Linear walking deviation rectifying device of stone cutting equipment

Abstract

The utility model provides a kind of linear walking deviation rectifying device of stone cutting equipment, it includes frame assembly, cutting assembly, deviation rectifying component;The walking component includes fixed chassis, and fixed chassis is equipped with mounting bracket before and after, and driving part is symmetrically equipped on mounting bracket left and right, and walking wheel is equipped on the output end of driving part;The deviation rectifying component includes reference table, deviation rectifier and the controller of wireless or wired connection with deviation rectifier, and deviation rectifier is used to monitor the distance between reference table and send monitoring data to controller, and controller connects driving part and controls walking wheel to advance by monitoring data.The utility model provides that deviation rectifying component is adjusted by multiple deviation rectifiers real-time monitoring the distance between reference and instant feedback control end to walking component, real-time deviation on linear path is corrected, and stone cutting equipment is always guaranteed linear path to advance, reduces artificial cost investment and operating cost, improves operating safety.

Description

Technical Field

[0001] This utility model belongs to the technical field of stone cutting equipment, specifically relating to a straight-line travel correction device for stone cutting equipment. Background Technology

[0002] A mining stone cutter is a highly efficient piece of equipment widely used in mining operations. It is primarily used to cut large blocks of rock or stone to meet the needs of mining and processing. Traditional mining stone cutters mostly employ a track-based design, guiding the equipment's movement by laying specific tracks. However, this design has the following drawbacks: Due to the unevenness of the rock surface, the vibration generated during equipment operation, and the limitations of human adjustment, traditional stone cutting machines cannot guarantee that they will always move along a straight path, and are prone to deviation from the path. When the stone cutting machine starts cutting, the movement of the cutting components to cut the stone can easily cause the whole vehicle to move or be inaccurately positioned, requiring multiple manual alignments. Frequent manual correction operations greatly affect cutting efficiency and are relatively unsafe. Utility Model Content

[0003] (a) Technical problems to be solved In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a straight-line walking correction device for stone cutting equipment to solve the existing problems. (II) Technical Solution To achieve the above objectives, this utility model is implemented through the following technical solution: a straight-line walking correction device for a stone cutting equipment, which includes a frame assembly, a cutting component movably mounted on the frame assembly, a walking component mounted at the bottom of the frame assembly, and a correction component for straight-line correction of the walking path of the walking component. The walking assembly includes a fixed chassis, with mounting frames at both the front and rear of the fixed chassis. The mounting frames are symmetrically equipped with drive units on the left and right sides, and the output ends of the drive units are equipped with walking wheels. The correction assembly includes a reference platform mounted under a fixed chassis, at least two correction devices symmetrically arranged on a mounting frame, and a controller wirelessly or wiredly connected to the correction devices. The correction devices are used to monitor the distance between themselves and the reference platform and send monitoring data to the controller. The controller is connected to a drive unit and controls the wheels to move forward through the monitoring data. The straight line formed along the length of the reference platform is used as the absolute reference line, and the straight line formed along the line connecting the front and rear correction devices is used as the relative reference line. The front and rear correction devices form a first control distance and a second control distance with the reference platform, respectively. The left and right drive units control the relative baseline to always be parallel to the absolute baseline by adjusting the difference in the rotational speed of the walking wheels.

[0004] As a further improvement, the drive unit includes a motor, a coupling, a gearbox, and a drive shaft that is connected to the traveling wheels. The output end of the motor is connected to the gearbox via the coupling, and the gearbox is connected to the traveling wheels via the drive shaft.

[0005] As a further improvement, the walking wheels on both sides have the same or different walking speeds. When the correction device detects a numerical difference between the first control distance and the second control distance, the controller sends a command to adjust the motor speed to adjust the walking speed of the corresponding walking wheel, thereby ensuring that the first control distance and the second control distance always remain consistent.

[0006] As a further improvement, a reinforcing plate parallel to the axis between the two walking wheels is fixed on the mounting bracket. A first mounting plate is fixed horizontally on the front end face of the reinforcing plate, and a second mounting plate is fixed vertically on the front end face of the first mounting plate. The bottom of the second mounting plate is provided with mounting holes for mounting the correction device.

