Tool magazine

Abstract

To provide a tool magazine that can accommodate a case where a tool holder moves in the axial direction while holding the tool holder. [Solution] A tool magazine (100) that transfers a tool holder (200) to a spindle (300) located at an exchange position (E), and includes a gripper (10) that grips the tool holder (200), a first moving body (21) on which the gripper (10) is mounted, a first linear motion mechanism (31) that guides the first moving body (21) in the axial direction of the rotation axis (210) of the tool holder (200), and a first biasing section (41) that biases the first moving body (21) so that the gripper (10) is positioned at a predetermined origin (S).

Description

[Technical Field]

[0001] The present invention relates to a tool magazine that transfers tool holders to and from a spindle. [Background technology]

[0002] Known are tool holders that can be attached to a spindle and to which tools can be attached, and tool magazines that hold multiple tool holders to which various tools are attached (Japanese Utility Model Application Laid-Open No. 63-201031).The tool magazine allows the tool holder attached to the spindle to be changed as needed to perform various machining operations on a workpiece.When changing the tool holder, the tool magazine holds the tool holder, and the spindle clamps or unclamps the tool holder. Summary of the Invention [Problem to be solved by the invention]

[0003] In the process of clamping or unclamping the tool holder by the spindle, the tool holder (spindle) may move in the axial direction of its rotation axis due to the mechanism of clamping or unclamping. An object of the present invention is to provide a tool magazine that can accommodate cases where a tool holder moves in the axial direction while holding the tool holder. [Means for solving the problem]

[0004] A first aspect of the present invention is A tool magazine that transfers tool holders to and from a spindle at an exchange position, a gripper that grips the tool holder; a first moving body on which the gripper is provided; a first linear motion mechanism that guides the first movable body in an axial direction of a rotation axis of the tool holder; a first biasing unit that biases the first moving body so that the gripper is positioned at a predetermined origin; a first restriction portion that determines a movement limit position of the first movable body on a first end side in the axial direction; a second moving body disposed on a second end side opposite to the first end side of the first moving body; a second linear motion mechanism that guides the second moving body in the axial direction; a second biasing portion that biases the second movable body toward the second end; a second restriction portion that determines a movement limit position on the second end side of the second movable body; Equipped with picture, the first biasing portion biases the first moving body toward the first end side with respect to the second moving body, the first restricting portion determines a movement limit position of the first end side of the first movable body relative to the second movable body, It is a tool magazine.

[0005] A tool is attached to the tool holder. The tool is, for example, a cutting tool or a brush. The tip side of the tool holder is the side where the tool is attached in the axial direction of the tool holder's rotation shaft. The base side of the tool holder is the side opposite the tip side in the axial direction of the tool holder's rotation shaft. The first axial end side is, for example, the base end side. The second axial end side is, for example, the tip side. The axial direction of the spindle in the replacement position coincides with the axial direction of the rotation axis of the tool holder held in the tool magazine. The tip and base ends of the spindle in the replacement position coincide with the tip and base ends of the tool holder held in the tool magazine. The spindle is movable in the axial direction and in a direction perpendicular to the axial direction.

[0006] The tool magazine may have a base, the first linear motion mechanism and the second linear motion mechanism are disposed on the base, the first restricting portion is disposed on the second movable body, and the second restricting portion is disposed on the base.

[0007] The gripper may have, for example, two claws. The two claws sandwich and grip the tool holder. An elastic member such as a compression spring may be arranged on the base end side of the two claws, and the tip end sides of the two claws may be biased in a direction to close. The spindle may be moved from the tip end side of the claws toward the base end side, and the two claws may be pushed apart by the tool holder to grip the tool. The gripper may be attached to the first movable body with play.

[0008] The first movable body or the second movable body may be, for example, flat or block-shaped. The first movable body or the second movable body may be C-shaped when viewed from the axial direction. In this case, the spindle can approach the gripper from the open side to transfer the tool holder. The first movable body and the second movable body may be substantially the same shape.

