling hammer and a weapon motor, wherein the weapon motor is suitable for increasing the chiseling force of the chiseling hammer through one or more combinations of a cam mechanism, a conveyor belt mechanism, a clutch mechanism and a magnetic attraction mechanism; the motion system is suitable for driving the robot to move; the control system is suitable for receiving the instruction of the remote controller, controlling the weapon motor to rotate and controlling the motion system to move; and the power supply system is suitable for supplying power to the weapon system, the motion system and the control system. Lightweight modularization chisel hit robot, increased the chisel of chiseling hammer and hit the dynamics, simplified the structure, reduced weight, easily equipment and modularization.

Description

Lightweight modular chiseling robot

Technical Field

The utility model relates to a fighting robot technical field, in particular to light-weight modularization chiseling robot.

Background

The chiseling type combat robot is a combat robot which can chiseling an opponent and chiseling the body of the combat robot through a weapon such as a chiseling hammer to damage the body or parts of the combat robot and further cause failure, a user can operate the robot through a remote controller to move in all directions and simultaneously control the action of the weapon to attack the opponent, and the combat robot is popular among most users in the existing combat robot types. However, in the existing chiseling robot, the transmission between the weapon motor and the weapon system is gear transmission, so that the chiseling force of the weapon is not large due to small torque when the motor is just started, the weapon cannot be effectively struck on the opponent robot, and the load on the weapon motor is high when the weapon attacks.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a light-weight modularization chiseling robot to it is little to solve current chiseling robot weapon ware chiseling dynamics, and weapon motor load is higher, the complicated and poor stability's of control problem.

In order to achieve the above purpose, the technical scheme of the utility model is realized like this:

a lightweight modular chiseling robot comprising:

a fuselage adapted to support the robot;

a weapon system comprising a jack hammer and a weapon motor adapted to increase the chiseling force of the jack hammer by one or more combinations of a cam mechanism, a conveyor belt mechanism, a clutch mechanism and a magnetic attraction mechanism;

the motion system is suitable for driving the robot to move;

the control system is suitable for receiving the instruction of a remote controller, controlling the weapon motor to rotate and controlling the motion system to move;

a power supply system adapted to power the weapon system, the motion system, and the control system.

Further, the weapon system further comprises a resilient mechanism adapted to rotate the hammer into an attack position.

Further, the weapon motor passes through cam mechanism increase the power of hitting of chiseling hammer, cam mechanism includes cam, first gear and roller bearing, the roller bearing with first gear looks vertically and fixed connection, the roller bearing is located the non-centre of a circle department of first gear, when the cam rotates, the outer fringe of cam is suitable for promoting the roller bearing is around the axis rotation of first gear and orders about the elastic mechanism holds power.

Further, the first gear is of a fan-shaped structure.

Further, the weapon system is characterized by further comprising a second gear set, and the weapon motor drives the cam to rotate through the second gear set.

Further, the weapon system is characterized by further comprising a third gear, wherein the third gear is fixedly connected with the drilling hammer, and the third gear is meshed with the first gear.

Further, the machine body is formed by splicing a plurality of plates.

Furthermore, the machine body comprises an upper machine body and a chassis, the upper machine body is connected with the chassis in an inserting manner, the upper machine body comprises a plurality of connecting plates, and the connecting plates are connected in an inserting manner.

Furthermore, the connecting plate comprises a supporting plate, an arc-shaped sliding rail is arranged on the supporting plate, the arc-shaped sliding rail and the first gear are concentric, and the shaft end of the rolling shaft is suitable for being inserted into the arc-shaped rail.

Further, the chiseling robot further comprises a protection system, the protection system comprises a shovel plate and a protective shell, the shovel plate is located at the front end of the robot body, the protective shell is located at the rear end of the robot body, and the protection system is suitable for protecting the robot.

Compared with the prior art, light-weight modularization chisel hits robot have following advantage:

the light-weight modular chiseling robot has the advantages that the cam mechanism, the conveying belt, the magnetic suction mechanism, the clutch device and the like drive the weapon to move, so that the sector gear can rotate by a fixed angle, the chiseling hammer can rotate by a fixed angle, the weapon motor only needs to rotate directionally to realize the reciprocating swing of the weapon, and the chiseling force of the chiseling hammer is increased; the machine body adopts a plate insertion structure, so that the processing mode is convenient, the structure is simplified, the weight is reduced, and the assembly and modularization are easy; in the fighting process of the fighting robot, under the conditions of damage, deformation, failure and the like of parts, the parts of the mechanism can be maintained and replaced conveniently with the lowest cost.