[0007] As a further improvement, the reinforcing plate is fixedly installed on both the front and rear mounting brackets, and the second mounting plate is arranged symmetrically in front and behind, wherein the reinforcing plate and the mounting bracket are fastened together by bolts.

[0008] As a further improvement, the second mounting plate has mounting holes on both sides of its bottom, and the aforementioned correction device is installed in each mounting hole, facing the reference platform and the traveling wheel respectively, to improve operational stability.

[0009] As a further improvement, a third control distance and a fourth control distance are respectively formed between the front and rear correction devices and the traveling wheels.

[0010] As a further improvement, the reference platform always remains consistent along the length direction and has a monitoring surface that remains horizontal along the length direction.

[0011] As a further improvement, the correction device is at least one of an infrared sensor, an ultrasonic sensor, a laser rangefinder, and a radar sensor.

[0012] A method for correcting the straight-line movement of a stone cutting device, the method comprising the following steps: Correction preparation step S1: Before the stone cutting equipment is started, the correction devices set at the front and rear automatically monitor the distance data between the current stationary state and the reference platform, and feed it back to the controller. The controller automatically calculates the average value of the front and rear distance data currently monitored by the correction devices as the reference value. Data monitoring step S2: Start the stone cutting equipment. During the forward and backward movement of the stone cutting equipment, the correction devices installed at the front and rear monitor the distance data between the equipment and the reference platform in real time. At this time, the monitored distance data are used as dynamic values. Data processing step S3: The correction device sends the monitoring data to the controller. The controller judges and processes the numerical difference between the reference value and several dynamic values ​​in real time, and then selects whether to send adjustment commands to the motor. Correction drive step S4: According to the adjustment command sent by the controller, adjust the speed of one or more motors accordingly. By controlling the speed difference between the two motors, the walking speed difference between the two walking wheels is controlled, so that several dynamic values ​​monitored during the movement gradually become consistent with the initial reference values, thereby adjusting the stone cutting equipment back to the straight walking path. Straight travel step S5: After receiving the adjustment command and performing straight correction in real time, the stone cutting equipment gradually moves along the straight line. If no adjustment command is received, the stone cutting equipment will always move along the straight path.

[0013] (III) Beneficial Effects The beneficial effects of this utility model are as follows: The correction component provided by this utility model monitors the distance between itself and the reference object in real time through multiple correction devices and provides immediate feedback to the control terminal to adjust the walking component accordingly. It accurately judges the differences in the monitoring data and analyzes them accordingly. It performs linear correction on the deviation that occurs on the straight path in real time, driving the stone cutting equipment to always maintain a straight path. It realizes automatic, real-time, dynamic, accurate and precise straight-line correction function, reduces labor costs and operating costs, and improves operational safety. Attached Figure Description

[0014] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of the stone cutting equipment according to an embodiment of the present invention; Figure 2 This is a partial structural diagram of the correction component according to an embodiment of the present invention. Figure 1 ; Figure 3 This is a partial structural diagram of the walking component according to an embodiment of the present utility model; Figure 4 This is a partial structural diagram of the correction component according to an embodiment of the present invention. Figure 2 ; Figure 5 This is an enlarged schematic diagram of a portion of the correction component according to an embodiment of the present invention; Figure 6 This is a partial structural schematic diagram of a correction component according to another embodiment of the present invention; Figure 7 This is a simplified linear schematic diagram of the correction operation in another embodiment of this utility model.

[0015] Explanation of key figure labels: 10. Frame assembly; 100. Monitoring area; 20. Cutting components; 30. Walking components; 301. Fixed chassis; 302. Mounting bracket; 303. Wheels; 40. Correction components; 401. Reference platform; 402. Corrector; 500. Reinforcing plate; 501. First mounting plate; 502. Second mounting plate; 503. Mounting hole; 600. Motor; 601. Coupling; 602. Gearbox; 603. Drive shaft; H1, First control distance; H2, Second control distance; H3, Third control distance; H4, Fourth control distance; L1, Absolute baseline; L2, Relative baseline. Detailed Implementation