[0009] The first linear motion mechanism or the second linear motion mechanism may be, for example, a shaft and a linear bushing, a slide rail, or a linear guide. The first linear motion mechanism and the second linear motion mechanism may share a shaft or a rail. The first linear motion mechanism may be provided so that the first moving body moves relative to the second moving body.

[0010] The first biasing portion or the second biasing portion is, for example, a spring or a fluid cylinder (e.g., an air cylinder or a hydraulic cylinder). When the first moving body or the second moving body is biased vertically downward, the first moving body or the second moving body itself may serve as the first biasing portion or the second biasing portion and be biased by its own weight. When the first moving body or the second moving body is biased vertically upward, the first biasing portion or the second biasing portion may have a tank that stores liquid and a float that is disposed on the first moving body or the second moving body and floats on the liquid.

[0011] The first restricting portion or the second restricting portion is, for example, a mechanical stopper. The first restricting portion or the second restricting portion mechanically restricts the first movable body or the second movable body from moving beyond a movement limit position. The first restricting portion may have an extending portion extending from the second movable body to a first end side in the axial direction from the first movable body, and an opposing portion provided at the tip of the extending portion and opposing the first end side of the first movable body. When the mechanical stopper arranged on the first movable body abuts on the opposing portion, movement of the first movable body toward the first end side relative to the second movable body is restricted, and this position is the movement limit position.

[0012] The device may have a first buffer section or a second buffer section that damps the movement of the first moving body or the second moving body. The first buffer section or the second buffer section has a shock absorber (e.g., a spring buffer, an air buffer, or a hydraulic buffer). The shock absorber of the first buffer section may be arranged on one of the first moving body or the second moving body. A first abutment section that abuts against the shock absorber may be arranged on the other of the first moving body or the second moving body. The shock absorber of the second buffer section is arranged on one of the second moving body or the base. A second abutment section that abuts against the shock absorber is arranged on the other of the second moving body or the base.

[0013] The tool magazine may include a position detection sensor that detects the position of the gripper or the first movable body. Preferably, the position detection sensor detects whether the gripper or the first movable body is at a movement limit position on the first end side in the axial direction, a movement limit position on the second end side in the axial direction, or an origin. The tool magazine may have a gripping detection sensor that detects whether or not a tool holder is gripped by the gripper. [Effects of the Invention]

[0014] The tool magazine of the present invention can accommodate cases where the tool holder moves in the axial direction while holding the tool holder. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a perspective view of a tool magazine according to a first embodiment; [Figure 2] Arrow II view of Figure 1 [Figure 3] View of arrow III in Figure 1 [Figure 4] IV arrow view of Figure 1 [Figure 5A] FIG. 10 is an explanatory diagram of the operation of the tool magazine of the first embodiment (normal state); [Figure 5B] FIG. 10 is an explanatory diagram of the operation of the tool magazine of the first embodiment (when unclamping); [Figure 5C] FIG. 10 is an explanatory diagram of the operation of the tool magazine of the first embodiment (when clamping); [Figure 6]FIG. 10 is a side view of the tool magazine according to the second embodiment; [Figure 7] FIG. 10 is a side view of the tool magazine according to the third embodiment; [Figure 8] FIG. 10 is a side view of the tool magazine according to the fourth embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0016] First Embodiment As shown in FIGS. 1 to 4, in this embodiment, a tool magazine 100 transfers a tool holder 200 to a spindle 300. The upward direction in FIG. 1 is the vertically upward side. For convenience, the diagonally upper right direction in FIG. 1 will be referred to as the right side. The diagonally lower right direction in FIG. 1 will be referred to as the front side. Note that FIG. 1 shows a portion of the left support pillar 74 in a see-through manner. FIG. 3 shows the entire left support pillar 74 in a see-through manner.

