PROBLEM TO BE SOLVED: To provide a device for removing an unnecessary part and a method for removing an unnecessary part, wherein an unnecessary part detection accuracy is high because an unnecessary part is detected by its three-dimensional shape, or the three-dimensional shape and its surface color using the light-section method, and wherein only an unnecessary part can be removed, a yield after an unnecessary part removal is good, and an unnecessary part over the whole surface can be detected without fail because each unnecessary part is hollowed by changing the insertion angle of a rotary blade not to generate any leftover.SOLUTION: A device provided in the present invention comprises: a six-axial articulated robot 1 a control part for controlling the robot a slit light irradiation part 2 for forming a light-section line an image device 4 for filming the light-section line a conversion part for converting an image data of the light-section line to a three-dimensional shape information a detection part for detecting an unnecessary part based on the three-dimensional shape information and a calculation part for calculating three-dimensional coordinates of the detected unnecessary part and an arbitrary point. A method for removing an unnecessary part comprises: detecting the unnecessary part based on the three-dimensional shape information and pressing an object whose unnecessary part is to be removed against a fixed rotary blade 7 from the detected unnecessary part to the arbitrary point, to remove the unnecessary part.SELECTED DRAWING: Figure 4COPYRIGHT: (C)2018,JPO&INPIT【課題】光切断法を用いて表面の三次元形状、又は、該三次元形状と表面の色で不要部を検出するから不要部の検出精度が高く、また、取り残しがないように回転刃の挿入角度を変えて各不要部をくり抜くから不要部だけを除去して、不要部除去後の歩留まりが良く、しかも、表面全域に亘る不要部を漏れなく検出することができる不要部除去装置及び不要部除去方法を提供する。【解決手段】六軸多関節ロボット1と、該ロボットの制御部と、光切断線を形成するスリット光照射部2と光切断線を撮影する撮像装置4と光切断線の画像データを三次元形状情報に変換する変換部と該三次元形状情報から不要部を検出する検出部と検出した不要部と任意の一点の三次元座標を算出する算出部とを備える装置、及び、前記三次元形状情報から不要部を検出し、検出した不要部から任意の一点に向けて不要部除去物を固定された回転刃7に押し付けて不要部を除去する方法。【選択図】図4
