Tool Magazine

Abstract

The objective is to provide a tool magazine that can accommodate the movement of a tool holder in the axial direction while the tool holder is being gripped. [Solution] A tool magazine 100 for transferring a tool holder 200 between a spindle 300 at a replacement position E, comprising: a gripper 10 for gripping the tool holder 200; a first movable body 21 on which the gripper 10 is provided; a first linear motion mechanism 31 for guiding the first movable body 21 in the axial direction of the rotation axis 210 of the tool holder 200; and a first biasing unit 41 for biasing the first movable 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 a tool holder between a spindle.

Background Art

[0002] A tool holder that can be attached to a spindle and to which a tool is attached, and a tool magazine that holds a plurality of tool holders to which various tools are attached are known (Japanese Utility Model Laid-Open No. 63-201031). By using the tool magazine, the tool holder attached to the spindle is appropriately exchanged to perform various processes on the workpiece. When exchanging the tool holder, with the tool magazine holding the tool holder, the spindle clamps or unclamps the tool holder.

Summary of the Invention

Problems to be Solved by the Invention

[0003] In the process of the spindle clamping or unclamping the tool holder, due to the clamping or unclamping mechanism, the tool holder (spindle) may move in the axial direction of its rotation axis. An object of the present invention is to provide a tool magazine that can cope with the case where the tool holder moves in the axial direction while being held.

Means for Solving the Problems

[0004] A first aspect of the present invention is a tool magazine that transfers a tool holder between a spindle at an exchange position, a gripper that grips the tool holder, a first moving body provided with the gripper, a first linear motion mechanism that guides the first moving body in the axial direction of the rotation axis of the tool holder, a first biasing portion that biases the first moving body so that the gripper is located at a predetermined origin, comprising a tool magazine.

[0005] A tool is mounted in the tool holder. The tool is, for example, a cutting tool or a brush. The tip end of the tool holder is the side on which the tool is mounted, in the axial direction of the tool holder's rotation axis. The base end of the tool holder is the side opposite the tip end, in the axial direction of the tool holder's rotation axis. The first axial end is, for example, the base end. The second axial end is, for example, the tip end. The axial direction of the spindle at the exchange position coincides with the axial direction of the rotation axis of the tool holder gripped in the tool magazine. The front and base ends of the spindle at the exchange position coincide with the front and base ends of the tool holder gripped in the tool magazine. The spindle is movable in the axial direction and in directions 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 located on the base. The first restricting unit is located on the second moving body. The second restricting unit is located on the base.

[0007] The gripper may have, for example, two claws. The two claws grip the tool holder by clamping it. An elastic member such as a compression spring may be placed at the base end of the two claws, biasing the tip end of the two claws in a closing direction. The main shaft may be moved from the tip end to the base end of the claws, and the tool holder may be pushed open to grip the two claws. The gripper may be mounted with some play relative to the first moving body.

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

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

[0010] The first biasing element or the second biasing element is, for example, a spring or a fluid cylinder (e.g., an air cylinder or a hydraulic cylinder). When the first or second moving body is biased vertically downward, the first or second moving body itself may become the first or second biasing element and be biased by its own weight. When the first or second moving body is biased vertically upward, the first or second biasing element may include a tank for storing liquid and a float positioned on the first or second moving body and floating in the liquid.

[0011] The first or second restricting part is, for example, a mechanical stopper. The first or second restricting part mechanically restricts the first or second moving body from moving beyond the movement limit position. The first restricting part may have an extension that extends from the second moving body to a first axial end of the first moving body, and a counter part provided at the tip of the extension that faces the first end of the first moving body. When the mechanical stopper placed on the first moving body abuts against the counter part, the movement of the first moving body toward the first end of the second moving body is restricted, and that position is the movement limit position.

[0012] The system may have a first or second buffer that dampens the movement of the first or second moving body. The first or second buffer has a shock absorber (e.g., a spring buffer, an air buffer, or a hydraulic buffer). The shock absorber of the first buffer may be located on one of the first or second moving body. The first contact portion that contacts the shock absorber may be located on the other of the first or second moving body. The shock absorber of the second buffer may be located on one of the second moving body or the base. The second contact portion that contacts the shock absorber may be located on the other of the second moving body or the base.