[0017] As shown in FIG. 1, tool holder 200 has a pull stud 201, a tapered shank 202, a flange 203, and a tool 204. The pull stud 201 is located at the upper end of tool holder 200. The tapered shank 202 is disposed below pull stud 201. The flange 203 has a drive keyway 206. The rotation axis 210 of tool holder 200 is parallel to the vertical direction. Tool holder 200 is attached to spindle 300 with its tip facing downward.

[0018] As shown in FIG. 3 , the spindle 300 has a spindle bore 302 and a draw bar 303. The spindle 300 can rotate around a rotation axis 310. At the exchange position E, the spindle 300 extends vertically. When the tool holder 200 is attached to the spindle 300, the rotation axis 210 of the tool holder 200 and the rotation axis 310 of the spindle 300 coincide with each other. The spindle bore 302 is formed on the underside of the spindle 300. The spindle bore 302 is a tapered bore that can fit tightly onto the tapered shank 202. When the spindle 300 descends, the draw bar 303 grips the pull stud 201 and pulls it upward relative to the spindle 300 to secure it in place. When the spindle 300 ascends, the draw bar 303 descends relative to the spindle 300, releasing the pull stud 201. When the spindle 300 rises further, the draw bar 303 pushes the tool holder 200 out of the spindle hole 302 .

[0019] The tool magazine 100 has a gripper 10, a first moving body 21, a first linear motion mechanism 31, a first urging section 41, a first regulating section 51, a first buffer section 61, a second moving body 22, a second linear motion mechanism 32, a second urging section 42, a second regulating section 52, a second buffer section 62, a sensor section 70, and a base 80.

[0020] The base 80 is a horizontally extending rectangular plate that is fixed to an installation surface or other structure.

[0021] The first moving body 21 is a horizontally extending rectangular plate. A semicircular recess 211 is disposed on the front edge of the first moving body 21. The first moving body 21 is guided by the first linear motion mechanism 31 to move up and down.

[0022] The second moving body 22 is substantially the same as the first moving body 21. A semicircular recess 221 is arranged on the front edge of the second moving body 22. The second moving body 22 is arranged below the first moving body 21. When viewed from above, the first moving body 21 and the second moving body 22 overlap. The second moving body 22 is guided by the second linear motion mechanism 32 and moves back and forth in the up and down direction.

[0023] The pair of first linear motion mechanisms 31 are arranged on the left and right sides of the tool magazine 100. Each of the first linear motion mechanisms 31 has a linear motion shaft 311 and a first bearing 312. The linear motion shaft 311 is cylindrical. The linear motion shaft 311 is arranged in the front part of the base 80 and extends vertically. The first bearing 312 is a linear bushing. The first bearing 312 is attached to the radially outer side of the linear motion shaft 311 and can move vertically relative to the linear motion shaft 311. The pair of first bearings 312 are arranged with the recess 211 between them. The first bearings 312 pass through the first moving body 21 in the vertical direction. The first bearings 312 are fastened to the first moving body 21. The first moving body 21 can be detached upward from the linear motion shaft 311.

[0024] The pair of second linear motion mechanisms 32 are arranged on the left and right sides of the tool magazine 100. Each of the second linear motion mechanisms 32 has a linear motion shaft 311 and a second bearing 322. The first linear motion mechanism 31 and the second linear motion mechanism 32 share the linear motion shaft 311. The second linear motion mechanism 32 is substantially the same as the first linear motion mechanism 31. The second bearing 322 passes through the second moving body 22 and is fastened to the second moving body 22.

[0025] The first biasing portion 41 has two compression springs 411. The compression springs 411 are coil springs. The two compression springs 411 are inserted outside the left and right linear motion shafts 311, respectively. The compression springs 411 are disposed between the first moving body 21 and the second moving body 22. The compression springs 411 are in a compressed state between the first moving body 21 and the second moving body 22. The first biasing portion 41 biases the first moving body 21 upward relative to the second moving body 22.

