DE102011006384A1 - System for the removal and storage of tools or workpieces of tool magazine, has tool magazine for storing tools or workpieces which has guiding units that run parallel to each other - Google Patents

Abstract

The system has a tool magazine (10) for storing tools or workpieces (2) which has guiding units (15,16) that run parallel to each other. A tool changing device (100) is formed for removing and storing the tool of the tool magazine. A gripper column (110) is mounted to the guiding units in its end area and is movable perpendicular to its longitudinal axis along the guiding units. A gripper is formed for gripping the tool which is mounted along the longitudinal axis of the gripper column. An independent claim is also included for a tool magazine with U-shaped section.

Description

The invention relates to a system for removal and storage of tools of a tool magazine, which allows a high density tool and compact design of the tool magazine. The invention further relates to a tool changing device for removing and depositing the tools of a tool magazine and a tool magazine for storing tools.

Systems for the program-controlled and automatic removal and storage of tools of a tool magazine are known in the prior art. Such tool changing systems are used, for example, in milling machining centers in order to reduce the non-productive times of the respective processing machine, for example the so-called chip-to-chip times. In order to minimize tool change times, various tools are stored in a magazine in the vicinity of the machine tool and can be removed there from a program-controlled tool changing device as needed and stored again.

For this tool changer in different embodiments are known from the prior art, for example, from the DE 39 05 780 C1 known chain magazines, from the EP 1 004 393 B1 known arenenförmige arrangement of the tools with a articulated robot as a tool changing device or so-called linear magazines. In the from the DE 19510498 A1 known linear magazine tools are removed from the magazine by means of a transversely and parallel to the vertical axis of the tool magazine translationally movable tool gripper.

An advantage of such linear magazines is that the space requirement is less than, for example, the arenenförmigen arrangement of the tools. Disadvantages of this linear system are the resulting from the rail guide large transverse extent, and the sub-optimal space utilization, since the opposite side of the gripper head of the tool changer stand is not accessible for this.

It is therefore an object of the present invention to provide a system for the removal and storage of tools of a tool magazine, which allows a good space utilization and can be flexibly adapted to different space conditions in workshops and engine rooms. It is a further object of the present invention to provide a tool magazine removal and storage system that allows high tool density in the tool magazine and compact tool change system design.

This object is achieved by a system for removal and storage of tools of a tool magazine according to the features of patent claim 1 and by a tool changing device according to the features of claim 13 and by a tool magazine for storing tools according to claim 13. The dependent claims relate to advantageous embodiments of the invention.

The inventive system for removal and storage of tools of a tool magazine comprises a tool magazine for storage of tools, workpieces or other parts in which the tools are preferably arranged like a shelf on different levels. The invention preferably relates to a so-called. Linear magazine, d. H. a tool magazine comprising linear sections along which the tools are stationarily located. The tool magazine comprises first and second guide means which run parallel to one another,

The tool change system further comprises a tool changing device for removing and storing the tools of the tool magazine. The tool changing device comprises a gripping means column, which is mounted in its end regions on the first and the second guide means and perpendicular to its longitudinal axis, for example in the horizontal direction, along the first and second guide means is movable. The tool changing device further comprises a gripping means for gripping the tools, which is movably mounted along a longitudinal axis of the gripping means column and is pivotable about the longitudinal axis of the gripping means column.

The gripping means can be pivotable about the longitudinal axis by a pivoting angle of at least +/- 90 °. Preferably, the gripping means column is pivotable by at least +/- 180 °, more preferably, the pivoting angle of the gripping means column +/- 185 ° is thus a blind spot, d. H. to avoid an angular range within the tool magazine, which is not accessible to the tool gripper.

