Stone cutting equipment linear walking deviation rectifying device and method thereof

Abstract

The invention discloses a stone cutting equipment linear walking deviation rectifying device and method. The stone cutting equipment linear walking deviation rectifying device comprises a frame assembly, a cutting assembly and a deviation rectifying assembly. The walking assembly comprises a fixed chassis, mounting frames are arranged on the front portion and the rear portion of the fixed chassis, driving parts are arranged on the mounting frames in a bilateral symmetry mode, and walking wheels are arranged at the output ends of the driving parts. The deviation rectifying assembly comprises a reference table, a deviation rectifying device and a controller in wireless or wired connection with the deviation rectifying device, the deviation rectifying device is used for monitoring the distance between the deviation rectifying device and the reference table and sending monitoring data to the controller, and the controller is connected with the driving part and controls the walking wheels to advance through the monitoring data. According to the deviation rectifying assembly, the distance between the deviation rectifying assembly and the reference object is monitored in real time through the multiple deviation rectifiers, the deviation is fed back to the control end in real time to adjust the walking assembly, deviation on a linear path is rectified in real time, stone cutting equipment is driven to move on the linear path all the time, labor cost input and operation cost are reduced, and operation safety is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of stone cutting equipment, and particularly relates to a linear walking deviation rectification device for stone cutting equipment and a method thereof. BACKGROUND

[0002] The mine stone cutting machine is a kind of high-efficiency equipment widely used in mine stone cutting operation, mainly used for cutting large rocks or stone materials to meet the needs of mine exploitation and processing. The traditional mine stone cutting machine is designed in a track type, which guides the movement of the equipment by laying a specific track, but this design has the following defects: Due to the unevenness of the rock surface, the vibration generated during the operation of the equipment and the limitation of manual adjustment, the traditional stone cutting machine cannot always ensure straight-line movement, and the walking path may deviate. When the stone cutting machine starts cutting work, the movement of the cutting assembly for cutting the stone body may cause the whole vehicle to deviate or be not accurately positioned, and manual alignment needs to be performed multiple times. Frequent manual deviation rectification operation greatly affects the cutting efficiency and is relatively unsafe. SUMMARY

[0003] (I) Technical problem to be solved In view of the above-mentioned problems existing in the prior art, the present application aims to provide a linear walking deviation rectification device for stone cutting equipment to solve the existing problems.

[0004] The present application also provides a linear walking deviation rectification device for stone cutting equipment and a method thereof, which can rectify the deviation of the stone cutting equipment in real time and dynamically according to the straight-line walking. (II) Technical scheme In order to achieve the above-mentioned purpose, the present application is realized by the following technical scheme: a linear walking deviation rectification device for stone cutting equipment, comprising a frame assembly, a cutting assembly movably arranged on the frame assembly, a walking assembly arranged at the bottom of the frame assembly, and a deviation rectification assembly for rectifying the straight-line path of the walking assembly; The walking assembly comprises a fixed chassis, mounting racks are arranged on the front and rear of the fixed chassis, driving parts are symmetrically arranged on the mounting racks, and walking wheels are arranged on the output ends of the driving parts; The deviation rectification assembly comprises a reference table arranged below the fixed chassis, at least two deviation rectifiers symmetrically arranged on the mounting racks, and a controller wirelessly or wiredly connected with the deviation rectifiers. The deviation rectifiers are used for monitoring the distance between the deviation rectifiers and the reference table and sending monitoring data to the controller. The controller is connected with the driving parts and controls the forward movement of the walking wheels through the monitoring data. The straight line formed along the length direction of the reference table serves as an absolute reference line, and the straight line formed along the connecting line direction between the front and rear deviation rectifiers serves as a relative reference line. The front and rear deviation correctors and the reference table form a first control distance and a second control distance, respectively, and the left and right driving parts control the walking wheels to always be parallel to the absolute reference line by adjusting the speed difference of the walking wheels.

[0005] As a further improvement, the driving part includes a motor, a shaft coupling, a gearbox, and a transmission shaft connected with the walking wheels, the motor output end is connected with the gearbox through the shaft coupling, and the gearbox is connected with the walking wheels through the transmission shaft.

[0006] As a further improvement, the walking wheels on both sides have the same or different walking speeds, and when the deviation correctors monitor a numerical difference between the first control distance and the second control distance, the controller sends an instruction to adjust the motor speed to adjust the walking speed of the corresponding walking wheels, so that the first control distance and the second control distance always remain consistent.