[0026] The first restricting portion 51 has a mechanical stopper 511, an extending portion 512, and a facing portion 513. The mechanical stopper 511 is disposed at the right rear portion of the first moving body 21. The mechanical stopper 511 protrudes upward from the first moving body 21. The extending portion 512 extends upward from the right rear portion of the second moving body 22. The facing portion 513 extends forward from the upper end of the extending portion 512. The extending portion 512 is located rearward of the rear ends of the first moving body 21 and the second moving body 22. The facing portion 513 faces upward relative to the mechanical stopper 511. When the first moving body 21 moves upward relative to the second moving body 22, the mechanical stopper 511 abuts against the facing portion 513. The position of the first moving body 21 at this time is the upper movement limit position of the first moving body 21 relative to the second moving body 22.

[0027] The first buffering unit 61 has a shock absorber 611, an extending portion 612, and an opposing portion (first abutment portion) 613. The shock absorber 611 has a cylinder 616 and a rod 617. The cylinder 616 is disposed at the left rear portion of the first moving body 21. The rod 617 protrudes upward from the cylinder 616. The extending portion 612 and the opposing portion 613 are substantially the same as the extending portion 512 and the opposing portion 513 of the first restricting unit 51. The upper end of the rod 617 abuts against the opposing portion 613. When the first moving body 21 moves relative to the second moving body 22, the rod 617 moves forward and backward relative to the cylinder 616, thereby damping the movement of the first moving body 21.

[0028] The second biasing portion 42 is the second moving body 22 itself. That is, the second moving body 22 is biased downward by its own weight.

[0029] The second restricting portion 52 has a mechanical stopper 521 and a pedestal portion 522. The mechanical stopper 521 is disposed on the left side of the second moving body 22. The mechanical stopper 521 protrudes downward from the second moving body 22. The pedestal portion 522 is disposed on the left side of the base 80. The pedestal portion 522 faces downwardly relative to the mechanical stopper 521. When the second moving body 22 moves downward, the mechanical stopper 521 abuts against the pedestal portion 522. The position of the second moving body 22 at this time is the lower movement limit position of the second moving body.

[0030] The second buffering section 62 has a shock absorber 621 and a pedestal section (second abutment section) 622. The shock absorber 621 has a cylinder 626 and a rod 627. The cylinder 626 is disposed on the right side of the second moving body 22. The rod 627 protrudes downward from the cylinder 626. The pedestal section 622 is disposed on the right side of the base 80. The pedestal section 622 faces the lower side of the shock absorber 621. The lower end of the rod 627 abuts against the pedestal section 622. When the second moving body 22 moves, the rod 627 advances and retreats relative to the cylinder 626, thereby damping the movement of the second moving body 22.

[0031] The gripper 10 has two claws 11, an elastic member 12, a key 13, and a loose-fitting plate 14. The loose-fitting plate 14 is a horizontally extending rectangular plate. The loose-fitting plate 14 is arranged on the upper surface of the first movable body 21 with a slight amount of play in the left-right direction. The two claws 11 are aligned left and right and extend front to back. The two claws 11 are arranged on the upper surface of the loose-fitting plate 14 so as to be able to swing. The two claws 11 sandwich the tool holder 200 between their front portions. The elastic member 12 is a compression spring. The elastic member 12 is attached between the rear portions of the two claws 11 and biases the front portions of the two claws 11 to close. The key 13 is arranged between the two claws 11 and is fastened to the loose-fitting plate 14. When the tool holder 200 is gripped by the claws 11, the key 13 fits into the drive keyway 206. In top view, the tool holder 200 held by the gripper 10 is sandwiched between two linear motion shafts 311, and the tool holder 200 and the two linear motion shafts 311 are aligned on a straight line. The vertical position of the gripper 10 when the first moving body 21 is located at an upper limit position relative to the second moving body 22 and the second moving body 22 is located at a lower limit position is defined as an origin S of the gripper 10.