A pivoting angle of at least +/- 90 ° can be achieved by a pivotable or rotatable embodiment of the gripping means column. Here, the gripping means column itself can be pivotable about its vertical axis, wherein the gripping means is rotatably mounted on the gripping means column. The removal of a tool or workpiece from the tool magazine is then preferably carried out by coupled pivoting and Moving the gripping means column perpendicular to its longitudinal axis, and by a method of the gripping means along the gripping means column. The pivotability of the gripping means column about its vertical axis enables optimum space utilization and higher tool density in the tool magazine, since in this way the unused space in linear magazines space can be used on the opposite side of the gripper means gripping means pillar.

A pivoting angle of at least +/- 90 ° can also be achieved in that the gripping means column is not designed to pivot. In this case, the gripping means would not be rotationally fixed with the gripping means column in connection, but is preferably pivotable relative to the gripping means column. This can be achieved, for example, by attaching a toothed rim revolving around the gripping means column, wherein the gripping means can be moved along the toothed rim around the longitudinal axis of the gripping means column.

The gripping means for gripping the tools is in this case designed such that the tools can be safely removed from a predetermined position of the tool magazine or put back there. For example, the tool gripping means may comprise a carriage which can be moved vertically on the gripping means column and a gripper gripper arranged on the carriage.

Furthermore, the movement of the gripping means column perpendicular to its longitudinal axis by a first and second drive pinion is generated, which are each arranged in the region of the storage of the gripping means column on the first and the second guide means.

Preferably, the gripping means column is guided on the first and the second guide means in each case by two rollers, which are arranged one behind the other in the direction of travel. In this case, one roller can serve as a bearing and the second as a torque-supported, so that the gripping means column can also be moved along a curved guide means. In other words, the gripping means column is guided in the pivot center of the gripping means or in the region of the longitudinal axis of the gripping means column and preferably also driven to guide the gripping means column perpendicular to its longitudinal axis along the tool shelf. This design principle is particularly advantageous because it allows the tool changing device to be moved not only along linear portions but also along curved portions relative to the tool magazine. Accordingly, a predetermined movement of the gripping means column in the horizontal direction can also have curved sections.

For this purpose, the guide means may comprise U-shaped, L-shaped, S-shaped or T-shaped sections, for example by forming a U-shaped, L-shaped, S-shaped or T-shaped guide groove. Preferably, in order to increase the tool density, the tools of the tool magazine are arranged along this guide means, so that the tool magazine can have not only linear but for example also U-shaped or L-shaped or S-shaped or T-shaped sections. This makes it possible to realize different geometries of the tool magazine in order to optimally adapt it to the prevailing place conditions at the place of use.

Furthermore, along the first and second guide means in each case a rack may be arranged, in which engage the first and second drive pinion. Preferably, the first and second guide means are formed as a groove-shaped path. Preferably, the tool changing device has an upper and lower guide carriage on which the rollers and drive pinions are arranged. Such a trained drive principle in conjunction with a linear magazine and a pivotable gripping means column allows a particularly compact design of the tool changing device. The first drive pinion is attached to a non-pivotable end portion of the gripper pillar.

Furthermore, one of the two guide carriages may have a first drive means for exercising the movement of the gripping means column perpendicular to its longitudinal axis and a second drive means for exercising the pivoting movement of the gripping means about the longitudinal axis of the gripping means column.

With such a system, the removal of a tool from the tool magazine is preferably carried out by coupled pivoting of the gripping means and moving the gripping means column perpendicular to its longitudinal axis, and by a method of gripping means along the gripping means column. The movement of the gripping means column perpendicular to its longitudinal axis is typically in the horizontal direction, parallel to a bottom surface. The horizontal movement of the gripping means column and pivoting of the gripping means column is preferably coupled such that the tool gripper is moved along a curved track from a first position along the horizontal axis of movement of the gripping means column to the bearing position of the tool. Coupled in this sense means that for the removal or storage of a tool a program-controlled pivotal movement of the gripping means column is carried out in dependence of the movement position of the gripping means column, whereby the tool gripper to a predetermined position in the tool rack is moved.