Drawings

The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:

fig. 1 is a first schematic view of a chiseling robot according to a first embodiment of the present invention;

fig. 2 is a schematic view of a chiseling robot according to a first embodiment of the present invention;

fig. 3 is an exploded view of a chiseling robot according to a first embodiment of the present invention;

fig. 4 is a first schematic diagram of a weapon system according to a first embodiment of the present invention;

FIG. 5 is a diagram of a weapon system II according to an embodiment of the present invention;

fig. 6 is a schematic view of a cam according to a first embodiment of the present invention;

fig. 7 is an exploded view of the fuselage according to the first embodiment of the present invention;

FIG. 8 is an enlarged view of the point I in FIG. 7 according to the present invention;

fig. 9 is a schematic view of a weapon system according to a second embodiment of the present invention;

fig. 10 is a schematic view of a weapon system according to a third embodiment of the present invention;

fig. 11 is a schematic view of a weapon system according to a fourth embodiment of the present invention;

fig. 12 is a schematic view of a high-speed clutch device according to the fourth embodiment of the present invention.

Description of reference numerals:

1-fuselage, 11-upper fuselage, 111-socket, 112-slip, 113-T-slot, 114-cam, 115-support plate, 116-curved track, 12-chassis, 2-weapon system, 21-hammer, 211-hammer, 212-hammer arm, 213-rotating shaft, 22-weapon motor, 221-second reducer, 23-elastic mechanism, 24-cam, 241-outer rim, 242-step, 25-first gear, 26-roller, 261-shaft end, 27-second gear set, 271-first transmission gear, 272-second transmission gear, 273-idle gear, 28-third gear, 3-motion system, 31-wheel, 32-motion motor, 33-first reducer, 4-control system, 5-power supply system, 61-primary synchronous belt, 62-magnetic attraction device, 621-first magnetic attraction device, 622-second magnetic attraction device, 63-high-speed clutch device, 631-outer rotor, 632-inner rotor, 633-chute, 634-slide block, 635-tension spring, 7-protection system, 71-shovel plate and 72-protection shell.

Detailed Description

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In the description of the present invention, it should be noted that terms such as "upper", "lower", "front", "rear", and the like in the embodiments indicate terms of orientation, and are only used for simplifying the description of positional relationships based on the drawings of the specification, and do not represent that the elements, devices, and the like indicated in the description must be operated according to specific orientations and defined operations and methods, configurations, and such terms of orientation do not constitute limitations of the present invention.

In addition, the terms "first", "second" and "third" mentioned in the embodiments of the present invention are only used for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third" may explicitly or implicitly include one or more of the features.

Example one

The embodiment provides a lightweight modular chiseling robot, as shown in fig. 1-3, the chiseling robot includes a body 1, a weapon system 2, a motion system 3, a control system 4 and a power supply system 5, the body 1 is a main supporting component and a protection component, important components such as motors of the weapon system 2 and the motion system 3, and the control system 4 and the power supply system 5 are all arranged inside the body 1, and the weapon system 2, the motion system 3, the control system 4 and the power supply system 5 are all connected into a whole through the body 1, and the body 1 plays a role in supporting and protecting the robot.

The weapon system 2 includes a chiseling hammer 21 and a weapon motor 22, the weapon motor 22 drives the chiseling hammer 21 to perform chiseling, preferably, one or more combinations of a cam mechanism, a conveyor mechanism, a clutch mechanism and a magnetic attraction mechanism are used between the weapon motor 22 and the chiseling hammer 21 to increase the chiseling force of the chiseling hammer 21, and specific embodiments of the cam mechanism, the conveyor mechanism, the clutch mechanism and the magnetic attraction mechanism are described in detail in the following embodiments.

