| 摘要 |
PURPOSE:To effect highly accurate deburring with a robot, by reading out a slit beam of laser light projected linearly onto a specimen with a camera, conducting the specified image process and obtaining a deviation of a preliminarily indicated image from a detected image. CONSTITUTION:A laser generator 1 is provided with a slitting mechanism controlled in synchronization with fabrication control of a robot and it directs a slit beam of light in a linear shape the front side of the fabricated area of the specimen 2. This slit beam of light intersects a direction of burr formed on the specimen through the specified angle, for example, 90 deg. and the extreme end point of the burr is detected as a crossing point of two line sections with a camera 3 serving as an image sensor picking up an image of the slit beam of light. Thus, an offset amount is obtained as a difference between the actual image I1 and a corner image I2 indicated of the specimen and by processing this image information, detection is made for existence of the burr and its shape.
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