[0007] As a further improvement, the mounting frame is fixedly provided with a reinforcing plate parallel to the axis direction between the two walking wheels, the first mounting plate is horizontally fixed on the front end face of the reinforcing plate, the second mounting plate is vertically arranged on the front end face of the first mounting plate, and the second mounting plate is provided with a mounting hole for mounting the deviation corrector.

[0008] As a further improvement, the reinforcing plates are fixedly arranged on the front and rear mounting frames, and the second mounting plates are symmetrically arranged front and rear, wherein the reinforcing plates and the mounting frames are tightly connected by bolts.

[0009] As a further improvement, the bottom of the second mounting plate is provided with mounting holes on both sides, and the deviation correctors are installed in the mounting holes and face the reference table and the walking wheels, respectively, to improve the running stability.

[0010] As a further improvement, the deviation correctors and the walking wheels form a third control distance and a fourth control distance, respectively.

[0011] As a further improvement, the reference table always maintains consistency along the length direction, and has a monitoring surface that always maintains horizontal along the length direction.

[0012] As a further improvement, the deviation correctors are at least one of an infrared sensor, an ultrasonic sensor, a laser ranging sensor, and a radar sensor.

[0013] A straight walking deviation correction method for a stone cutting device, the method comprising the following steps: Deviation correction preparation step S1: Before the stone cutting device is started, the deviation correctors arranged front and rear automatically monitor the distance data from the reference table in the current static state and feed back to the controller, and the controller automatically calculates the average value of the front and rear distance data monitored by the deviation correctors as a reference value. Data monitoring step S2: start the stone cutting device, and the distance data between the front and rear deviation correctors and the reference table is monitored in real time during walking before and after the stone cutting device, and the several distance data monitored at this time are taken as dynamic values; Data processing step S3: the deviation corrector sends the monitoring data to the controller, the controller judges and processes the numerical difference between the reference value and the several dynamic values in real time, and then selects to send or not to send the adjustment instruction to the motor; Deviation correction driving step S4: according to the adjustment instruction sent by the controller, the rotation speed of one or more motors is adjusted, the walking speed difference of the walking wheels on both sides is controlled through the rotation speed difference of the motors on both sides, so that the several dynamic values monitored during walking are gradually consistent with the initial reference value, and then the stone cutting device is adjusted to return to the straight walking path; Straight walking step S5: after receiving the adjustment instruction and performing straight deviation correction in real time, the stone cutting device gradually walks along the straight line, and if no adjustment instruction is received, the stone cutting device always walks along the straight path.

[0014] (Three) beneficial effects The beneficial effects of the present application are: the deviation correction assembly provided by the present application can monitor the distance between the reference object and the walking assembly in real time through the plurality of deviation correctors and feed back the control end for corresponding adjustment, accurately judge the monitoring data difference for corresponding analysis, linearly correct the deviation on the straight path in real time, drive the stone cutting device to always ensure straight path walking, realize automatic, real-time, dynamic, accurate and precise straight line correction function, reduce labor cost investment and operation cost, and improve operation safety. BRIEF DESCRIPTION OF DRAWINGS

[0015] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, with reference to the accompanying drawings: Figure 1 It is the overall structure schematic diagram of the stone cutting device of the embodiment of the present application; Figure 2 It is the local structure schematic diagram of the deviation correction assembly of the embodiment of the present application Figure One ; Figure 3 It is the local structure schematic diagram of the walking assembly of the embodiment of the present application; Figure 4 It is the local structure schematic diagram of the deviation correction assembly of the embodiment of the present application Figure Two ; Figure 5 It is the local structure schematic diagram of the deviation correction assembly of the embodiment of the present application; Figure 6 It is the local structure schematic diagram of the deviation correction assembly of another embodiment of the present application; Figure 7Linear simplified schematic diagram for rectification work of another embodiment of the present application.

[0016] Explanation of main reference signs: 10, frame assembly; 100, monitoring surface; 20, cutting assembly; 30, walking assembly; 301, fixed chassis; 302, mounting bracket; 303, walking wheel; 40, rectification assembly; 401, reference table; 402, rectifier; 500, reinforcing plate; 501, first mounting plate; 502, second mounting plate; 503, mounting hole; 600, motor; 601, coupling; 602, gearbox; 603, transmission shaft; H1, first control distance; H2, second control distance; H3, third control distance; H4, fourth control distance; L1, absolute reference line; L2, relative reference line. DETAILED DESCRIPTION

[0017] In order to make the technical means, creative features, purposes and effects achieved by the present application easy to understand, the present application will be further described below in combination with specific embodiments.