The motion system 3 is a system for realizing the movement of the robot, and comprises wheels 31 and motion motors 32, the motion motors 32 drive the wheels 31 to rotate, so as to realize the walking of the robot on the ground, preferably, the motion system 3 is composed of two groups of wheels 31 and motion motors 32, the two groups of wheels 31 and motion motors 32 are arranged at two sides of the robot, the wheels 31 and the motion motors 32 at two sides are controlled independently, so that the motion motors 32 at two sides can rotate according to different rotating speeds, so as to realize the differential running of the wheels at two sides of the robot, the robot realizes the turning through the different rotating speeds of the motion motors 32 at two sides, preferably, the motion system 3 further comprises a first speed reducer 33, the motion motors 32 are connected with the wheels 31 through the first speed reducer 33, the first speed reducer 33 can adopt a planetary gear speed reducer, and the speed reducer can preferably reduce the number of revolutions of the motion motors 32 to the number of revolutions required by the rotation of, and a large torque is obtained.

And in the control system 4, an operator controls the moving system 3 and the weapon system 2 through a remote controller, and in the chiseling robot, the control system 4 is used for receiving signals transmitted by the remote controller, converting the received signals into corresponding commands and transmitting the commands to the weapon system 2 and the moving system 3, and further controlling the corresponding operations of the weapon system 2 and the moving system 3.

The power supply system 5 is used for supplying energy to the weapon system 2, the motion system 3 and the control system 4, so as to ensure that the chiseling robot can normally operate.

In this embodiment, as shown in fig. 3, the control system 4 and the power supply system 5 are both fixed on the chassis

In the present embodiment, as shown in fig. 4-6, in the weapon system 2, the weapon motor 22 drives the hammer 21 to rotate and increase the chiseling force of the hammer 21 through a cam mechanism, where the cam mechanism includes the hammer 21, the weapon motor 22, an elastic mechanism 23, a cam 24, a first gear 25, a roller 26, a second gear set 27, and a third gear 28.

The hammer 21 includes a hammer 211 and a hammer arm 212, the hammer 211 is a metal hammer with high strength, the hammer arm 212 is an elongated cantilever with a certain length, the upper end of the hammer arm 212 is fixedly connected with the hammer 211, the lower end of the hammer arm 212 is connected with a part of the structure of the machine body, and the hammer motor 22 drives the hammer 21 to rotate around a rotating shaft 213 at the lower end through a cam mechanism.

The weapon motor 22 is preferably a JGY-370 gear motor, the JGY-370 gear motor is a brush motor, the weapon motor 22 is connected with the second speed reducer 221, the second speed reducer 221 can adopt a planetary gear speed reducer, the speed reducer can preferably reduce the revolution number of the weapon motor 22 to the revolution number required by the rotation of the chiseling hammer 21 and obtain larger torque; the weapon motor 22 drives the cam 24 to rotate through the transmission mechanism, which may be a transmission belt, a gear, etc., preferably, the embodiment adopts the second gear set 27 for transmission, the second gear set 27 includes a first transmission gear 271 and a second transmission gear 272, the first transmission gear 271 is fixedly connected with the cam 24 and concentrically arranged, the second transmission gear 272 is fixedly connected with an output shaft of the weapon motor 22, in the embodiment, the second transmission gear 272 is connected with an output shaft of the second reducer 221, and the first transmission gear 271 is meshed with the second transmission gear 272 to realize the transmission of the weapon motor 22 to the cam 24, in the embodiment, preferably, an idle gear 273 is arranged between the first transmission gear 271 and the second transmission gear 272 for transmitting torque and adjusting the rotation direction of the cam 24, specifically, the idle gear 273 is not needed, the specific design is made according to the actual situation, but no matter whether the idle gear 273 is included or not included, all fall into the protection scope of the utility model.

The weapon system 2 includes an elastic mechanism 23, the chiseling hammer 21 of the weapon system 2 can rotate around its own rotation axis 213, in the process of gradually rotating from the position shown in the figure to the back, the elastic mechanism 23 gradually accumulates force, and when the cam mechanism between the weapon motor 22 and the chiseling hammer 21 makes the chiseling hammer 21 break away from the driving of the weapon motor 22, the elastic mechanism 23 drives the chiseling hammer 21 to rotate and rotate to the attack position as the driving mechanism, completing the force accumulation and attack process of the chiseling hammer 21, in this embodiment, the elastic mechanism 23 includes various embodiments, such as a spring and a rubber belt, and as a substitute, other inelastic mechanisms can realize the driving mechanism that drives the weapon system 2 to rotate and increases the chiseling force of the chiseling hammer 21, and all fall within the protection scope of the present invention.