[0032] The sensor unit 70 has a gripping detection sensor 71, a position detection sensor 72, a dog 73, and two support pillars 74. The support pillars 74 extend upward from the left and right parts of the base 80. The gripping detection sensor 71 is a transmission-type photoelectric sensor. The gripping detection sensor 71 is fixed to the upper ends of the left and right support pillars 74. The gripping detection sensor 71 is disposed above the first movable body 21. When the gripper 10 grips the tool holder 200, the tool holder 200 blocks light from the gripping detection sensor 71, and the gripping detection sensor 71 detects the tool holder 200. The position detection sensor 72 is, for example, a position sensor or a proximity switch. The position detection sensor 72 is disposed at the top of the right support pillar 74. The dog 73 is disposed at the right end of the first movable body 21. The dog 73 faces the position detection sensor 72. The position detection sensor 72 detects the height of the first moving body 21.

[0033] A method of using the tool magazine 100 of this embodiment will be described with reference to Figures 5A to 5C. Figures 5A to 5C are cross-sectional views taken along line VV in Figure 3 during operation.

[0034] As shown in FIG. 5A, under normal circumstances, the second moving body 22 is urged downward by its own weight. The mechanical stopper 521 abuts against the base portion 522. The second moving body 22 is located at its lower limit. The first moving body 21 is urged upward relative to the second moving body 22 by the first biasing portion 41. The mechanical stopper 511 abuts against the opposing portion 513. The first moving body 21 is located at its upper limit. At this time, the gripper 10 is located at the origin S. FIG. 5A shows a state in which the gripper 10 does not grip the tool holder 200. This is essentially the same even when the gripper 10 grips the tool holder 200. Under normal circumstances, the gripper 10 is always located at the origin S due to the first biasing portion 41 and the second biasing portion 42.

[0035] The process when the spindle 300 transfers the tool holder 200 to the tool magazine 100 will be described. First, the spindle 300 approaches the tool magazine 100 from the front. Next, the tool holder 200 pushes open the two claws 11, causing the claws 11 to grip the tool holder 200. Next, as shown in FIG. 5B , with the tool holder 200 gripped by the gripper 10, the spindle 300 moves upward together with the tool holder 200 by a predetermined distance. This causes the spindle 300 to unclamp the tool holder 200. At this time, the gripper 10 and the first movable body 21 also move upward by the same distance. Furthermore, the mechanical stopper 511 abuts against the opposing portion 513. Therefore, the extension portion 512 and the second movable body 22 also move upward by the same distance. The mechanical stopper 521 moves away from the base portion 522. The rod 627 of the second buffer portion 62 is stretched. The tool holder 200 is held by the tool magazine 100. Next, the spindle 300 is removed upward.

[0036] The process when the spindle 300 receives the tool holder 200 from the tool magazine 100 will be described. First, the spindle 300 approaches the tool magazine 100 from above. Next, as shown in FIG. 5C , the spindle 300 descends with the tool holder 200 held by the gripper 10. As a result, the tool holder 200 is inserted into the spindle hole 302. Next, the spindle 300 moves downward a predetermined distance together with the tool holder 200. At this time, the gripper 10 and the first movable body 21 also move downward the same distance. As a result, the spindle 300 clamps the tool holder 200. The mechanical stopper 521 abuts against the base portion 522. Therefore, the second movable body 22 does not move, and the compression spring 411 of the first biasing portion 41 is compressed. The mechanical stopper 511 moves away from the opposing portion 513. The rod 617 of the first buffer part 61 is stretched. The tool holder 200 is attached to the spindle 300. Next, the spindle 300 is removed forward together with the tool holder 200.

[0037] In this way, the gripper 10 can handle cases where the tool holder 200 moves up and down while gripping the tool holder 200. Normally, the gripper 10 is always positioned at the origin S. During unclamping, if a malfunction occurs and the spindle 300 moves upward without unclamping the tool holder 200, the first movable body 21 and the second movable body 22 move upward together with the tool holder 200 and move away from the linear motion shaft 311. This prevents damage to other structures. When viewed from above, the tool holder 200 gripped by the gripper 10 is sandwiched between the two linear motion shafts 311, and the tool holder 200 and the two linear motion shafts 311 are aligned in a straight line. Therefore, when the tool holder 200 moves up and down, no moment load is applied to the first linear motion mechanism 31 and the second linear motion mechanism 32. This allows the first movable body 21 and the second movable body 22 to follow stably.