[0018]

Linear walking rectification device of stone cutting equipment according to an embodiment of the present application

[0019] Please refer to Figure 3 As shown in the figure, the driving part comprises a motor 600, a shaft coupling 601, a gearbox 602 and a transmission shaft 603 in transmission connection with the walking wheels 303, the output end of the motor 600 is connected with the gearbox 602 through the shaft coupling 601, the gearbox 602 is in transmission connection with the walking wheels 303 through the transmission shaft 603, the motor provides power, the power is transmitted to the gearbox through the shaft coupling, the gearbox changes the rotating speed and torque of the motor by gear ratio, and then the power is transmitted to the walking wheels through the transmission shaft, so that the walking wheels realize the function of variable speed adjustment, adapt to complex terrain operation and improve the efficiency.

[0020] It needs to be known that before the stone cutting device starts to work, the front and rear deviation correctors 402 start to monitor the values of the first control distance H1 and the second control distance H2 as initial reference values. When the stone cutting device starts to work, the front and rear deviation correctors 402 monitor the values of the first control distance H1 and the second control distance H2 as dynamic values during walking. Further, the walking wheels 303 on both sides have the same or different walking speeds as explained below. Please refer to Figures 1-5 As shown in the figure, when the stone cutting device starts to work, the walking wheels 303 on both sides have the same walking speed, and the stone cutting device always travels along a straight path. During the walking process, when the stone cutting device deviates, that is, when the deviation correctors 402 monitor that the first control distance H1 and the second control distance H2 have a value difference (compare the dynamic value with the reference value, that is, the first control distance H1 > the second control distance H2 or the first control distance H1 < the second control distance H2), the controller sends an instruction to adjust the speed of the motor 600, and through the mechanical transmission relationship of the driving part, the walking speed of the walking wheels 303 is adjusted. At this time, the walking wheels 303 on both sides have different walking speeds. Through the adjustment of the walking speed of the walking wheels on both sides, the value difference between the first control distance H1 and the second control distance H2 is gradually reduced, and then the first control distance H1 and the second control distance H2 always remain consistent with the initial reference value, and the stone cutting device gradually returns to the original straight path. When the stone cutting device returns to the straight path (the deviation correctors 402 monitor that the first control distance H1 == the reference value and the second control distance H2 = the reference value at the same time), the deviation correctors 402 send data to the controller, and the controller sends an adjustment instruction to make the walking wheels 303 on both sides return to the original same walking speed, so that the stone cutting device continues to maintain a straight path. It needs to be known that the deviation adjustment process is real-time and linear adjustment, that is, as soon as the deviation correctors 402 monitor a slight deviation, the controller responds immediately and sends an instruction to adjust the walking speed. Through the real-time, dynamic, and linear adjustment response of "walking deviation (real-time monitoring of the deviation correctors) → controller sending instruction adjustment (controller responding immediately) → adjusting the walking speed difference (driving part adjusting immediately) → the value difference between the first control distance H1 and the second control distance H2 and the reference value gradually approaching 0 (real-time deviation correction) → walking back to the straight path", the first control distance H1 and the second control distance H2 are stably kept consistent, that is, the relative reference line L1 always remains in a parallel position relative to the absolute reference line L2, and the stone cutting device always travels along a straight path. Through the automatic driving device walking along a straight path, the labor cost is reduced, and the safety of the operating personnel is improved when used in cutting stone mines and other environments, and frequent manual path deviation correction is not needed.

[0021] Please refer to Figures 4-5As shown, the mounting frame 302 is fixed with a reinforcing plate 500 parallel to the axis direction between the two walking wheels 303, the front end surface of the reinforcing plate 500 is horizontally fixed with a first mounting plate 501, the front end surface of the first mounting plate 501 is vertically downwardly provided with a second mounting plate 502, that is, the second mounting plate 502 is vertically downwardly extended to a length below the top surface of the reference table to meet the requirements of the deviation corrector 402 for monitoring the reference table, and the bottom of the second mounting plate 502 is provided with a mounting hole 503 for mounting the deviation corrector 402, and the mounting hole 503 is horizontally arranged relative to the vertical second mounting plate 502, so that the deviation corrector 402 also always maintains a relative horizontal stable state, improving the stability of the monitoring data.