The radius of the outer edge 241 of the cam 24 is gradually increased along the clockwise direction, and is suddenly reduced at the step 242, so that the shape of the cam 24 similar to a bean shape is formed, the first gear 25 is an incomplete gear, namely, teeth on the gear are incomplete and have a certain intermittent distance, so that the space occupied by the first gear 25 is reduced, preferably, the first gear 25 is a sector gear, the space occupied by the first gear 25 is saved, the weight of the robot is reduced, the internal space is optimized, one or more first gears 25 can be arranged, the embodiment is preferably two, and the two first gears 25 are arranged in parallel; the roller 26 is fixedly connected with the first gear 25, and the roller 26 is perpendicular to the first gear 25; the first gear 25 is meshed with the third gear 28, the third gear 28 is disposed at the rotating shaft 213 of the hammer 21, in this embodiment, under the driving of the weapon motor 22, the cam 24 rotates clockwise as shown in the figure, the outer edge 241 of the cam 24 is always in contact with the roller 26, the roller 26 is located at a non-center of the first gear 25, preferably at a position farthest from the center of the circle, because the radius of the outer edge 241 is gradually increased, the outer edge 241 always gives a certain thrust to the roller 26, so that the first gear 25 also rotates clockwise, the first gear 25 rotates to drive the third gear 28 to rotate counterclockwise, the third gear 28 drives the hammer 21 to rotate counterclockwise, and the elastic mechanism 23 gradually accumulates force; when the cam 24 rotates and the roller 26 is located at the step 242 of the cam 24, the radius of the outer edge 241 changes suddenly, the cam 24 loses the thrust action on the roller 26 for a moment, the first gear 25 rotates anticlockwise rapidly under the pulling force action of the elastic mechanism 23, the hammer chisel 21 can rotate clockwise rapidly and chisel an enemy robot in front, the chiseling force is high, the weapon motor 22 rotates all the time, the phenomenon of sudden opening and stopping cannot occur, and the weapon motor 22 is protected well.

The maximum rotation angle of the jack hammer 21 can be adjusted by adjusting the gear ratio of the first gear 25 to the third gear 28, in this embodiment, the cam 24 rotates once to push the first gear 25 by 60 degrees, the gear ratio of the first gear 25 to the third gear 28 is 1: 2, when the first gear 25 is rotated to 60 degrees at the maximum, the rotation angle of the hammer arm 212 is 120 degrees, so that the hammer arm 212 can accelerate at a sufficient distance during rotation (clockwise rotation), thereby improving the chiseling force of the weapon system 2.

In this embodiment, the machine body 1 is formed by splicing a plurality of plates, specifically, as shown in fig. 3 and 7, the machine body 1 includes an upper machine body 11 and a chassis 12, the upper machine body 11 is connected with the chassis 12 in an inserting manner, the chassis 12 is provided with a plurality of slots, a connecting portion between the upper machine body 11 and the chassis 12 is provided with an insert strip, the insert strip is inserted into the slot to realize the movement of the upper machine body 11 and the chassis 12 in the horizontal direction, and the upper machine body 11 is fixedly connected with the chassis 12 through a screw; the upper machine body 11 comprises a plurality of connecting plates, the upper machine body 11 is formed by splicing a plurality of connecting plates, as shown in a combined figure 8, a connecting mode of splicing the connecting plates is illustrated in figure 8, and comprises a slot 111 and a strip 112, the strip 112 is inserted into the slot 111, so that the splicing of the two connecting plates is realized, the connecting mode is simple and is more convenient to replace, the connecting mode also comprises a T-shaped slot 113 and a convex plate 114, a through hole is arranged on the convex plate 114, the T-shaped slot 113 is an inverted T-shaped groove, when the convex plate 114 is assembled with the T-shaped slot, a nut is firstly placed at the bottom end of the T-shaped slot, then the convex plate 114 is placed at the upper end of the T-shaped slot, the through hole of the convex plate 114 is oppositely placed with the upper end of the T-shaped slot 113, then a screw matched with the nut is downwards inserted from the through hole and screwed into the nut, so that the positioning, the connecting plates in the upper machine body 11 are more convenient to connect with each other, and the connecting plates are more convenient to replace.