[0016] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0017] [A straight-line travel correction device for stone cutting equipment according to an embodiment of this utility model] Example 1 Figure 1 This is a schematic diagram of the overall structure of the stone cutting equipment according to an embodiment of the present invention. Figure 2 This is a partial structural diagram of the correction component according to an embodiment of the present invention, as shown below. Figures 1-2 As shown, the structure of a straight-line walking correction device for a stone cutting equipment according to an embodiment of the present invention will be described in detail. It includes a frame assembly 10, a cutting component 20 movably disposed on the frame assembly 10, a walking component 30 disposed at the bottom of the frame assembly 10, and a correction component 40 for straight-line correction of the walking path of the walking component 30. The walking assembly 30 includes a fixed chassis 301, and the fixed chassis 301 is provided with mounting brackets 302 at both the front and rear. That is, in this embodiment, there are two mounting brackets 302 at the front and two at the rear. Each mounting bracket 302 is provided with a drive unit symmetrically arranged on the left and right sides. There are four drive units. Each drive unit is provided with a walking wheel 303 at its output end. Each drive unit is used to control the walking of one walking wheel 303. The walking wheel 303 is a track wheel. The correction component 40 includes a reference platform 401 mounted below the fixed chassis 301, at least two correction devices 402 symmetrically arranged on the mounting frame 302, and a controller wirelessly or wirely connected to the correction device 402. Based on the principle that two points determine a straight line, three or more correction devices are not easy to install and may cause the straight line to be skewed. Therefore, in this embodiment, the correction device 402 is preferably two, symmetrically installed on the mounting frame 302, and the correction device 402 is used to monitor the distance parameter H between itself and the reference platform 401. Then, the correction device 402 sends the monitored distance parameter H data to the controller. The controller is connected to the drive unit and controls the walking wheel 303 to move forward through the monitoring data. The distance parameter H can be set in advance by the operator. The distance parameter H can be 5cm, 10cm, 20cm or other values ​​that meet the actual requirements of stone cutting walking. Among them, the straight line formed along the length direction of the reference platform 401 is used as the absolute reference line L1. That is, the reference platform 401 will be used as the reference straight line. This reference straight line is formed along its length direction, or in other words, the reference platform 401 always maintains a straight path from the beginning to the end, without any bends or arcs. The straight line formed along the line connecting the front and rear correction devices 402 is used as the relative reference line L2. That is, the front and rear correction devices 402 will be used as the relative straight line. This relative straight line is formed along the line connecting the front and rear correction devices 402, or in other words, a straight line perpendicular to the axis of symmetry between the symmetrically arranged correction devices 402. The front and rear correction devices 402 and the reference platform 401 form a first control distance H1 and a second control distance H2, respectively. The left and right drive units adjust the difference in the rotation speed of the walking wheels 303 to control the relative baseline L1 to always be in a parallel position relative to the absolute baseline L2. When the two are in a parallel relationship, the first control distance H1 and the second control distance H2 will always be consistent. That is to say, when the first control distance H1 = the second control distance H2, the stone cutting equipment always travels along a straight path.

[0018] Please see Figure 3 As shown, the drive unit includes a motor 600, a coupling 601, a gearbox 602, and a drive shaft 603 that is connected to the traveling wheel 303. The output end of the motor 600 is connected to the gearbox 602 through the coupling 601. The gearbox 602 is connected to the traveling wheel 303 through the drive shaft 603. The motor provides power, which is transmitted to the gearbox through the coupling. The gearbox uses the gear ratio to change the speed and torque of the motor, and then transmits the power to the traveling wheel through the drive shaft, enabling the traveling wheel to achieve variable speed adjustment, adapting to complex terrain operations and improving efficiency.