[0022] As shown in Figures 3-5 As shown, the mounting frame 302 is fixed with a reinforcing plate 500 parallel to the axis direction between the two walking wheels 303, the front end surface of the reinforcing plate 500 is horizontally fixed with a first mounting plate 501, the front end surface of the first mounting plate 501 is vertically downwardly provided with a second mounting plate 502, that is, the second mounting plate 502 is vertically downwardly extended to a length below the top surface of the reference table to meet the requirements of the deviation corrector 402 for monitoring the reference table, and the bottom of the second mounting plate 502 is provided with a mounting hole 503 for mounting the deviation corrector 402, and the mounting hole 503 is horizontally arranged relative to the vertical second mounting plate 502, so that the deviation corrector 402 also always maintains a relative horizontal stable state, improving the stability of the monitoring data.

[0023] As shown in Figures 1-2 As shown, the reference table 401 always maintains consistency along the length direction, that is, the reference table 401 always maintains a straight path state from the starting end to the end without having a curved or arc path, and has a monitoring surface 100 always maintaining horizontal along the length direction, which is used for monitoring of the deviation corrector 402. In the case that the deviation corrector 402 for monitoring is in the same horizontal plane, the detected object should also be provided with a detected horizontal plane parallel to it. Therefore, the side of the reference table detected in the embodiment is provided with a monitoring surface 100 always maintaining horizontal, so that the monitoring data is more stable, accurate and fine. The reference table 401 can be any one of a rectangular tube and a profile, and in the embodiment, the profile is preferred. The reference table 401 is set on the ground in advance before the stone cutting equipment operates, and the flatness and levelness are adjusted during design, so that the monitoring surface 100 meets the requirements of the monitoring. The deviation corrector 402 is at least one of an infrared sensor, an ultrasonic sensor, a laser ranging sensor and a radar sensor, and in the embodiment, the ultrasonic sensor is preferred. The ultrasonic sensor has good real-time performance and can quickly provide measurement results. It is not sensitive to dust, smoke and other environments, and is more suitable for the operating environment of the stone cutting equipment. At the same time, the ultrasonic sensor is small in size and easy to install.

[0024] Embodiment 2 For the sake of brevity of description, the same parts as those of Embodiment 1 will not be described again, and the structure different from that of Embodiment 1 will be mainly described. Embodiment 2 is different from Embodiment 1 only in the different rectifier.

[0025] Please refer to Figure 6 As shown in the figure, in order to improve the stability of the rectification assembly operation, in the present embodiment, the second mounting plate 502 is provided with mounting holes 503 on the left and right sides of the bottom, and the rectifiers 402 are mounted in the mounting holes 503 and face the reference table 401 and the walking wheels 303 respectively, for simultaneously monitoring the distance between the reference table 401 and the walking wheels 303, and the rectifiers 402 located on the front side and the walking wheels 303 form a third control distance H3, and the rectifiers 402 located on the rear side and the walking wheels 303 form a fourth control distance H4. Through the pre-monitoring of the additional rectifiers, the walking wheels on the front and rear sides of the stone cutting equipment are also on a horizontal line, and at this time a second reference line C is defined. The third control distance H3 and the fourth control distance H4 are measured in advance before operation, and the rectifiers of the rectification assembly on the front and rear sides are also always in a stable state. Therefore, the third control distance H3 and the fourth control distance H4 are relatively stable and unchangeable. Only when there is a problem with the rectification assembly installation or the walking wheel installation, such as loose fastening of the bolts, or due to the influence of the ore cutting environment factors, the stone cutting equipment will shake to cause the rectification assembly to be not firmly connected, broken and loose, etc., the values of the third control distance H3 and the fourth control distance H4 will fluctuate. As a means that can be understood by those skilled in the art, a device with sound and light prompting function can be connected with the controller, such as a cellular alarm and an LED lamp. At this time, the maintenance personnel can respond in time to take measures to stop the work and maintain and repair the equipment. Based on the deviation value of the stone cutting equipment in the walking process through the multi-data monitoring fusion analysis of the rectifiers 402, the controller drives the speed difference of the walking wheels, and simultaneously monitors the difference between the third control distance H3 and the fourth control distance H4 in real time. This not only improves the installation stability of the rectification assembly, but also ensures the real-time, accuracy and precision of the straight-line rectification.