[0038] By arranging a plurality of tool magazines 100 and having each magazine hold a different tool holder 200, the spindle 300 can change the tool holder 200 as needed.

[0039] Second Embodiment As shown in FIG. 6, the tool magazine 100a of this embodiment has a gripper 10, a first moving body 21a, a first linear motion mechanism 31a, a first urging portion 41a, a first regulating portion 51a, a second moving body 22a, a second linear motion mechanism 32a, a second urging portion 42a, a second regulating portion 52a, a second buffer portion 62a, a base 80, and a wall portion 81a.

[0040] The wall portion 81a is fixed to the rear end of the base 80 and extends in the vertical direction.

[0041] The first moving body 21a is a flat plate extending horizontally. The gripper 10 is disposed on the upper surface of the first moving body 21a. The first moving body 21a is substantially the same as the first moving body 21 of the first embodiment.

[0042] The second moving body 22a is a flat plate that extends horizontally. When viewed from above, the second moving body 22a extends rearward (toward the wall surface portion 81a) from the first moving body 21a.

[0043] The second linear motion mechanism 32a is a linear guide. The second linear motion mechanism 32a has a second rail 321a and a second moving block 322a. The second rail 321a extends vertically. The second rail 321a is disposed on the front surface of the wall surface portion 81a. The second moving block 322a can move back and forth along the second rail 321a.

[0044] The first linear motion mechanism 31a is a linear guide. The first linear motion mechanism 31a has a first rail 311a and a first moving block 312a. The first rail 311a extends vertically. The first rail 311a is disposed in front of the second moving block 312a.

[0045] The rear end of the second moving body 22a is attached to the lower end of the first rail 311a. That is, the second moving body 22a is guided in the up and down direction by the second linear motion mechanism 32a. The rear end of the first moving body 21a is attached to the upper end of the first moving block 312a. That is, the first moving body 21a is guided in the up and down direction by the first linear motion mechanism 31a.

[0046] The first biasing portion 41a has a compression spring 411a. The compression spring 411a is a coil spring. The compression spring 411a is disposed between the first moving body 21a and the second moving body 22a. The compression spring 411a is in a compressed state between the first moving body 21a and the second moving body 22a. Therefore, the first biasing portion 41a biases the first moving body 21a upward relative to the second moving body 22a.

[0047] The first restricting portion 51a is a flat plate extending horizontally. The first restricting portion 51a is attached to the upper end of the first rail 311a. When the first movable body 21a moves upward relative to the second movable body 22a, the first movable body 21a comes into contact with the first restricting portion 51a. The first restricting portion 51a determines the upper movement limit position of the first movable body 21a relative to the second movable body 22a.

[0048] The second biasing portion 42a is the second moving body 22a itself. That is, the second moving body 22a is biased downward by its own weight.

[0049] The second buffering portion 62a has a shock absorber 621a and a bracket 622a. The bracket 622a is disposed on the wall surface portion 81a. The bracket 622a supports the shock absorber 621a. When the second moving body 22a moves, the shock absorber 621a attenuates the movement of the second moving body 22a. The shock absorber 621a also determines the lower movement limit position of the second moving body 22a. Therefore, the second buffering portion 62a also serves as the second restricting portion 52a.

[0050] <Third embodiment> As shown in FIG. 7, in the tool magazine 100b of this embodiment, the first biasing portion 41b is an air cylinder. The first biasing portion 41b has a cylinder 411b and a rod 412b. The cylinder 411b is disposed on the second moving body 22. The rod 412b protrudes upward from the cylinder 411b so as to be movable forward and backward. The upper end of the rod 412b abuts against the first moving body 21. The rod 412b is biased upward by air pressure supplied to the cylinder 411b. Therefore, the first biasing portion 41b biases the first moving body 21 upward relative to the second moving body 22.

