Numerical control device, machine tool, control method and control program

Abstract

To provide a numerical control device, a machine tool, a control method and a control program capable of suppressing the detachment of a door from a drive unit while reducing the opening and closing time of the door.SOLUTION: A detaching unit 7 can change a state between a coupled state in which a receiving unit 9 fastened to a door is coupled with a key 8 and a detached state in which the receiving unit 9 is detached from the key 8. The key 8 is driven by power from a motor. When the key 8 is displaced to the receiving unit 9 side to drive the door, the key 8 is pushed in the receiving unit 9 side with acceleration of the door, enabling the detaching unit 7 to maintain the coupled state. When the driven door is suddenly decelerated, the receiving unit 9 becomes apart from the key 8 due to inertia, and thus the detaching unit 7 is likely to be in the detached state. When the key 8 is displaced toward the receiving unit 9 side to drive the door, a numerical control device sets an open operation acceleration time constant and an open operation deceleration time constant. The open operation acceleration time constant is set when the door is driven with acceleration, and the open operation deceleration time constant is set when the door is driven with deceleration. The open operation acceleration time constant is smaller than the open operation deceleration time constant.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to a numerical control device, a machine tool, a control method, and a control program.

Background Art

[0002] There is known a door opening / closing device that disengages a door from a driving unit of the door when the automatically opening / closing door comes into contact with an interfering object (see, for example, Patent Document 1). The door opening / closing device includes a door, a driving unit, and a disengaging unit. The door opens and closes by linear motion. The driving unit moves the door linearly. The disengaging unit can be displaced between a connected state in which the door is connected to the driving unit and a disengaged state in which the door is disengaged from the driving unit, and includes a key and a receiving portion. The key is fixed to the driving unit, and the receiving portion is fixed to the door.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the opening / closing speed of the door is increased in order to shorten the opening / closing time of the door with the progress of automation, there has been a problem that the driving unit and the door are disengaged. For example, when the door suddenly moves in the direction of disengaging from the connected state, or when the door suddenly stops while moving at a constant speed, a force acting on the door acts suddenly. In this case, since the force to maintain the current state wins, the door is disengaged. Therefore, the opening / closing speed of the door cannot be increased, and it has been difficult to shorten the opening / closing time of the door.

[0005] An object of the present invention is to provide a numerical control device, a machine tool, a control method, and a control program that can suppress the disengagement of the door and the driving unit while shortening the opening / closing time of the door.

Means for Solving the Problems

[0006] The numerical control device according to claim 1 is a numerical control device that controls the operation of a machine tool including a drive unit that drives a door that can be opened and closed. The numerical control device is characterized by including a setting unit that sets control parameters when the drive unit drives the door, and a control unit that controls the drive unit based on the control parameters set by the setting unit. Therefore, the numerical control device can set the operating conditions when automatically opening and closing the door with control parameters. For example, in order to drive the door safely and at high speed, the speed can be gradually increased at the start of driving and gradually decreased at the end of driving. Also, the operating conditions of the door can be changed when opening and closing the door.

[0007] In the numerical control device according to claim 2, the control parameter may be related to the speed when the drive unit drives the door. Since the control parameter is related to the speed when driving the door, the speed of the door can be adjusted.

[0008] In the numerical control device according to claim 3, the control parameter may be the acceleration when the drive unit drives the door while accelerating and decelerating. Since the control parameter is the acceleration when driving the door while accelerating and decelerating, the acceleration and deceleration of the door can be adjusted.

[0009] In the numerical control device according to claim 4, the control parameter may be a time constant for defining the acceleration. Since the control parameter is a time constant for defining the acceleration, the acceleration of the door can be adjusted.

