| 摘要 |
PROBLEM TO BE SOLVED: To obtain accurate reversal motion and to enhance work efficiency in a self-advancing type flaw removing device, which provided with a revealing truck guiding means and a flaw grinding device for amending flaws produced on the surface of a steel plate, by proving a monitoring gyro, which monitors the posture of the traveling truck when the truck is in reversal motion or when it is being guided. SOLUTION: An self-advancing type flaw removing device is provided with a traveling truck 2 equipped with a front wheel 1a and a rear wheel 1b, C.C.D. cameras 3, 5, which obtain the image of the forward/afterward parts of the steel plate, and a C.C.D. camera 4, which grasps the width of the flaw marked on the steel plate. The images from respective cameras 3 to 5 processed by a controller 6 in order to control the posture of the traveling truck 2 or to give instruction to a grinder 7 so that the grinder grinds off the flaw at the flaw mark position. A truck monitrong gyro is mounted on the traveling truck 2 in order to monitor the rotation of the traveling truck 2 lest it should rotate by monitor than 180 degrees, and, at the time of abnormal operation, the driving wheel is decelerated. |