Referring to fig. 4, the connecting plate includes a supporting plate 115, in this embodiment, the supporting plate 115 includes a left supporting plate and a right supporting plate, a plurality of gears and cams in the weapon system 2 are disposed between the left supporting plate and the right supporting plate, and an arc-shaped sliding rail 116 is disposed on the supporting plate 115, the arc-shaped sliding rail 116 is a groove or a through hole, when the groove is formed, an opening of the groove faces to one side of the cam 24, the arc-shaped sliding rail 116 is concentric with the first gear 25, and when the left supporting plate and the right supporting plate are respectively assembled with the cam 24, the shaft end 261 of the roller 26 can be inserted into the arc-shaped sliding rail 116, and when the cam 24 pushes the roller 26 to move, the roller 26 can slide along the arc-shaped sliding rail 116, so as to ensure that the roller 26.

Example two

The difference between the present embodiment and the first embodiment is that, as shown in fig. 9, the present embodiment is a primary belt conveyor scheme, the weapon motor 22 drives the jack hammer 21 through the primary synchronous belt 61 to implement the attack function of the functional jack hammer 21, and separates the weapon motor 22 from the fastening motor sleeve, the weapon motor 22 drives the small pulley of the jack hammer 21 to rotate through the planetary reduction box, the side of the weapon motor 22 is designed with a pulley with a larger diameter, and the two pulleys are connected through the primary synchronous belt 61, so that a larger transmission ratio is provided between the weapon motor 22 and the jack hammer, so that the jack hammer 21 reaches the position of hitting the enemy robot when the torque of the weapon motor 22 is increased to a certain degree, so that the chiseling force of the jack hammer 21 is increased, and the attack effect is stronger.

EXAMPLE III

The difference between this embodiment and the above embodiment is that, as shown in fig. 10, this embodiment is a magnetic attraction mechanism, a magnetic attraction device 62 is disposed between the weapon system 2 and the machine body 1, an empty slot for placing a first magnetic attraction device 621 is disposed between the support plates 15, the first magnetic attraction device 621 is fixed between the support plates 15 through screws, a corresponding position is also disposed at a position opposite to the hammer arm 212 for placing a second magnetic attraction device 622, when the hammer 21 rotates to the rearmost side of the robot, the first magnetic attraction device 621 and the second magnetic attraction device 622 attract each other, and the hammer 21 is in a state to be attacked; after the weapon motor 22 is started, the torque ratio is smaller when the weapon motor 22 is started, the torque of the weapon motor 22 is continuously increased along with the time extension, when the torque of the weapon motor 22 is increased to overcome the suction force of the first magnetic suction device 621 and the second magnetic suction device 622, the chiseling hammer 21 starts to swing, the purpose of striking an enemy robot with larger chiseling force is achieved, the defect that the starting torque of the weapon motor 22 is small is successfully overcome, and the attacking force of the chiseling hammer 21 is increased; in this embodiment, the first magnetic attraction device 621 and the second magnetic attraction device 622 may employ circular neodymium magnets, or may employ electromagnetic devices.

Example four

The difference between this embodiment and the above embodiment is that, in combination with fig. 11 and 12, the embodiment is a high-speed clutch scheme, the weapon motor 22 drives the hammer 21 through the high-speed clutch 63, the high-speed clutch 63 includes an outer rotor 631, an inner rotor 632, a sliding chute 633, a sliding block 634 and a tension spring 635, the inner rotor 632 is in a cylindrical structure, the outer rotor 631 is sleeved outside the inner rotor 632, the sliding chute 633 is located between the outer rotor 631 and the inner rotor 632, a part of the sliding chute 633 extends into the outer rotor 631, another part of the sliding groove 633 extends into the inner rotor 632, the sliding block 634 is arranged in the sliding groove 633, a tension spring 635 is connected between the sliding block 634 and the inner rotor 632, when the inner rotor 632 is not rotated or the rotation speed is low, the tension spring 635 tightly pulls the slider 634, so that the slider 634 is entirely located at one side of the inner rotor 632 of the sliding groove 633, the inner rotor 632 and the outer rotor 631 can rotate relatively without the action of the sliding block 634; along with the gradual increase of the rotating speed of the weapon motor 22 driving the inner rotor 632, after the centrifugal force of the sliding block 634 is increased and is greater than the pulling force of the tension spring 635, the sliding block 634 can extend into the sliding groove 633 on one side of the outer rotor 631, at this time, the outer rotor 631 is driven to rotate under the action of the sliding block 634, the torque of the weapon motor 22 is increased to a certain degree, at this time, the chiseling hammer 21 is driven to swing, and the chiseling force for hitting an enemy robot is greatly increased.