[0010] The drive unit of the numerical control device according to claim 5 includes a connecting portion that connects to the door, and the machine tool includes a disengaging portion that is displaceable between a connected state in which the door is connected to the connecting portion and a disengaged state in which the door is disengaged from the connecting portion. The time constant has a first time constant when the disengaging portion moves the connecting portion toward the door side in the connected state to drive the door with acceleration and deceleration. The first time constant includes a first acceleration time constant when the door is driven with acceleration and a first deceleration time constant when the door is driven with deceleration, and the first acceleration time constant may be smaller than the first deceleration time constant. For example, when a machine tool contacts an object such as a door, it includes a disengaging portion so that the power of the door and the drive unit can be disconnected. In such a machine tool, when the disengaging portion drives the door by moving the connecting portion toward the door side in the connected state, when the door is accelerated, the connecting portion is pushed into the door side, so the disengaging portion can maintain the connected state. On the other hand, when the door being driven is suddenly decelerated, there is a possibility that the door will separate from the connecting portion due to the action of inertia and the disengaging portion will enter the disengaged state. The present invention can set a first acceleration and deceleration time constant and a first deceleration time constant as the first time constant when the disengaging portion drives the door by moving the connecting portion toward the door side in the connected state. Since the first acceleration time constant is smaller than the first deceleration time constant, the door can be driven in a shorter time during acceleration than during deceleration, and the door can be driven so that the door and the connecting portion do not disengage during deceleration.

[0011] In the numerical control device according to claim 6, the direction in which the connecting portion is moved toward the door side may be the direction in which the drive unit opens the door. Therefore, when the numerical control device opens the door, the effects described in claim 4 can be obtained.

[0012] In the drive unit of the numerical control device according to claim 7, a connecting portion that connects to the door is provided. The machine tool includes a disengaging portion that can be displaced between a connected state in which the door is connected to the connecting portion and a disengaged state in which the door is disengaged from the connecting portion. The time constant has a second time constant when the door is driven with acceleration and deceleration by moving the connecting portion to the side opposite to the door side in the connected state of the disengaging portion. The second time constant includes a second acceleration time constant when the door is driven with acceleration and a second deceleration time constant when the door is driven with deceleration. The second deceleration time constant may be smaller than the second acceleration time constant. For example, when a machine tool contacts an object such as a door, the machine tool includes a disengaging portion so that the power of the door and the drive unit can be disconnected. In such a machine tool, when the door is driven by moving the connecting portion to the side opposite to the door side in the connected state of the disengaging portion, when the door is accelerated, the connecting portion may move away from the door and the disengaging portion may enter the disengaged state. On the other hand, when the door being driven is decelerated, the door is pushed into the connecting portion side due to the action of inertia, so the disengaging portion can maintain the connected state. The present invention can set a second acceleration / deceleration time constant and a second deceleration time constant as the second time constant when the door is driven by moving the connecting portion to the side opposite to the door side in the connected state of the disengaging portion. Since the second deceleration time constant is smaller than the second acceleration time constant, the door can be driven in a shorter time during deceleration than during acceleration, and the door can be driven so that the door and the connecting portion do not disengage during acceleration.

[0013] In the numerical control device according to claim 8, the direction in which the connecting portion is moved to the side opposite to the door side may be the direction in which the drive unit closes the door. Therefore, in the case where the numerical control device closes the door, the effect described in claim 6 can be obtained.

[0014] The machine tool according to claim 9 is characterized by comprising a driving unit that drives an openable and closable door, a setting unit that sets control parameters when the driving unit drives the door, and a control unit that controls the driving unit based on the control parameters set by the setting unit. Therefore, the machine tool can set the operating conditions when automatically opening and closing the door with control parameters. For example, in order to drive the door safely and at high speed, the speed can be gradually increased at the start of driving and gradually decreased at the end of driving. Also, the operating conditions of the door can be changed when opening the door and when closing the door.

[0015] The control method according to claim 10 is a control method of a numerical control device that controls the operation of a machine tool having a driving unit that drives an openable and closable door, and is characterized by comprising a setting step of setting control parameters of the driving unit when the driving unit drives the door, and a control step of controlling the driving unit based on the control parameters set in the setting step. Therefore, the numerical control device can obtain the effects described in claim 1.

