During Europearn funded project INLINE a prototype of a robot-based automated burr detection for tank valves was developed. Hereby moves the robot the tank valve to the endoscopic-based inspection sensor, which uses photometric stereo technology to detect burrs in the edges of the drill holes inside the tank valve. The robot guarantees a repeatable position of the tank valve and a fully automated inspeciton of all drill holes of the valve. The Robot can be used togehter with a gripping tool so that the valves can be automated picked and placed before and after the inspection. The short inspection and processing time of the sensor itself allows an integration into the production process for a 100% quality control. Furthermore the inspection system can also be used for the quality control of threads.