Furthermore, the gripping means column may comprise a driving shaft extending along the vertical axis of the gripping means column, which is driven by the first drive means and which is coupled to the second drive pinion, which is arranged at the longitudinal end of the drive shaft opposite the first drive pinion. In other words, at the upper and lower ends of the gripping means column there may be mounted two drive pinions coupled by a drive shaft which respectively engage in a rack arranged on upper and lower guide means, respectively. This allows a particularly safe, stable and quiet drive the tool changing device at the same time very compact design, since the pinion and the drive shaft have a very small footprint, so that, for example, at a small distance from the tool changing device left and right tool magazines can be arranged. Further preferably, the drive shaft is arranged centrally within the pivotable gripping means column or in the interior of the gripping means column in order to allow the most compact possible construction. The drive shaft is simultaneously protected by the gripping means column.

If the gripping means column is designed to be pivotable, the guide carriage or carriages are preferably fastened to the gripping means column with a bearing in such a way that they are not pivoted upon pivoting of the gripping means column, but maintain their alignment with the guide means.

In other words, the tool changing device can have a rotationally fixed upper and lower section (the guide carriage with the drive means) and a middle section, which can be pivoted for this purpose, along which the gripping device can be moved vertically.

Furthermore, the tool changing device may include a third drive means to move the gripping means in the vertical direction along the gripping means column. It is particularly advantageous if this third drive means is arranged in the interior of the gripping means column in order to realize in this way a particularly slim and space-saving design of the tool changing device.

The invention relates to a tool changing device for removing and storing the tools of the tool magazine according to a tool changing device of the tool changing system described above, d. H. a tool changing device according to the above-described features of the tool changing device of the tool changing system, which is adapted to be guided by a guide means, preferably a guide groove of the tool magazine. Furthermore, the invention relates to a tool magazine for storing tools, according to a tool magazine of the tool change system described above. In particular, the present invention comprises a tool magazine having U-shaped, L-shaped, S-shaped or T-shaped sections for supporting the tools. Preferably, the tool magazine has a guide groove with U-shaped, L-shaped, S-shaped or T-shaped sections, along which a tool changing device is movable in the horizontal direction and along which the tools of the tool magazine are arranged.

In summary, a system for removing and depositing tools of a tool magazine is provided by the present invention, which allows a very compact design and high tool density in the tool shelf, as well as the edge areas and end positions of the shelf can be shared. The high tool density is made possible by a pivotable gripping means column, which is preferably pivotable by at least more than +/- 90 °, more preferably by +/- 180 °, whereby the previously unusable space behind the column can be used.

It is a further particular advantage of the present invention that the gripping means column is guided and driven at the same location along the guide means, namely at the areas where the drive pinion and the guide rollers are in contact with the guide means. As a result, the vertical guide axis simultaneously corresponds to the pivot axis, so that a safe, smooth horizontal movement of the tool changing device is made possible. Likewise, the tool changing device has a small footprint perpendicular to the vertical guide axis. It is also particularly advantageous that the tool changing device can also be moved along curved paths in the horizontal direction and can travel through a wide variety of shelf shapes by cornering. Thus, the tool magazine in a variety of basic forms, such as the (I-shape, L-shape, U-shape, S-shape and T-shape can be realized and so optimally adapted to the existing space conditions Furthermore, the basic forms described can turn to arbitrarily complex For example, the tool changer could be moved along a closed curved path (circle, ellipse, etc.), with the tools in the tool magazine then being arranged in an arena-like manner along this path the internal drive of the gripping means in the gripping means column and the drive means for linear and pivoting movement mounted above the gripping means column have a particularly compact construction, whereby the dimensions of the tool magazine and the tool spacing within the shelf can be further minimized.

Preferred embodiments of the present invention will be described below, by way of example and by way of example, with reference to the accompanying drawings.