[0016] The control program according to claim 11 is a control program of a numerical control device that controls the operation of a machine tool having a driving unit that drives an openable and closable door, and is characterized by causing a computer of the numerical control device to execute a setting step of setting control parameters of the driving unit when the driving unit drives the door, and a control step of controlling the driving unit based on the control parameters set in the setting step. Therefore, the numerical control device can obtain the effects described in claim 1.

[0017] Incidentally, the drive unit of the numerical control device includes a connecting portion that connects to the door, and the machine tool includes a disengaging portion that can be displaced between a connected state in which the door is connected to the connecting portion and a disengaged state in which the door is disengaged from the connecting portion. The acceleration has a first acceleration when the door is accelerated and driven by the disengaging portion moving the connecting portion toward the door side in the connected state. The first acceleration includes a first acceleration when the door is accelerated and driven and a second acceleration when the door is decelerated and driven, and the first acceleration may be greater than the second acceleration.

[0018] Incidentally, the drive unit of the numerical control device includes a connecting portion that connects to the door, and the machine tool includes a disengaging portion that can be displaced between a connected state in which the door is connected to the connecting portion and a disengaged state in which the door is disengaged from the connecting portion. The acceleration has a second acceleration when the door is accelerated and driven by the disengaging portion moving the connecting portion to the side opposite to the door side in the connected state. The second acceleration includes a third acceleration when the door is accelerated and driven and a fourth acceleration when the door is decelerated and driven, and the fourth acceleration may be greater than the third acceleration.

Brief Description of the Drawings

[0019]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Mode for Carrying Out the Invention

[0020] An embodiment of the present invention will be described. The following description uses left - right, front - rear, and up - down directions indicated by arrows in the drawings. In this embodiment, the up - down direction is the vertical direction.

[0021] Referring to FIG. 1, the schematic configuration of the machine tool 1 will be described. The machine tool 1 includes a machine body 2, a cover 3, and a door opening and closing device 4. The machine body 2 includes a movable part 20, and the workpiece is processed by driving the movable part 20. The cover 3 surrounds the periphery of the movable part 20. An opening 31 is formed in the front surface of the cover 3. An operator or a work robot attaches and detaches the workpiece to / from the machine body 2 through the opening 31. The cover 3 is provided with an operation panel 32 on the right side of the front - surface opening 31. The operation panel 32 receives operations from the operator. The door opening and closing device 4 is attached to the cover 3. The numerical control device 70 is attached to the machine tool 1. The numerical control device 70 controls the operation of the machine tool 1.

[0022] Referring to FIGS. 2 and 3, the door opening / closing device 4 will be described. As shown in FIG. 2, the door opening / closing device 4 includes a door 5, a drive unit 6, and a release unit 7. The door 5 is provided on the front surface of the cover 3 and is a double sliding door composed of a left door 51 and a right door 52. The left door 51 and the right door 52 are arranged side by side in the left-right direction. The left door 51 and the right door 52 are supported at the upper end of the opening 31. The left door 51 can reciprocate in the left-right direction within a range from the center in the left-right direction of the opening 31 to the left side. The right door 52 can reciprocate in the left-right direction within a range from the center in the left-right direction of the opening 31 to the right side. That is, the opening / closing direction of the door 5 is the left-right direction.

[0023] As shown in FIG. 3, the left door 51 and the right door 52 are connected to each other by a wire 53. The wire 53 is in a ring shape extending in the left-right direction in plan view. A portion 531 located on the front side of the wire 53 is fixed to the left door 51. A portion 532 located on the rear side of the wire 53 is fixed to the right door 52. Therefore, when the left door 51 moves to the left, the right door 52 moves to the right following the movement of the left door 51 due to the clockwise rotation of the wire 53 in plan view. That is, as the left door 51 moves to the left, the left door 51 and the right door 52 move away from each other. When the left door 51 moves to the right, the right door 52 moves to the left following the movement of the left door 51 due to the counterclockwise rotation of the wire 53 in plan view. That is, as the left door 51 moves to the right, the left door 51 and the right door 52 move closer to each other.