[0026] A straight-line walking rectification method of a stone cutting equipment according to an embodiment of the present application A straight-line walking rectification method of a stone cutting equipment, the method comprising the following steps: Rectification preparation step S1: Before the stone cutting equipment is started, the rectifiers 402 arranged on the front and rear sides automatically monitor the distance data from the reference table 401 in the current static state and feed back to the controller. The controller automatically calculates the average value of the front and rear distance data monitored by the rectifiers 402 as a reference value Z. The distance data is: the distance data a1 and a2 of the first control distance H1 (static) and the second control distance H2 (static), wherein the data correspondence is as follows: ① Distance data a1: first control distance H1 (static); ② Distance data a2: first control distance H2 (static); Reference value Z=(a1+a2) / 2; Data monitoring step S2: start the stone cutting equipment, and the distance data between the front and rear deviation correctors 402 and the reference table 401 is monitored in real time during the walking process of the stone cutting equipment, and the monitored distance data is used as a dynamic value; The distance data is: the distance data A1 and A2 of the first control distance H1 (dynamic) and the second control distance H2 (dynamic), wherein the data correspondence is as follows: ① Distance data A1: first control distance H1 (dynamic); ② Distance data A2: first control distance H2 (dynamic); Data processing step S3: the deviation corrector 402 sends the monitoring data to the controller, and the controller judges and processes the distance value difference between the deviation corrector 402 and the reference table 401 and / or the walking wheel 303 in real time, that is, the value difference between the initial reference value and the several dynamic values monitored during the walking process is processed; The distance value difference is reflected in: the controller judges whether the first control distance H1 and the second control distance H2 value are consistent with the initial reference value Z, that is: whether A1 and A2 are equal to Z; When the stone cutting equipment deviates to the left or right during walking, the deviation condition monitored is as follows: A1≠Z and / or A2≠Z, wherein "≠" includes two cases of ">" and "<", that is, A1> or <Z and / or A2> or <Z, the controller sends adjustment instructions to the motor 600 immediately; When no deviation is monitored, that is, A1=Z and A2=Z are satisfied at the same time, the controller will not send adjustment instructions and directly execute step S5; Please refer to Figure 7 The deviation condition is as follows when the stone cutting equipment deviates to the left during forward walking: ①: A1>Z A2<Z, the controller sends adjustment instructions to the motor 600 immediately; ②: A1>Z A2>Z and A1 deviation amplitude is greater than A2, the controller sends adjustment instructions to the motor 600 immediately; ③: A1>Z A2=Z, the controller sends adjustment instructions to the motor 600 immediately; The deviation correction driving step S4: according to the adjustment instruction sent by the controller, the speed of the motor 600 is adjusted, the speed difference of the two motors 600 is controlled, and the speed difference of the two walking wheels 303 is controlled, so that the first control distance H1 and the second control distance H2 gradually keep consistent with the reference value Z, and then the stone cutting equipment is adjusted to return to the straight walking path; Taking the left deviation case ② in step S3 as an example, the controller correspondingly increases the walking speed of the right walking wheel 303, so that the stone cutting equipment returns to the right; The straight walking step S5: after receiving the adjustment instruction and correcting deviation in real time, the stone cutting equipment gradually walks along the straight line, and if no adjustment instruction is received, the stone cutting equipment always walks along the straight path.

[0027] The above shows and describes the basic principles and main features of the present application and the advantages of the present application, and it is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be realized in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0028] In addition, it should be understood that although the present application is described in the form of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be combined appropriately to form other embodiments that those skilled in the art can understand.

Claims

1. A linear walking deviation rectifying device for a stone cutting apparatus, characterized in that, It includes frame assembly (10), cutting assembly (20) arranged on frame assembly (10), walking assembly (30) arranged at the bottom of frame assembly (10), and deviation correction assembly (40) for straight line deviation correction of walking path of walking assembly (30); The walking assembly (30) comprises a fixed chassis (301), the fixed chassis (301) is provided with mounting frames (302) in front and back, driving parts are symmetrically arranged on the mounting frames (302), and walking wheels (303) are arranged on the output ends of the driving parts; The deviation correction assembly (40) comprises a reference table (401) arranged below the fixed chassis (301), at least two deviation correctors (402) symmetrically arranged on the mounting frames (302), and a controller wirelessly or wiredly connected with the deviation correctors (402), the deviation correctors (402) are used for monitoring the distance between the deviation correctors (402) and the reference table (401) and sending monitoring data to the controller, the controller is connected with the driving parts and controls the walking wheels (303) to move forward through the monitoring data, wherein a straight line formed along the length direction of the reference table (401) is used as an absolute reference line (L1), and a straight line formed along the connecting line direction between the front and rear deviation correctors (402) is used as a relative reference line (L2); Wherein, the first control distance (H1) and the second control distance (H2) are respectively formed between the front and rear deviation correctors (402) and the reference table (401), and the left and right driving parts control the relative reference line (L2) to be always parallel to the absolute reference line (L1) by adjusting the speed difference of the walking wheels (303).