EXAMPLE five

On the basis of the above embodiment, as shown in fig. 1 and fig. 2, the chiseling robot further includes a protection system 7, the protection system 7 is used for protecting the robot, and prevents the fighting robot from damaging the body and parts of the robot, specifically, the protection system 7 includes a shovel plate 71 and a protection shell 72, the shovel plate 71 is an inclined plate inclined upward, two ends of the shovel plate 71 extend and bend out to form two protection plates 711, the protection plates 711 are located at two ends of the tire, and can play a role in protecting the tire, and the shovel plate 71 is located at the front end of the body 1, and the shovel plate 71 can shovel the robot in front upwards to protect the front end of the robot.

The protective shell 72 is located at the rear end of the fuselage 1, the protective shell 72 is also designed to be inclined and has certain strength, and the protective shell 72 is detachably and fixedly connected to the fuselage 1, protects the rear end of the fuselage 1 and is easy to replace after being damaged.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A lightweight modular chiseling robot, comprising:

a fuselage (1) adapted to support the robot;

a weapon system (2), the weapon system (2) comprising a jack hammer (21) and a weapon motor (22), the weapon motor (22) being adapted to increase the chiseling force of the jack hammer (21) by one or more combinations of a cam mechanism, a belt mechanism, a clutch mechanism and a magnetic attraction mechanism;

a motion system (3), wherein the motion system (3) is suitable for driving the robot to move;

a control system (4), wherein the control system (4) is suitable for receiving the instruction of a remote controller, controlling the weapon motor (22) to rotate and controlling the motion system (3) to move;

-a power supply system (5), said power supply system (5) being adapted to supply said weapon system (2), said movement system (3) and said control system (4).

2. A lightweight modular chiseling robot according to claim 1, characterized in that the weapon system (2) further comprises a resilient mechanism (23), the resilient mechanism (23) being adapted to bring the hammer (21) to rotate to an attack position.

3. The lightweight modular chiseling robot according to claim 2, characterized in that the weapon motor (22) increases the chiseling force of the hammer (21) by means of a cam mechanism, the cam mechanism comprises a cam (24), a first gear (25) and a roller (26), the roller (26) is perpendicular to and fixedly connected with the first gear (25), the roller (26) is located at the non-center of the first gear (25), and when the cam (24) rotates, the outer edge (241) of the cam (24) is adapted to push the roller (26) to rotate around the axis of the first gear (25) and drive the elastic mechanism (23) to accumulate force.

4. A lightweight modular chiseling robot according to claim 3, characterized in that the first gear (25) is a partial gear.

5. The lightweight modular chiselling robot according to any one of claims 3 or 4, wherein said weapon system (2) further comprises a second gear set (27), said weapon motor (22) driving in rotation said cam (24) through said second gear set (27).

6. A lightweight modular chiseling robot according to any one of claims 3 or 4, characterized in that the weapon system (2) further comprises a third gear (28), said third gear (28) being fixedly connected to the jack (21), said third gear (28) being in mesh with said first gear (25).

7. A lightweight modular chiseling robot according to any one of claims 3 or 4, characterized in that said body (1) is made up of a plurality of plates joined together.

8. The lightweight modular chiseling robot according to claim 7, wherein the body (1) comprises an upper body (11) and a chassis (12), the upper body (11) is in plug connection with the chassis (12), the upper body (11) comprises a plurality of connecting plates, and the connecting plates are in plug connection with each other.

9. A lightweight modular chiseling robot as claimed in claim 8, characterized in that said connection plate comprises a support plate (115), on said support plate (115) there being provided an arc-shaped sliding rail (116), said arc-shaped sliding rail (116) being concentric with said first gear wheel (25), the shaft end (261) of said roller (26) being adapted to be inserted into said arc-shaped sliding rail (116).

10. A lightweight modular chiseling robot according to claim 1, characterized in that it further comprises a protection system (7), said protection system (7) comprising a blade (71) and a protective shell (72), said blade (71) being located at the front end of the fuselage (1) and said protective shell (72) being located at the rear end of the fuselage (1), said protection system (7) being adapted to protect said robot.

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