[0013] The tool magazine may have a position detection sensor. The position detection sensor detects the positions of the gripper and the first moving body. Desirably, the position detection sensor detects that the gripper and the first moving body are located at the movement limit position on the first end side in the axial direction, the movement limit position on the second end side in the axial direction, or the origin. The tool magazine may have a gripping detection sensor that detects the presence or absence of a tool holder gripped by the gripper.

Advantages of the Invention

[0014] According to the tool magazine of the present invention, it is possible to cope with the case where the tool holder moves in the axial direction while being gripped by the gripper.

Brief Description of the Drawings

[0015] [Figure 1] Perspective view of the tool magazine of the first embodiment [Figure 2] View taken in the direction of arrow II in FIG. 1 [Figure 3] View taken in the direction of arrow III in FIG. 1 [Figure 4] View taken in the direction of arrow IV in FIG. 1 [Figure 5A] Operation explanatory view of the tool magazine of the first embodiment (normal time) [Figure 5B] Operation explanatory view of the tool magazine of the first embodiment (when unclamping) [Figure 5C] Operation explanatory view of the tool magazine of the first embodiment (when clamping) [Figure 6] Side view of the tool magazine of the second embodiment [Figure 7] Side view of the tool magazine of the third embodiment [Figure 8] Side view of the tool magazine of the fourth embodiment

Modes for Carrying Out the Invention

[0016] <First Embodiment> As shown in FIGS. 1 to 4, in the present embodiment, the tool magazine 100 transfers the tool holder 200 to and from the spindle 300. The upward direction in FIG. 1 is the vertically upper side. Hereinafter, for convenience, the upper right diagonal direction in FIG. 1 is referred to as the right side. The lower right diagonal direction in FIG. 1 is referred to as the front side. Note that FIG. 1 is displayed through a part of the support column 74 on the left side. FIG. 3 is displayed through the entire support column 74 on the left side.

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

[0018] As shown in FIG. 3, the spindle 300 has a spindle hole 302 and a drawbar 303. The spindle 300 can rotate around the 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. The spindle hole 302 is formed on the lower surface of the spindle 300. The spindle hole 302 is a taper hole with which the taper shank 202 can be in close contact. When the spindle 300 descends, the drawbar 303 grabs the pull stud 201 and pulls it upward and fixes it to the spindle 300. When the spindle 300 ascends, the drawbar 303 descends with respect to the spindle 300 and releases the pull stud 201. When the spindle 300 further ascends, the drawbar 303 pushes out the tool holder 200 from 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 biasing portion 41, a first restricting portion 51, a first buffer portion 61, a second moving body 22, a second linear motion mechanism 32, a second biasing portion 42, a second restricting portion 52, a second buffer portion 62, a sensor portion 70, and a base 80.

[0020] The base 80 is a horizontally extending rectangular plate. The base 80 is fixed to the mounting surface or another structure.

[0021] The first movable body 21 is a horizontally extending rectangular plate. A semicircular recess 211 is positioned at the front edge of the first movable body 21. The first movable body 21 moves up and down guided by the first linear motion mechanism 31.

[0022] The second moving body 22 is substantially the same as the first moving body 21. A semicircular recess 221 is provided on the leading edge of the second moving body 22. The second moving body 22 is positioned 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 reciprocates in the vertical direction.

[0023] A pair of first linear motion mechanisms 31 are positioned on the left and right sides of the tool magazine 100. Each first linear motion mechanism 31 has a linear shaft 311 and a first bearing 312. The linear shaft 311 is cylindrical in shape. The linear shaft 311 is positioned at the front of the base 80 and extends vertically. The first bearing 312 is a linear bushing. The first bearing 312 is mounted radially outward of the linear shaft 311 and can move vertically relative to the linear shaft 311. The pair of first bearings 312 are positioned with a recess 211 in between. The first bearings 312 pass through the first moving body 21 vertically. The first bearings 312 are fastened to the first moving body 21. The first moving body 21 can be detached upward from the linear shaft 311.

[0024] A pair of second linear motion mechanisms 32 are positioned on the left and right sides of the tool magazine 100. Each second linear motion mechanism 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 unit 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 shafts 311, respectively. The compression springs 411 are positioned between the first moving body 21 and the second moving body 22. The compression springs 411 are compressed between the first moving body 21 and the second moving body 22. The first biasing unit 41 biases the first moving body 21 upward relative to the second moving body 22.