[0024] According to the above configuration, the door 5 can move between an open position (see FIG. 1) and a closed position (see FIGS. 2 and 3) by moving the left door 51 and the right door 52 away from or closer to each other. As shown in FIG. 1, when the door 5 is in the open position, the left door 51 is located to the left of the opening 31 and opens the left half of the opening 31, and the right door 52 is located to the right of the opening 31 and opens the right half of the opening 31. Thereby, the door 5 opens the entire opening 31. As shown in FIGS. 2 and 3, when the door 5 is in the closed position, the left door 51 covers the left half of the opening 31, and the right door 52 covers the right half of the opening 31. Thereby, the door 5 covers the entire opening 31.

[0025] As shown in Fig. 2, the driving unit 6 includes a motor 14 and a belt 62, and reciprocates the left door 51 in the left - right direction. The motor 14 is provided above the left door 51 in the cover 3. The rotating shaft 611 of the motor 14 extends downward from the motor 14. The belt 62 is provided above the left door 51 and is in a ring shape extending in the left - right direction in plan view. The right end of the belt 62 is supported by the rotating shaft 611 of the motor 14. The cover 3 is provided with a support shaft 311 on the left side of the rotating shaft 611 of the motor 14. The left end of the belt 62 is supported by the support shaft 311 of the cover 3. Therefore, the belt 62 rotates between the rotating shaft 611 of the motor 14 and the support shaft 311 by the drive of the motor 14.

[0026] When the detachment part 7 described later is in a connected state, the belt 62 is connected to the left door 51. At this time, when the belt 62 rotates by the rotational drive of the motor 14 in one direction, the left door 51 moves to the left, and the right door 52 moves to the right following the left door 51. Thereby, the door 5 moves from the closed position (see Figs. 2 and 3) to the open position (see Fig. 1). Hereinafter, the operation of the driving unit 6 at this time is referred to as the opening operation. When the belt 62 rotates by the rotational drive of the motor 14 in the other direction, the left door 51 moves to the right, and the right door 52 moves to the left following the left door 51. Thereby, the door 5 moves from the open position (see Fig. 1) to the closed position (see Figs. 2 and 3). Hereinafter, the operation of the driving unit 6 at this time is referred to as the closing operation.

[0027] Referring to Figs. 3 and 4, the detachment part 7 will be described. As shown in Fig. 4, the detachment part 7 includes a key 8 and a receiving part 9. The key 8 is fixed to the belt 62 (see Fig. 2) via a fixing plate 64 (see Fig. 3) or the like. The key 8 is formed of sheet metal and extends in the front - rear, left - right directions. Recesses 81 and 82 are formed in the key 8. The recess 81 and the recess 82 are located at the central part of the key 8 in the left - right direction. The recess 81 is recessed forward from the rear end of the key 8. The recess 82 is recessed rearward from the front end of the key 8.

[0028] Hereinafter, the part of the key 8 on the right side of the recesses 81 and 82 is referred to as the base end part 83, and the part of the key 8 on the left side of the recesses 81 and 82 is referred to as the taper part 84. The base end part 83 is rectangular in plan view. The rear end of the taper part 84 is inclined obliquely forward to the left. The front end of the taper part 84 is inclined obliquely backward to the left.

[0029] The receiving part 9 is provided with a supporting part 90. The supporting part 90 is formed of sheet metal and is fixed to the upper part of the left door 51 via the fixing parts 11 and 16 described later (see FIGS. 2 and 3). The supporting part 90 is open downward and leftward, and has a rear wall 91, a front wall 92, an upper wall 93, and a right wall 94. The rear wall 91 and the front wall 92 are separated from each other in the front-rear direction and face each other. Two long holes 911 are formed at the lower end of the rear wall 91. The two long holes 911 are arranged side by side in the left-right direction. The upper wall 93 extends from the upper end of the rear wall 91 to the upper end of the front wall 92.

