| 摘要 |
PROBLEM TO BE SOLVED: To prevent the unexecution of work caused by the failure in rotation of a rotating-driving tool by detecting whether the rotation of the rotating- driving tool is normal or not. SOLUTION: A rotating-driving tool 1 comprising a blade tool 9 is gripped by a robot by a tool mounting and demounting mechanism 2, and a collet nut 8 is located on an intermediate position between a light projector 11 and a light receiver 12. The air is supplied from the robot to rotate a driving motor 4, whereby the collet nut 8 is rotated. The quantity of slit light 13 received by the light receiver 12 and the change of the light receiving quantity are detected by the rotation of the collet nut 8 to detect whether the rotation of the rotation driving-type tool 1 is normal or not. Whereby the unexecution of work caused by the failure in rotation of the rotating-driving tool 1 can be prevented.
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