[0026] The first restricting section 51 includes a mechanical stopper 511, an extension 512, and an opposing section 513. The mechanical stopper 511 is positioned at the right rear of the first moving body 21. The mechanical stopper 511 protrudes upward from the first moving body 21. The extension 512 extends upward from the right rear of the second moving body 22. The opposing section 513 extends forward from the upper end of the extension 512. The extension 512 is located behind the rear ends of the first moving body 21 and the second moving body 22. The opposing section 513 faces the mechanical stopper 511 on the upper side. When the first moving body 21 moves upward relative to the second moving body 22, the mechanical stopper 511 comes into contact with the opposing section 513. The position of the first moving body 21 at this time is the upper limit position of movement of the first moving body 21 relative to the second moving body 22.

[0027] The first buffer section 61 includes a shock absorber 611, an extension 612, and an opposing section (first contact section) 613. The shock absorber 611 includes a cylinder 616 and a rod 617. The cylinder 616 is located at the left rear of the first movable body 21. The rod 617 protrudes upward from the cylinder 616. The extension 612 and the opposing section 613 are substantially the same as the extension 512 and opposing section 513 of the first restricting section 51. The upper end of the rod 617 contacts the opposing section 613. When the first movable body 21 moves relative to the second movable body 22, the rod 617 moves back and forth relative to the cylinder 616, damping the movement of the first movable body 21.

[0028] The second biasing unit 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 section 52 includes a mechanical stopper 521 and a base section 522. The mechanical stopper 521 is positioned on the left side of the second moving body 22. The mechanical stopper 521 protrudes downward from the second moving body 22. The base section 522 is positioned on the left side of the base 80. The base section 522 faces the mechanical stopper 521 downward. When the second moving body 22 moves downward, the mechanical stopper 521 comes into contact with the base section 522. The position of the second moving body 22 at this time is the lower limit of movement of the second moving body.

[0030] The second buffer section 62 includes a shock absorber 621 and a base section (second contact section) 622. The shock absorber 621 includes a cylinder 626 and a rod 627. The cylinder 626 is located on the right side of the second movable body 22. The rod 627 protrudes downward from the cylinder 626. The base section 622 is located on the right side of the base 80. The base section 622 faces the shock absorber 621 from below. The lower end of the rod 627 contacts the base section 622. When the second movable body 22 moves, the rod 627 moves back and forth relative to the cylinder 626, damping the movement of the second movable 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 positioned on the upper surface of the first movable body 21 with a small amount of play in the left-right direction. The two claws 11 are aligned left and right and extend front and back. The two claws 11 are pivotably positioned on the upper surface of the loose fitting plate 14. The two claws 11 grip the tool holder 200 at their front. The elastic member 12 is a compression spring. The elastic member 12 is mounted between the rear ends of the two claws 11 and biases the front ends of the two claws 11 to close. The key 13 is positioned between the two claws 11 and fastened to the loose fitting plate 14. When the tool holder 200 is gripped by the claws 11, the key 13 engages with the drive keyway 206. Viewed from above, the tool holder 200, gripped by the gripper 10, is sandwiched between two linear axes 311, and the tool holder 200 and the two linear axes 311 are aligned in a straight line. The vertical position of the gripper 10 when the first moving body 21 is at the upper limit of movement relative to the second moving body 22 and the second moving body 22 is at the lower limit of movement is defined as the origin S of the gripper 10.

[0032] The sensor unit 70 includes a grip detection sensor 71, a position detection sensor 72, a dog 73, and two support columns 74. The support columns 74 extend upward from the left and right sides of the base 80, respectively. The grip detection sensor 71 is a transmissive photoelectric sensor. The grip detection sensor 71 is fixed to the upper ends of the left and right support columns 74. The grip detection sensor 71 is positioned above the first mobile body 21. When the gripper 10 grips the tool holder 200, the tool holder 200 blocks the light, and the grip 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 positioned on the upper part of the right support column 74. The dog 73 is positioned at the right end of the first mobile body 21. The dog 73 faces the position detection sensor 72. The position detection sensor 72 detects the height of the first moving object 21.