[0019] It is important to know that before the stone cutting equipment starts working, the front and rear guide wheels 402 begin monitoring the values ​​of the first control distance H1 and the second control distance H2 as initial reference values. At the start of operation, the front and rear guide wheels 402 monitor the values ​​of the first control distance H1 and the second control distance H2 as dynamic values ​​during movement. Therefore, the walking wheels 303 on both sides may have the same or different walking speeds, as explained below: Please see Figure 1-5 As shown, when the stone cutting equipment starts working, the walking wheels 303 on both sides have the same walking speed, and the stone cutting equipment always travels along a straight path. During the movement, when the stone cutting equipment deviates from its course, that is, when the correction device 402 detects a numerical difference between the first control distance H1 and the second control distance H2 (comparing the dynamic value with the reference value, i.e., the first control distance H1 > the second control distance H2 or the first control distance H1 < the second control distance H2), the controller sends a command to adjust the speed of the motor 600, and adjusts the speed of the walking wheels 303 accordingly through the mechanical transmission relationship of the drive unit. The walking speed is adjusted so that the two walking wheels 303 on both sides have different walking speeds. By adjusting the walking speed of the two walking wheels, the numerical difference between the first control distance H1 and the second control distance H2 is gradually reduced, so that the first control distance H1 and the second control distance H2 are always consistent with the initial reference value, and the stone cutting equipment gradually returns to the original straight path. When the stone cutting equipment returns to the straight path (the correction device 402 detects that the first control distance H1 == the reference value and the second control distance H2 = the reference value are simultaneously satisfied), the correction device 402 sends data to the control... The controller sends adjustment commands to bring the walking wheels 303 on both sides back to their original, identical walking speeds, ensuring the stone-cutting equipment continues to travel along a straight path. It's important to understand that this correction adjustment process is real-time and linear. That is, once the correction device 402 detects a slight deviation, the controller immediately responds by sending commands to adjust the walking wheel speeds, achieving real-time monitoring, immediate response, and real-time correction. The process is as follows: "Walking deviation occurs (corrector monitors in real-time) → controller sends adjustment command (controller responds immediately) → adjusts walking speed difference (drive unit adjusts accordingly) → first..." The real-time, dynamic, and linear adjustment response of "the difference between the control distance H1 and the second control distance H2 and the reference value gradually approaches 0 (real-time deviation correction) → walking back to a straight path" ensures that the first control distance H1 and the second control distance H2 remain stable and consistent. That is, the relative baseline L1 is always parallel to the absolute baseline L2, and the stone cutting equipment always travels along a straight path. By automatically driving the equipment to travel along a straight path, the input of labor costs is reduced. When applied to environments such as stone cutting mines, it also improves the safety of operators and eliminates the need for frequent manual path correction.

[0020] Please see Figure 4-5As shown, a reinforcing plate 500 parallel to the axis between the two side wheels 303 is fixed on the mounting frame 302. 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 downward on the front end face of the first mounting plate 501. That is, the second mounting plate 502 extends vertically downward to a length below the top surface of the reference platform to meet the requirements of the correction device 402 for monitoring the reference platform. At the same time, the bottom of the second mounting plate 502 is provided with a mounting hole 503 for mounting the correction device 402. The mounting hole 503 is horizontally set relative to the vertical second mounting plate 502, so that the correction device 402 always maintains a relatively horizontal and stable state, improving the stability of the monitoring data.

[0021] Please see Figure 3-5 As shown, the reinforcing plate 500 is fixedly installed on both the front and rear mounting brackets 302, and the second mounting plate 502 is arranged symmetrically front and rear. The symmetrical arrangement of the second mounting plate 502 ensures that the correction device 402 installed on it can always be in a symmetrical straight line position, ensuring that the front and rear correction devices 402 are on the same horizontal plane without deviation. The reinforcing plate 500 is fastened to the mounting bracket 302 by bolts. The setting of the reinforcing plate 500 improves the stability during walking, and the fastening bolts ensure that there is no shaking during walking that would affect the monitoring.

[0022] Please see Figure 1-2 As shown, the reference platform 401 always maintains a consistent length direction, meaning it remains a straight path from start to finish without any curves or arcs. It also has a monitoring surface 100 that remains horizontal along its length. This monitoring surface 100 is used for monitoring the correction device 402. Since the correction device 402 is monitored from the same horizontal plane, the object being monitored should also have a horizontal plane parallel to it. Therefore, in this embodiment, the side of the reference platform being monitored has a monitoring surface 100 that remains horizontal, making the monitoring data more stable, accurate, and detailed. The reference platform 401... The material can be any of the following, including but not limited to rectangular tubes and profiles. In this embodiment, a profile is preferred. The reference platform 401 is set up on the ground in advance before the stone cutting equipment is operated, and its straightness and levelness need to be adjusted during the design so that its monitoring surface 100 meets the requirements of the being monitored. The correction device 402 is at least one of infrared sensor, ultrasonic sensor, laser rangefinder sensor, and radar sensor. In this embodiment, an ultrasonic sensor is preferred. Ultrasonic sensors have good real-time performance and can quickly provide measurement results; they are also highly adaptable to the environment and are not sensitive to dust, smoke, and other environmental factors, making them more suitable for the operating environment of the stone cutting equipment; at the same time, ultrasonic sensors are small in size and easy to install.