1A and 1B schematically show a plan view and a perspective view of the tool changing system according to an embodiment of the present invention;

2A and 2 B show an enlarged perspective and side view of an upper portion of the tool changing device according to an embodiment of the present invention;

3A and 3B show perspective views of the tool changing device according to an embodiment of the present invention;

4A and 4B show a plan view with and without guide carriage on the tool changing device according to an embodiment of the present invention;

5A shows an enlarged section of a shelf segment of the tool magazine;

5B and 5C show in perspective an upper and a lower section of the tool magazine;

6A to 6F illustrate, by way of example, the sequence of movements of the tool changing device during the depositing of a tool into the tool magazine according to an exemplary embodiment of the present invention;

7A to 8B show L-shaped embodiments of the present invention;

9A and 9B show a U-shaped embodiment of the present invention;

10A and 10B show an S-shaped embodiment of the present invention; and

11A and 11B show a T-shaped embodiment of the present invention.

1A and 11B illustrate in a plan view and a perspective view a first embodiment of the present invention. The tool change system 1 for removal and storage of tools includes a tool magazine 10 in which the tools 2 on several floors 11 are arranged. The tools 2 are in semi-circular tray holders 12 filed, the tools via a standard holder record. As in 1A As can be seen, the tools along the entire circumference of the linear magazine 10 be arranged so that the tool shelf both linear shelf sections, as well as circular shelf sections for receiving the tools 2 having. For optimum utilization of the available space, for example, tools with smaller diameters are arranged in the circular edge areas and tools with a large diameter are arranged along the linear shelf sections. In the present example, the tray holders 12 only partially with tools 2 busy.

The tool magazine 10 has vertical support struts in this embodiment 18 on and on its top a cover plate 13A and on its underside a bottom plate 13B on. The cover plate 13A is in the 1A omitted for clarification of the design principle. The cover plate 13A has a centrally extending guide groove 16 on.

The tool changer 100 of the tool change system 1 is linearly movable in the horizontal direction h along the tool magazine and is thereby guided by the guide groove 16 guided. To guide also serves along the groove 16 arranged guide rail 14 with a rack into which a motor-driven drive pinion engages. Likewise, at the bottom plate 136 another guide 15 for the tool changing device 100 appropriate. This in 1B shown system 1 could also be used tilted by 90 °, then the tools would have to be secured accordingly on the shelf.

The design and drive principle of the tool changing device 100 is described in more detail in the following figures.

2A shows an enlarged view of the upper portion of the tool changing device 100 , This comprises a pivotable gripping means column (rotary / lifting column) 110 , along which the gripping means 130 is vertically movable. The gripping means column 110 consists of a carrier 120 with outer support segments 120A and 120B , which is hollow in its interior. As a result, in its interior of the gripping means carriage 131 for the gripping means 130 , the guide elements 122 along the carrier 120 , a drive shaft 111 (Not visible), as well as the drive means 140 and the angular gear 141 be accommodated for the gripping means, which allows a particularly stable, lightweight and space-saving design. In the present embodiment, the tool gripping means comprises 130 one on the sled 131 arranged gripping pliers 131 by means of which the tools 2 being held.

Above the carrier 120 is a guide slide 119 arranged with the carrier 120 about a camp 121 communicates. The carrier 120 is relative to the guide carriage 119 over the camp 121 pivotable. On the sledge 119 there is a linear drive means 113 , For example, a server motor, the horizontal movement of the gripping means column 110 causes. The linear drive 113 drives over the transmission 113A the drive pinion 112 (the teeth of the pinion 112 are not shown here for reasons of simplification). Continue to be on the carrier 119 a second drive means 117 , here also a server engine, via the gearbox 117A the belt drive 118 drives. The second drive means 117 drives the pulley 118A on, whose rotational movement over the belt 118C to the second pulley 118B is transmitted. The resulting rotational movement of the second pulley 118B generates a pivotal movement of the carrier 120 the gripping means column 110 , The swivel angle is +/- 185 °, so that all positions within the tool magazine can be reached. As an alternative to the belt drive, the pivoting movement could be realized by means of two gears.