[0033] The method of using the tool magazine 100 of this embodiment will be explained based on Figures 5A to 5C. Figures 5A to 5C are cross-sectional views of Figure 3 along the VV line during operation.

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

[0035] The process of the spindle 300 transferring the tool holder 200 to the tool magazine 100 will now be described. First, the spindle 300 approaches the tool magazine 100 from the front. Next, the tool holder 200 pushes open the two claw portions 11, and the claw portions 11 grip the tool holder 200. Then, as shown in Figure 5B, with the tool holder 200 gripped by the gripper 10, the spindle 300 moves upward a predetermined distance together with the tool holder 200. This causes the spindle 300 to unclam the tool holder 200. At this time, the gripper 10 and the first moving body 21 also move upward by the same distance. Furthermore, the mechanical stopper 511 is in contact with the opposing portion 513. Therefore, the extension portion 512 and the second moving body 22 also move upward by the same distance. The mechanical stopper 521 separates from the base portion 522. The rod 627 of the second buffer portion 62 is extended. The tool holder 200 is gripped by the tool magazine 100. Next, the spindle 300 detaches upward.

[0036] The process of the spindle 300 receiving the tool holder 200 from the tool magazine 100 will now be described. First, the spindle 300 approaches the tool magazine 100 from above. Next, as shown in Figure 5C, the spindle 300 descends with the tool holder 200 being gripped by the gripper 10. The tool holder 200 is then inserted into the spindle hole 302. Subsequently, the spindle 300 moves downward by a predetermined distance together with the tool holder 200. At this time, the gripper 10 and the first moving body 21 also move downward by the same distance. The spindle 300 then clamps the tool holder 200. The mechanical stopper 521 is in contact with the base portion 522. Therefore, the second moving body 22 does not move, and the compression spring 411 of the first biasing portion 41 is compressed. The mechanical stopper 511 separates from the opposing portion 513. The rod 617 of the first buffer section 61 is extended. The tool holder 200 is mounted on the spindle 300. Next, the spindle 300 moves forward together with the tool holder 200.

[0037] In this way, the gripper 10 can accommodate the case where the tool holder 200 moves vertically while gripping the tool holder 200. Under normal circumstances, the gripper 10 is always positioned at the origin S. If, during unclamping, the main spindle 300 detaches upward without the tool holder 200 being unclamped due to a malfunction, the first moving body 21 and the second moving body 22 move upward together with the tool holder 200 and detach from the linear shaft 311. This prevents damage to other structures. Viewed from above, the tool holder 200 gripped by the gripper 10 is sandwiched between the two linear shafts 311, and the tool holder 200 and the two linear 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 mechanism 31 and the second linear mechanism 32. As a result, the first moving body 21 and the second moving body 22 follow stably.

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

[0039] <Second Embodiment> As shown in Figure 6, the tool magazine 100a of this embodiment includes a gripper 10, a first moving body 21a, a first linear motion mechanism 31a, a first biasing part 41a, a first restricting part 51a, a second moving body 22a, a second linear motion mechanism 32a, a second biasing part 42a, a second restricting part 52a, a second buffer part 62a, a base 80, and a wall part 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 movable body 21a is a horizontally extending flat plate. The gripper 10 is positioned on the upper surface of the first movable body 21a. The first movable body 21a is substantially identical to the first movable body 21 of the first embodiment.

[0042] The second movable body 22a is a horizontally extending flat plate. When viewed from above, the second movable body 22a extends behind the first movable body 21a (towards the wall portion 81a).

[0043] The second linear motion mechanism 32a is a linear guide. The second linear motion mechanism 32a includes a second rail 321a and a second moving block 322a. The second rail 321a extends vertically. The second rail 321a is positioned in front of the wall portion 81a. The second moving block 322a can reciprocate along the second rail 321a.

[0044] The first linear motion mechanism 31a is a linear guide. The first linear motion mechanism 31a includes a first rail 311a and a first moving block 312a. The first rail 311a extends vertically. The first rail 311a is positioned in front of the second moving block 322a.

[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 vertical 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 vertical direction by the first linear motion mechanism 31a.