[0023] Example 2 For the sake of brevity, the parts that are the same as in Embodiment 1 will not be described again. The main focus here is on the structure that is different from Embodiment 1 of this utility model. The only difference between Embodiment 2 and Embodiment 1 is the difference in the correction device.

[0024] Please see Figure 6 As shown, to improve the stability of the correction component's operation, in this embodiment, mounting holes 503 are provided on both the left and right sides of the bottom of the second mounting plate 502. Correctors 402 are installed in each mounting hole 503, facing the reference platform 401 and the traveling wheel 303 respectively. These holes are used to simultaneously monitor the distance between the reference platform 401 and the traveling wheel 303. A third control distance H3 is formed between the correctionor 402 located on the front side and the traveling wheel 303, and a fourth control distance H4 is formed between the correctionor 402 located on the rear side and the traveling wheel 303. Through the additional correctionors for pre-monitoring, the traveling wheels on both sides of the stone cutting equipment are also on a horizontal line. At this time, a second baseline C is defined. Before operation, the third control distance H3 and the fourth control distance H4 are measured in advance. Since the correctionors before and after the correction component are always in a stable state, the third control distance H3 and the fourth control distance H4 are... For stable and unchanging conditions, fluctuations in the values ​​of the third control distance H3 and the fourth control distance H4 only occur when there are problems with the installation of the correction components or the traveling wheels, such as loose bolts, or due to environmental factors affecting ore cutting, causing the stone cutting equipment to shake and resulting in the correction components not being securely connected, or being damaged and loose. As a means that can be understood by those skilled in the art, devices with audible and visual prompts can be connected to the controller, such as cellular alarms or LED lights. In this case, maintenance personnel can respond in a timely manner and take measures to stop the operation and perform maintenance and repair on the equipment. Based on multi-data monitoring and fusion analysis of the deviation values ​​during the movement of the stone cutting equipment, the correction device 402 performs multi-data monitoring, the controller drives the traveling wheels speed difference, and at the same time 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 correction components, but also ensures the real-time performance, accuracy, and precision of the straight-line correction.

[0025] [A method for straight-line travel correction of a stone cutting device according to an embodiment of this utility model] A method for correcting the straight-line movement of a stone cutting device, the method comprising the following steps: Correction preparation step S1: Before the stone cutting equipment is started, the correction devices 402 set at the front and rear automatically monitor the distance data between the current stationary state and the reference platform 401, and feed it back to the controller. The controller automatically calculates the average value of the front and rear distance data currently monitored by the correction device 402 as the reference value Z. This distance data refers to the distance data a1 and a2 between the first control distance H1 (static) and the second control distance H2 (static), with the data correspondence as follows: ① Distance data a1: First control distance H1 (static); ② Distance data a2: First control distance H2 (static); The baseline value Z = (a1 + a2) / 2; Data monitoring step S2: Start the stone cutting equipment. During the movement of the stone cutting equipment, the correction devices 402 installed at the front and rear monitor the distance data between the equipment and the reference platform 401 in real time. At this time, the monitored distance data are used as dynamic values. This distance data refers to the distance data A1 and A2 between the first control distance H1 (dynamic) and the second control distance H2 (dynamic), with the data correspondence 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 correction device 402 sends the monitoring data to the controller. The controller judges and processes the distance difference between the correction device 402 and the reference platform 401 and / or the walking wheel 303 in real time, which is to process the numerical difference between the initial reference value and several dynamic values ​​monitored during the movement. The difference in distance values ​​is reflected in: the controller determines whether the values ​​of the first control distance H1 and the second control distance H2 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 its movement, the following deviations are monitored: When A1≠Z and / or A2≠Z, where “≠” includes both ">” and “<”, i.e. when A1> or <Z and / or A2> or <Z, the controller immediately sends an adjustment command to motor 600. If no deviation is detected, that is, if A1=Z and A2=Z are satisfied at the same time, the controller will not send an adjustment command and will directly execute step S5; Please see Figure 7 As shown, taking the leftward deviation of the stone cutting equipment during its forward movement as an example, the monitored deviation is as follows: ①: When A1>Z and A2<Z, the controller immediately sends an adjustment command to motor 600; ②: When A1 > Z and A2 > Z, and the deviation of A1 is greater than that of A2, the controller immediately sends an adjustment command to motor 600; ③: When A1 > Z and A2 = Z, the controller immediately sends an adjustment command to motor 600; Correction drive step S4: According to the adjustment command sent by the controller, adjust the speed of one or more motors 600 accordingly, and control the speed difference of the walking wheels 303 on both sides by the speed difference of the two motors 600, so that the first control distance H1, the second control distance H2 and the reference value Z gradually become consistent, thereby adjusting the stone cutting equipment back to the straight walking path; Taking the left deviation situation ② in step S3 as an example, the controller will increase the walking speed of the right walking wheel 303 to make the stone cutting equipment return to the right. Straight travel step S5: After receiving the adjustment command and performing straight correction in real time, the stone cutting equipment gradually moves along the straight line. If no adjustment command is received, the stone cutting equipment will always move along the straight path.