[0051] <Fourth embodiment> As shown in FIG. 8, in the tool magazine 100c of this embodiment, the axial direction is horizontal (front-rear direction). Hereinafter, for convenience, the right side of FIG. 8 will be referred to as the front. The tool holder 200 is attached to the spindle 300 with its tip facing forward. The tool magazine 100c has a base plate 81c, a sub-base plate 82c, the tool magazine 100, and a second biasing unit 42c. The tool magazine 100 is disposed on the base plate 81c in an orientation that is 90 degrees different from that of the first embodiment. The base plate 80 is disposed at the front end of the base plate 81c. Furthermore, the sub-base plate 82c is disposed at the rear end of the base plate 81c. The second biasing unit 42c has two compression springs 421c. The compression springs 421c are coil springs. The two compression springs 421c are disposed between the left and right opposing portions 513, 613 and the sub-base plate 82c. The compression spring 421c is in a compressed state between the facing portions 513, 613 and the sub-board 82c. Therefore, the second biasing portion 42c biases the second moving body 22 forward.

[0052] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the gist of the present invention, and all technical matters included in the technical ideas described in the claims are subject to the present invention. The above-described embodiments are preferred examples, but a person skilled in the art can realize various alternatives, modifications, variations, or improvements from the contents disclosed in this specification, and these are included in the technical scope described in the appended claims. [Explanation of symbols]

[0053] 10 Gripper 21 First Mobile Unit 31 First linear motion mechanism 41 1st biasing section 100 Tool Magazine 200 tool holder 300 spindle

Claims

1. A tool magazine that transfers tool holders to and from a spindle at an exchange position, a gripper that grips the tool holder; a first moving body on which the gripper is provided; a first linear motion mechanism that guides the first movable body in an axial direction of a rotation axis of the tool holder; a first biasing unit that biases the first moving body so that the gripper is positioned at a predetermined origin; a first restriction portion that determines a movement limit position of the first movable body on a first end side in the axial direction; a second moving body disposed on a second end side opposite to the first end side of the first moving body; a second linear motion mechanism that guides the second moving body in the axial direction; a second biasing portion that biases the second movable body toward the second end; a second restriction portion that determines a movement limit position on the second end side of the second movable body; Equipped with the first biasing portion biases the first moving body toward the first end side with respect to the second moving body, the first restricting portion determines a movement limit position of the first end side of the first movable body relative to the second movable body, Tool magazine.

2. a position of the gripper when the first movable body is located at a movement limit position on the first end side relative to the second movable body and the second movable body is located at a movement limit position on the second end side is defined as an origin of the gripper; The tool magazine according to claim 1 .

3. The axial direction of the main shaft is a vertical direction, and the second end side is a lower side, The second biasing portion is the second moving body itself, and the second moving body is biased downward by its own weight.

3. The tool magazine according to claim 1 or 2.

4. The first linear motion mechanism is a linear motion shaft extending in the axial direction; a first bearing disposed on the first movable body and movable along the linear motion shaft; having The tool magazine according to claim 1 .

5. The second linear motion mechanism is The linear motion shaft; a second bearing disposed on the second movable body and movable along the linear motion shaft; having 5. The tool magazine according to claim 4.

6. the first moving body and the second moving body are detachable from the linear motion shaft toward the first end.

5. The tool magazine according to claim 4.

7. the linear motion shaft penetrates the second movable body in the axial direction; 5. The tool magazine according to claim 4.

8. the linear motion shaft penetrates the first movable body in the axial direction; The tool magazine according to any one of claims 4 to 7.

9. The linear motion shaft includes two linear motion shafts, When viewed from the axial direction, the tool holder held by the gripper is disposed on a straight line connecting the two linear motion axes. The tool magazine according to any one of claims 4 to 7.

10. The first biasing portion has a compression spring guided by the linear motion shaft. The tool magazine according to any one of claims 4 to 7.

Images