2. The linear walking deviation rectifying device of a stone cutting apparatus according to claim 1, characterized in that: The driving part comprises a motor (600), a shaft coupling (601), a gearbox (602) and a transmission shaft (603) in transmission connection with the walking wheels (303), the output end of the motor (600) is connected with the gearbox (602) through the shaft coupling (601), and the gearbox (602) is in transmission connection with the walking wheels (303) through the transmission shaft (603).

3. The linear walking deviation rectifying device of a stone cutting apparatus according to claim 2, characterized in that: The walking wheels (303) on both sides have the same or different walking speeds, when the deviation corrector (402) monitors the numerical difference between the first control distance (H1) and the second control distance (H2), the controller sends an instruction to adjust the speed of the motor (600) to adjust the walking speed of the corresponding walking wheel (303), so that the first control distance (H1) and the second control distance (H2) are always consistent.

4. The linear walking deviation rectifying device of a stone cutting apparatus according to claim 1, characterized in that: The mounting frame (302) is fixedly provided with a reinforcing plate (500) parallel to the axis direction between the two walking wheels (303), a first mounting plate (501) is horizontally fixed on the front end face of the reinforcing plate (500), a second mounting plate (502) is vertically arranged on the front end face of the first mounting plate (501), and a mounting hole (503) for mounting the deviation corrector (402) is arranged on the bottom of the second mounting plate (502).

5. The linear walking deviation rectifying device of a stone cutting apparatus according to claim 4, characterized in that: The reinforcing plate (500) is fixed on the front and rear mounting frames (302), and the second mounting plate (502) is symmetrically arranged front and rear, wherein the reinforcing plate (500) is fastened and connected with the mounting frame (302) through bolts.

6. The linear walking deviation rectifying device of a stone cutting apparatus according to claim 4, characterized in that: The second mounting plate (502) is provided with mounting holes (503) on both sides of the bottom, and the deviation correctors (402) are installed in the mounting holes (503) and face the reference table (401) and the walking wheels (303) respectively.

7. The linear walking deviation rectifying device of a stone cutting apparatus according to claim 6, characterized in that: The third control distance (H3) and the fourth control distance (H4) are formed between the front and rear deviation correctors (402) and the walking wheels (303) respectively, so as to improve the running stability.

8. The linear walking deviation rectifying device of a lithotomic apparatus according to claim 1, characterized in that: The reference table (401) always keeps consistent along the length direction, and has a monitoring surface (100) which always keeps horizontal along the length direction.

9. The linear walking deviation rectifying device of a lithotomic apparatus according to claim 1, characterized in that: The deviation corrector (402) is at least one of an infrared sensor, an ultrasonic sensor, a laser ranging sensor and a radar sensor.

10. A linear walking deviation correction method of a stone cutting device, using the linear walking deviation correction device of any one of claims 1-9, the method comprising the following steps: Deviation correction preparation step S1: before the stone cutting device is started, the deviation correctors (402) arranged front and rear automatically monitor the distance data from the reference table (401) in the current static state, and feed back to the controller, and the controller automatically calculates the average value of the front and rear distance data monitored by the deviation correctors (402) as a reference value; Data monitoring step S2: start the stone cutting device, and in the walking process of the stone cutting device, the deviation correctors (402) installed front and rear monitor the distance data from the reference table (401) in real time, and the several distance data monitored at this time are used as dynamic values; Data processing step S3: the deviation correctors (402) send the monitoring data to the controller, the controller judges and processes the value difference between the reference value and the several dynamic values in real time, and then selects to send or not to send an adjustment instruction to the motor (600); Deviation correction driving step S4: according to the adjustment instruction sent by the controller, the rotation speed of one or more motors (600) is adjusted, and then the walking speed difference of the walking wheels (303) on both sides is controlled through the rotation speed difference of the motors (600) on both sides, so that the several dynamic values monitored in the walking process gradually keep consistent with the initial reference value, and then the stone cutting device is adjusted to return to the linear walking path; Linear walking step S5: after receiving the adjustment instruction and performing linear deviation correction in real time, the stone cutting device gradually walks along the straight line, and if no adjustment instruction is received, the stone cutting device always walks along the straight line.

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