The sled 119 is as a profile piece with two parallel plates 119A and two support elements 119B formed, in its interior in addition to the belt drive 118 and the drive pinion 112 two more rollers 115 are arranged. The function of the rollers will be explained in more detail below. The perspective view in 2A is in 2 B shown again in a side view.

3A shows the tool changing device 100 again in a perspective view, without the tool magazine. Inside the hollow carrier 120 the gripping means column 110 are on the inner surfaces of the lateral support members 120A and 120B guide rails 122 appropriate. The guide carriage 131 of the tool gripper 130 is through this guide carriage 131 during its vertical movement along the carrier 120 guided.

The lower section of the gripper column 110 is in 3B shown. Inside the carrier 120 runs from the first drive means 113 driven drive shaft 111 that has a second drive pinion 114 drives. Similar to the upper drive pinion 122 also picks up this drive pinion 114 in a horizontally extending rack 15A (please refer 5C ), which are along the lower guide groove 15 is arranged. Inside the carrier has one of the guide rails 122 also a vertical rack 124 on, in the one from the engine 140 driven third drive pinion 142 (not shown here) engages and thereby the vertical movement of the gripping means carriage 131 causes. The gripping means carriage could also be driven by a toothed belt or a spindle.

At the bottom of the carrier 120 is a second guide carriage 123 with two opposite slide plates 123A is appropriate. Below the second drive pinion 114 is a leader 115 arranged. At the same height is an upstream additional leadership role 115 , These lower guide or track rollers 115 are each vertically below the top two guide rollers 115 of the first guide carriage 119 arranged. The lower and upper guide rollers run inside the lower one 15 or upper 16 Guide grooves in the horizontal movement of the tool changing device 100 ,

4A and 4B show the gripper lifting column 110 again in a plan view, wherein in 4B the sled 119 with the two drive means 113 . 117 was removed. 4B shows the linear slides 122B in the guide rails 122 during the vertical movement of the gripper carriage 141 intervention. In this plan view in section is also the vertically extending rack 124 shown in the engine 140 driven pinions 142 engages and thereby the vertical movement of the gripper carriage 141 within the lifting column 110 causes.

The 5A . 5B and 5C show enlarged sections of the tool change system. The tool storage is in 5A shown enlarged example and shows a section of a shelf segment of the tool magazine 10 with two floors 11 , The tools are held by carrier rails, which at their the tool changing device 100 each side facing semicircular receiving sections 12 exhibit.

The leadership of the tool changing device 100 at the upper guide groove 116 is in 5B shown schematically. The upper cover plate 13 has a groove-shaped exception (upper guide 16 ) on. In this leadership 16 run the leadership roles 115 in the horizontal movement of the tool changing device 100 , Along the guide groove 16 is the upper rack 125 on the cover plate 13 screwed. In this rack engages the linear drive 113 driven upper drive pinion 112 and thereby generates the horizontal movement of the tool changing device 100 , This upper, in 5B shown section of the Tool changing device 100 twists during pivoting of the gripping means column 110 not, but remains rotationally fixed to the guide 16 aligned.

5C shows a lower section of the tool magazine 10 , Parallel to the upper guide groove 16 is along the bottom plate 13 a lower guide means, along which the in 3B shown lower portion of the gripping means column 110 to be led. The guide means is through a screwed-on base bar 15 realized, which also forms a guide groove due to its U-shaped cross-section, in which the lower track rollers 115 be guided. In addition, a rack is arranged on one of the legs of the base strip 15A , in turn, the lower drive pinion 114 engages to generate the movement in the horizontal direction h. For reasons of wear, the upper and lower guide grooves are made with hardened metal strips.

The pivoting and horizontal movement of the gripping column 110 be in the following figures 6A to 6F explained. According to the construction principle according to the invention, the gripping means column 110 both in the horizontal direction h along the tool magazine process and be pivoted in its vertical axis v to remove a tool from the tool magazine or store. This will be in 6A to 6F exemplified illustrating the different positions of the tool changing devices in a tool change. Here is the tool change system 1 in a plan view without the upper cover plate 13A shown to better illustrate the design principle. In the present example, the tool 2A in a free, predetermined tool space 12A be filed. The track along which the tool 2A moved during the filing process is shown by the curved path b.