[0030] The right wall 94 extends from the right end of the rear wall 91 to the right end of the front wall 92. An opening 941 is formed in the right wall 94. The length of the opening 941 in the front-rear direction is larger than the maximum length of the tapered part 84 in the front-rear direction and smaller than the maximum length of the base end part 83 in the front-rear direction. Therefore, when the key 8 is inserted into the opening 941 from the right side of the right wall 94, the tapered part 84 passes through the opening 941, but the base end part 83 cannot pass through the opening 941 and abuts against the right wall 94.

[0031] As shown in FIG. 3, the fixing part 11 is formed of sheet metal and has a first part 12 and a second part 13. The first part 12 extends vertically and horizontally. Two long holes 121 are formed in the first part 12. The two long holes 121 are arranged side by side in the left-right direction. The second part 13 extends rearward from the upper end of the first part 12. Two long holes 131 are formed in the second part 13. The two long holes 131 are arranged in the left-right direction. The fixing part 16 is formed of sheet metal and has a first part 17 and a second part 18. The first part 17 extends vertically and horizontally. The second part 18 extends upward from the rear end of the first part 17.

[0032] The fixing part 11 is fixed to the upper part of the left door 51 with bolts (not shown) via the long holes 121. The fixing part 16 is fixed to the fixing part 11 with bolts (not shown) via the two long holes 131. The supporting part 90 is fixed to the fixing part 16 with bolts (not shown) via the two long holes 911.

[0033] The vertical length of the long hole 121 is longer than the horizontal length of the long hole 121. Therefore, the fixing portion 11 can adjust the vertical position with respect to the left door 51 and can be fixed with bolts at the adjusted position. The front - rear length of the long hole 131 is longer than the horizontal length of the long hole 131. Therefore, the fixing portion 16 can adjust the front - rear position with respect to the fixing portion 11 and can be fixed with bolts at the adjusted position. The horizontal length of the long hole 911 is longer than the vertical length of the long hole 911. Therefore, the support portion 90 can adjust the horizontal position with respect to the fixing portion 16 and can be fixed with bolts at the adjusted position. Thus, the support portion 90 can adjust the front - rear, left - right, and up - down positions with respect to the left door 51 and can be fixed at the adjusted positions.

[0034] As shown in FIG. 4, the support portion 90 supports the levers 41 and 42. The lever 41 is formed of sheet metal and extends in the left - right direction at the rear part of the support portion 90. The lever 41 can swing about the swing shaft 411. The swing shaft 411 extends downward from the lower surface of the upper wall 93 of the support portion 90 and passes through the approximate center in the left - right direction of the lever 41. The right end portion of the lever 41 supports the opposing portion 412. The opposing portion 412 is a roller. The rotation center of the opposing portion 412 extends in the vertical direction.

[0035] The lever 42 is formed of sheet metal and extends in the left - right direction at the front part of the support portion 90. The lever 42 can swing about the swing shaft 421. The swing shaft 421 extends downward from the lower surface of the upper wall 93 of the support portion 90 and passes through the approximate center in the left - right direction of the lever 42. The right end portion of the lever 42 supports the opposing portion 422. The opposing portion 422 is a roller. The rotation center of the opposing portion 422 extends in the vertical direction.

[0036] A pressing portion 413 is formed at the left end of the lever 41. A pressing portion 423 is formed at the left end of the lever 42. The pressing portions 413 and 423 are located on the side opposite to the opposing portions 412 and 422 with respect to the swing shafts 411 and 421, and support the biasing member 49 between them. The biasing member 49 is a compression coil spring and is attached in a state of being compressed and deformed in the front-rear direction. Therefore, the biasing member 49 constantly biases the pressing portion 413 backward and constantly biases the pressing portion 423 forward. At this time, the biasing force of the biasing member 49 acts on the lever 41 so that the right end of the lever 41 swings forward about the swing shaft 411, and the biasing force of the biasing member 49 acts on the lever 42 so that the right end of the lever 42 swings backward about the swing shaft 421. That is, the biasing member 49 constantly biases the opposing portions 412 and 422 in a direction approaching each other.