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

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

[0048] The second biasing element 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 buffer section 62a includes a shock absorber 621a and a bracket 622a. The bracket 622a is positioned on the wall surface 81a. The bracket 622a supports the shock absorber 621a. When the second movable body 22a moves, the shock absorber 621a dampens the movement of the second movable body 22a. The shock absorber 621a also determines the lower limit position of movement of the second movable body 22a. Therefore, the second buffer section 62a also serves as the second restricting section 52a.

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

[0051] <Fourth Embodiment> As shown in Figure 8, in the tool magazine 100c of this embodiment, the axial direction is horizontal (front-to-back direction). Hereinafter, for convenience, the right side of Figure 8 will be referred to as the front. The tool holder 200 is mounted on 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 positioned on the base plate 81c in an orientation 90 degrees different from that of the first embodiment. A base plate 80 is positioned at the front end of the base plate 81. Furthermore, the sub-base plate 82c is positioned 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 positioned between the left and right opposing parts 513, 613 and the sub-base plate 82c. The compression spring 421c is compressed between the opposing parts 513, 613 and the sub-base 82c. Therefore, the second biasing part 42c biases the second movable body 22 forward.

[0052] The present invention is not limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention. All technical matters included in the technical concept described in the claims are covered by the present invention. The embodiments described above are preferred examples, but those skilled in the art can realize various alternatives, modifications, variations, or improvements from the contents disclosed herein, and these are included in the technical scope described in the appended claims. [Explanation of symbols]

[0053] 10 Grippa 21 First Mobile Unit 31. First Linear Motion Mechanism 41 1st biasing section 100 Tool Magazine 200 Tool Holders 300 spindle

Claims

1. A tool magazine for transferring a tool holder between the spindle and the replacement position, A gripper for gripping the tool holder, The first mobile body on which the gripper is provided, A first linear motion mechanism guides the first moving body in the axial direction of the rotation axis of the tool holder, A first biasing unit biases the first moving body so that the gripper is positioned at a predetermined origin, Equipped with, Tool Magazine.

2. The first movable body has a first restricting section that determines the limit position of movement on the first end side in the axial direction, The first biasing unit biases the first movable body toward the first end. The tool magazine described in claim 1.

3. A second moving body is positioned on the second end side, which is on the opposite side of the first end side from the first moving body, A second linear motion mechanism that guides the second moving body in the axial direction, A second biasing unit that biases the second movable body toward the second end, A second restricting unit that determines the limit position of movement on the second end side of the second moving body, It has, The first biasing unit biases the first moving body toward the first end relative to the second moving body. The first restricting unit determines the limit position of movement of the first end of the first moving body relative to the second moving body. The tool magazine according to claim 2.

4. The position of the gripper when the first moving body is located at the first end limit position relative to the second moving body and the second moving body is located at the second end limit position is defined as the origin of the gripper. The tool magazine described in claim 3.

5. The axial direction of the main shaft is vertical, and the second end is on the lower side. The second biasing part is the second moving body itself, and the second moving body is biased downward by its own weight. The tool magazine according to claim 3 or 4.

6. The first linear motion mechanism is, A linear motion shaft extending in the axial direction, A first bearing is disposed on the first moving body and is movable along the linear motion axis, Having, The tool magazine according to claim 1 or 2.

7. The first linear motion mechanism is, A linear motion shaft extending in the axial direction, A first bearing is disposed on the first moving body and is movable along the linear motion axis, Having, A tool magazine according to any one of claims 3 to 5.

8. The second linear motion mechanism is, The aforementioned linear motion shaft, A second bearing is disposed on the second moving body and is movable along the linear motion axis, Having, The tool magazine according to claim 7.

9. The first moving body and the second moving body are detachable from the linear motion axis toward the first end. The tool magazine according to claim 8.

10. The linear motion shaft penetrates the second moving body in the axial direction. The tool magazine according to claim 8 or 9.

11. The linear motion shaft penetrates the first moving body in the axial direction. A tool magazine according to any one of claims 6 to 10.

12. Having two of the aforementioned linear motion shafts, Viewed from the axial direction, the tool holder gripped by the gripper is positioned on a straight line connecting the two linear axes. A tool magazine according to any one of claims 6 to 11.

13. The first biasing unit has a compression spring guided by the linear motion shaft. A tool magazine according to any one of claims 6 to 12.

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