Each tool typically has a predetermined location in the tool rack, that of the controller (not shown) of the tool changer 100 is known. The control causes a positioning of the tool 2A at this predetermined storage location 12A for the tool 2A by moving and pivoting the gripping means column 110 and by vertical movement of the gripping means 130 ,

For this purpose, initially a linear movement of the tool changing device takes place 100 along the guide grooves 15 and 16 , In the presentation of the 6A to 6F is only the lower guide groove 15 shown. The linear motor 113 in conjunction with the rack-and-pinion drive, the horizontal process causes the tool changing device 100 , At a predetermined position, as in 6B shown a pivoting of the gripping means column 110 around its vertical axis. Because the tool gripper 130 non-rotatable with the gripping means column 110 communicates, causes this pivoting of the gripping means column 110 also a corresponding pivoting of the gripping pliers 132 , By coupled, ie further linear method and pivoting of the gripping means column 110 , as in 6C to 6F shown, the tool is at its predetermined storage location 12A positioned and there by slightly vertical movement of the Werkzeuggreifzange 132 along the gripping means column 110 stored.

The 6A to 6F show that by such a coupled horizontal moving and pivoting of the gripping means column 110 and optionally a vertical movement of the gripping means along the gripping means column 110 every storage position 12 within the tool magazine 10 can be achieved. As a result, in particular, the outer edge regions, in which the tools are deposited on semicircular sections, can be achieved, so that along the entire circumference of the tool magazine 10 can be stored in high tool density tools and thus the entire space of the tool rack can be optimally utilized. In the present embodiment, the minimum tool spacing from place to place is about 130 mm without locked secondary seats.

Another particular advantage of the design principle according to the invention is that with the present tool change system not only conventional linear magazines can be constructed, but also L-shaped, U-shaped, S-shaped or T-shaped tool magazines are possible. Due to the design principle of the tool changing device 100 in which the drive pinions 112 and 114 engage in a running along the guide groove rack and are additionally guided by rollers, the tool changing device not only linear, but also curved sections descend.

In addition, a rotation of the tool changing device relative to the tool shelf due to a curved horizontal roadway by the pivotability of the gripping means column 110 be compensated.

7A and 7B show an embodiment in L-shape, in which two mutually perpendicularly arranged linear magazines a curved connecting portion 10B exhibit. The guide grooves 15 and 16 also have an L-shape, along which the tool changing device 100 to be led. A similar Embodiment is in 8A and 8B shown a tool magazine 10 show in a short L-shape. Here, for example, at the open end 200 of the tool magazine 10 For example, a storage device can be attached, which receives the tool to be changed. Alternatively, at the open end 200 directly attach a spindle to which the tool is mounted immediately. The 9A . 9B . 10A and 10B show further embodiments in U-shape and S-shape with U- and S-shaped guide grooves. As in the 11A and 11B exemplified, T-shaped embodiments are also possible in which by means of an additional switch 17 the tool changing device 100 can be moved to the respective branching branch, for example, to supply two machines with only one magazine.

The individual features of the invention are of course not limited to the described combinations of features in the context of the presented embodiments and can also be used in other combinations depending on predetermined device parameters. For example, the drives 113 . 117 or 140 also elsewhere in the tool changing device 100 be arranged. The illustrated gripper tongs 132 can be replaced by other suitable gripping means (for example, a receiving sleeve with groove for the cone of the tool), depending on the requirements of the tools to be stored in the tool magazine.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 3905780 C1 [0003]
• EP 1004393 B1 [0003]
• DE 19510498 A1 [0003]

Claims (16)