[0037] According to the above configuration, as will be described below, the detachment portion 7 can be displaced between a state of connecting the door 5 to the driving portion 6 (hereinafter referred to as the connected state) and a state of detaching the door 5 from the driving portion 6 (hereinafter referred to as the detached state).

[0038] Referring to FIG. 5, the operation of the detachment portion 7 when displacing from the connected state to the detached state will be described. As shown in FIG. 5(A), when the detachment portion 7 is in the connected state, the key 8 fits into the receiving portion 9 through the opening 941 from the left side of the right wall 94 of the support portion 90. At this time, the opposing portion 412 is located within the recess 81, and the opposing portion 422 is located within the recess 82. The inside of the recesses 81 and 82 means the region surrounded by the recesses 81 and 82. Since the biasing member 49 constantly biases the opposing portions 412 and 422 in a direction approaching each other, the opposing portions 412 and 422 sandwich the key 8 between them at the positions of the recesses 81 and 82. Thereby, the power from the driving portion 6 is transmitted from the key 8 to the door 5 through the receiving portion 9.

[0039] As shown in FIG. 5(B), when a force greater than a predetermined magnitude acts on the key 8 to the right, or when a force greater than a predetermined magnitude acts on the receiving portion 9 to the left, the opposing portion 412 moves relatively leftward with respect to the key 8 against the friction between the key 8 and the forward biasing force of the biasing member 49, and the opposing portion 422 moves relatively leftward with respect to the key 8 against the friction between the key 8 and the backward biasing force of the biasing member 49.

[0040] As shown in FIG. 5(C), the opposing portion 412 moves along the wall of the recess 81 and disengages leftward from the recess 81, and the opposing portion 422 moves along the wall of the recess 82 and disengages leftward from the recess 82. At this time, the lever 41 rotates clockwise in a rear view around the swing axis 411, and the lever 42 rotates counterclockwise in a rear view around the swing axis 421. In addition, the magnitude of the force required when the opposing portions 412 and 422 disengage from the recesses 81 and 82 is greater than the magnitude of the force acting on the key 8 during the closing operation of the driving portion 6.

[0041] As shown in FIG. 5(D), the opposing portion 412 moves relatively leftward with respect to the key 8 along the rear end of the tapered portion 84. The opposing portion 422 moves relatively leftward with respect to the key 8 along the front end of the tapered portion 84.

[0042] As shown in FIG. 5(E), the key 8 completely exits to the right from the receiving portion 9 through the opening 941. As a result, the power from the driving portion 6 is blocked without being transmitted from the key 8 to the receiving portion 9, and thus is not transmitted to the door 5. Therefore, the disengaging portion 7 is in a disengaged state. That is, when the disengaging portion 7 is in the disengaged state, the opposing portion 412 is located outside the recess 81, and the opposing portion 422 is located outside the recess 82.

[0043] The operation of the disengaging portion 7 when displacing from the disengaged state to the connected state will be described. When the disengaging portion 7 is in the disengaged state (see FIG. 5(E)), as the door 5 moves manually toward the closed position (see FIGS. 2 and 3), or as the driving portion 6 performs a closing operation, the key 8 enters the support portion 90 through the opening 941 from the right side of the right wall 94 of the support portion 90. The opposing portions 412 and 422 move relatively rightward with respect to the key 8 along the tapered portion 84 and fit into the recesses 81 and 82. As a result, the disengaging portion 7 returns from the disengaged state (see FIG. 5(E)) to the connected state (see FIG. 5(A)). The magnitude of the force required for the opposing portions 412 and 422 to move along the tapered portion 84 and fit into the recesses 81 and 82 is smaller than the force of the above-mentioned predetermined magnitude. That is, since the tapered portion 84 is formed on the key 8, the disengaging portion 7 can easily return from the disengaged state (see FIG. 5(E)) to the connected state (see FIG. 5(A)).