[0026] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0027] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A linear walking deviation rectifying device for a stone cutting apparatus, characterized in that, It includes a frame assembly (10), a cutting component (20) movably mounted on the frame assembly (10), a walking component (30) located at the bottom of the frame assembly (10), and a correction component (40) for straightening the walking path of the walking component (30). The walking component (30) includes a fixed chassis (301), and mounting frames (302) are provided at both the front and rear of the fixed chassis (301). The mounting frames (302) are symmetrically provided with driving parts on the left and right sides, and the output end of the driving parts is provided with walking wheels (303). The correction assembly (40) includes a reference platform (401) mounted under a fixed chassis (301), at least two correction devices (402) symmetrically arranged on a mounting frame (302), and a controller wirelessly or wiredly connected to the correction devices (402). The correction devices (402) are used to monitor the distance between themselves and the reference platform (401) and send monitoring data to the controller. The controller is connected to the drive unit and controls the walking wheels (303) to move forward through the monitoring data. The straight line formed along the length direction of the reference platform (401) is used as the absolute reference line (L1), and the straight line formed along the line connecting the front and rear correction devices (402) is used as the relative reference line (L2). Among them, the front and rear correction devices (402) and the reference platform (401) respectively form a first control distance (H1) and a second control distance (H2). The left and right drive units adjust the speed difference of the walking wheels (303) to control the relative reference line (L2) to always be in a parallel position relative to the absolute reference line (L1).

2. The linear walking deviation rectifying device of a stone cutting apparatus according to claim 1, characterized in that: The drive unit includes a motor (600), a coupling (601), a gearbox (602), and a drive shaft (603) that is connected to the walking wheel (303). The output end of the motor (600) is connected to the gearbox (602) through the coupling (601), and the gearbox (602) is connected to the walking wheel (303) through the drive shaft (603).

3. The linear walking deviation rectifying device of a stone cutting apparatus according to claim 2, characterized in that: The two walking wheels (303) have the same or different walking speeds. When the correction device (402) detects a numerical difference between the first control distance (H1) and the second control distance (H2), the controller sends a command 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) always remain consistent.

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

5. The linear walking deviation rectifying device of a stone cutting apparatus according to claim 4, characterized in that: The reinforcing plate (500) is fixedly provided on both the front and rear mounting brackets (302), and the second mounting plate (502) is arranged symmetrically in front and behind. The reinforcing plate (500) and the mounting bracket (302) are fastened together by 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) has mounting holes (503) on both sides of its bottom. The correction device (402) is installed in each mounting hole (503) and faces the reference platform (401) and the traveling wheel (303) respectively.

7. The linear walking deviation rectifying device of a stone cutting apparatus according to claim 6, characterized in that: The front and rear correction devices (402) and the traveling wheels (303) form a third control distance (H3) and a fourth control distance (H4) respectively, which are used to improve operational stability.

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

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

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