System for the removal and storage of tools or workpieces of a tool magazine, with a tool magazine ( 10 ) for the storage of tools or workpieces ( 2 ), which is a first ( 15 ) and second ( 16 ) Comprises guide means which run parallel to each other; and a tool changing device ( 100 ) for the removal and storage of tools ( 2 ) of the tool magazine ( 10 ), the tool changing device ( 100 ) comprises: a gripping means column ( 110 ), which in their end regions at the first ( 15 ) and the second ( 16 ) Guide means is mounted and perpendicular to its longitudinal axis (v) along the first ( 15 ) and second ( 16 ) Guide means is movable; a gripping means ( 130 ) for gripping the tools ( 2 ) which is movably mounted along a longitudinal axis of the gripping means column and is pivotable about the longitudinal axis of the gripping means column. System according to claim 1, characterized in that the gripping means ( 130 ) is pivotable about a pivot angle> +/- 90 ° about the longitudinal axis of the gripping means column. System according to claim 1, characterized in that the gripping means column ( 130 ) on the first ( 15 ) and the second ( 16 ) Guide means in each case by two rollers ( 115 ) is guided, which are arranged one behind the other in the direction of travel and the gripping means column ( 130 ) is movable perpendicular to its longitudinal axis along curved sections. System according to claim 1, characterized in that the movement of the gripping means column ( 110 ) perpendicular to its longitudinal axis by a first ( 112 ) and second ( 114 ) Drive pinion is generated, each in the region of the storage of the gripping means column on the first ( 15 ) and the second ( 16 ) Guide means are arranged. System according to at least one of the preceding claims, characterized in that the gripping means column about its vertical axis (v) is pivotable and the gripping means ( 130 ) rotatably on the gripping means column ( 110 ) is stored. System according to claim 5, characterized in that the removal of a tool ( 2 ) from the tool magazine ( 10 ) by coupled pivoting and horizontal movement of the gripping means column ( 110 ), and by a vertical movement of the gripping means ( 130 ) along the gripping means column ( 110 ). System according to at least one of the preceding claims, characterized in that the gripping means ( 130 ) is pivotable about a pivot angle +/- 180 ° about the longitudinal axis. System according to at least one of the preceding claims, characterized in that the first ( 15 ) and second ( 16 ) Guide means are each formed as a groove-shaped path. System according to one of the preceding claims 2-8, characterized in that the tool changing device an upper ( 119 ) and lower ( 123 ) Guide carriage, on which the rollers ( 115 ) and drive pinion ( 112 . 114 ) are arranged. System according to claim 9, characterized in that one of the guide carriages ( 119 . 123 ) a first drive means ( 113 ) for exercising the movement of the gripping means column ( 110 ) perpendicular to its longitudinal axis and a second drive means ( 117 ) for exercising the pivoting movement of the gripping means about the longitudinal axis of the gripping means column ( 110 ). System according to at least one of the preceding claims, characterized in that a third drive means ( 140 ), that the gripping means ( 130 ) in the longitudinal direction along the gripping means column ( 110 ), inside the gripping means column ( 110 ) is arranged. System according to at least one of the preceding claims, characterized in that the first ( 15 ) and second ( 16 ) Guide means U-shaped ( 16A ), L-shaped ( 16B ), S-shaped ( 16C ) or T-shaped sections and the tools or workpieces ( 2 ) of the tool magazine ( 10 ) along the first ( 15 ) and second ( 16 ) Guide means are arranged. Tool changing device for removing and storing the tools of a tool magazine according to a system of the preceding claims 1-13. Tool magazine for storing tools, which has a guide means with U-shaped ( 16A ), L-shaped ( 16C ), S-shaped ( 16C ) or T-shaped ( 16D ) Has sections, along which a tool changing device in the horizontal direction (h) is movable and along which the tools ( 2 ) of the tool magazine ( 10 ) are arranged. Tool magazine according to claim 14, wherein the guide means is adapted to guide a tool changing device according to claim 13. Tool magazine according to a system of the preceding claims 1-12.

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