[0044] The operating modes of each component during the opening operation of the drive unit 6 will be described. As shown in Fig. 5(A), normally, the disengaging part 7 is in the connected state. When the disengaging part 7 is in the connected state, during the opening operation of the drive unit 6, a leftward force acts on the key 8. Therefore, the proximal end portion 83 of the key 8 presses the right wall 94 of the support portion 90 leftward. Since the proximal end portion 83 of the key 8 always presses the right wall 94 of the support portion 90 leftward during the opening operation of the drive unit 6, in principle, the disengaging part 7 does not displace from the connected state to the disengaged state. Therefore, a leftward force also acts on the left door 51 (see Figs. 2 and 3) through the disengaging part 7 in the connected state, and the left door 51 moves leftward. Along with this, the right door 52 (see Figs. 2 and 3) moves rightward, and the door 5 moves from the closed position (see Figs. 2 and 3) to the open position (see Fig. 1).

[0045] The operating modes of each component during the closing operation of the drive unit 6 will be described. As shown in Fig. 5(A), when the disengaging part 7 is in the connected state, during the closing operation of the drive unit 6, a rightward driving force acts on the key 8. As described above, since the magnitude of the force required when the opposing parts 412 and 422 disengage from the recesses 81 and 82 is greater than the magnitude of the force acting on the key 8 during the closing operation of the drive unit 6, in principle, the disengaging part 7 does not displace from the connected state to the disengaged state due to the closing operation of the drive unit 6. Therefore, a rightward force also acts on the left door 51 (see Fig. 1) through the disengaging part 7 in the connected state, and the left door 51 moves rightward. Along with this, the right door 52 (see Fig. 1) moves leftward, and the door 5 moves from the open position (see Fig. 1) to the closed position (see Figs. 2 and 3).

[0046] For example, during the closing operation of the drive unit 6, that is, during the movement of the door 5 from the open position (see FIG. 1) to the closed position (see FIGS. 2 and 3), there may be a collision object in the opening 31. At this time, if the left door 51 or the right door 52 collides with the collision object, a leftward force acts on the receiving part 9. If the magnitude of this force is a force greater than or equal to a predetermined magnitude, the disengaging part 7 is displaced from the connected state (see FIG. 5(A)) to the disengaged state (see FIG. 5(E)). As a result, the power from the drive unit 6 is not transmitted to the left door 51. Therefore, the left door 51 tries to move to the right due to inertia, and accordingly, the right door 52 also tries to move to the left and then stops. Therefore, the impact on the collision object is smaller than when the disengaging part 7 maintains the connected state, so the door opening and closing device 4 can suppress damage to the collision object and the like.

[0047] Referring to FIG. 6, the electrical configuration of the numerical control device 70 and the machine tool 1 will be described. For the sake of convenience of explanation, in this embodiment, the electrical configuration for controlling the operation of the door opening and closing device 4 will be mainly described, and the description of other electrical configurations will be simplified or omitted. The numerical control device 70 includes a CPU 71, a ROM 72, a ROM 73, a storage unit 74, an input / output unit 75, a drive circuit 76, and the like. The CPU 71 is connected to the drive circuit 76 via the input / output unit 75. The CPU 71 controls the operation of the machine tool 1 by outputting commands to various motors that drive the machine tool 1. The ROM 72 stores various programs such as a door operation control program. The door operation control program is a program for executing the door operation control process (see FIG. 10) described later.

[0048] The RAM 73 stores various data generated during the execution of various processes. The storage unit 74 is a rewritable storage medium, such as an EPROM, EEPROM, flash memory, etc. The storage unit 74 stores an NC program, control parameters described later, etc. The input / output unit 75 performs input / output of various signals between the drive circuit 76, the encoder 15 described later, the CPU 71, the ROM 72, the RAM 73, the storage unit 74, and the operation panel 32. The drive circuit 76 corresponds to the motor 14 of the door opening / closing device 4 and outputs a pulse signal to the motor 14 based on a command output by the CPU 71. The encoder 15 detects the rotational position of the motor 14 and feeds back the detection signal to the drive circuit 76 and the input / output unit 75. The encoder 15 is a general absolute encoder and is a position sensor that detects and outputs the absolute position of the rotational position.

[0049] The operation panel 32 includes an operation unit 33, a door open button 34, a door close button 35, and a display unit 36. The operation unit 33 receives the operations of the operator. The display unit 36 displays information to be notified to the operator. The display unit 36 is a liquid crystal touch panel and also has a function as an operation unit. When the door open button 34 is pressed by the operator, an open signal is transmitted to the CPU 71 via the input / output unit 75. The CPU 71 recognizes the pressing of the door open button 34 based on the open signal and executes the opening operation of the left door 51 and the right door 52. When the door close button 35 is pressed by the operator, a close signal is transmitted to the CPU 71 via the input / output unit 75. The CPU 71 recognizes the pressing of the door close button 35 based on the close signal and executes the closing operation of the left door 51 and the right door 52.

[0050] Referring to FIG. 7, various storage areas of the storage unit 74 will be described. The storage unit 74 includes an NC program storage area 741, a time constant switching flag storage area 742, a start operation acceleration time constant storage area 743, a start operation deceleration time constant storage area 744, a close operation acceleration time constant storage area 745, a close operation deceleration time constant storage area 746, a common time constant storage area 747, and a manual time constant storage area 748. The NC program storage area 741 stores an NC program. The time constant switching flag storage area 742 stores a time constant switching flag. The time constant switching flag is either 0 or 1, where 0 is off (invalid) and 1 is on (valid). The start operation acceleration time constant storage area 743 stores a start operation acceleration time constant T1. The start operation acceleration time constant T1 is a time constant set during the acceleration of the start operation. The start operation deceleration time constant storage area 744 stores a start operation deceleration time constant T2. The start operation deceleration time constant T2 is a time constant set during the deceleration of the start operation.

[0051] The close operation acceleration time constant storage area 745 stores a close operation acceleration time constant T3. The close operation acceleration time constant T3 is a time constant set during the acceleration of the close operation. The close operation deceleration time constant storage area 746 stores a close operation deceleration time constant T4. The close operation deceleration time constant T4 is a time constant set during the deceleration of the close operation. The common time constant storage area 747 stores a common time constant T5. The common time constant T5 is a time constant common to the acceleration side and the deceleration side of each of the start operation and the close operation. Note that the common time constant T5 is preferably set to a time constant equal to or less than the standard value of the pulling force when the separating unit 7 is in the separated state. The manual time constant storage area 748 stores a manual time constant. The manual time constant is a time constant common to the acceleration side and the deceleration side of each of the start operation and the close operation in the manual mode described later.

[0052] Referring to FIGS. 8 and 9, in the opening and closing operations of the door 5, the state where the detachment part 7 is likely to maintain the connected state and the state where it is likely to become detached will be described. When the detachment part 7 is likely to maintain the connected state, it is during the acceleration of the opening operation and the deceleration of the closing operation. FIG. 8(1) shows the state of the detachment part 7 during the acceleration of the opening operation. During the acceleration of the opening operation, the key 8 moves with acceleration in the direction of opening the door 5 (see arrow A1). At this time, as the key 8 accelerates, a force P1 acts on the receiving part 9 due to inertia. The force P1 is a force that acts in the direction in which the receiving part 9 is connected to the key 8. Therefore, during the acceleration of the opening operation, the detachment part 7 is likely to maintain the connected state.

[0053] FIG. 8(2) shows the state of the detachment part 7 during the deceleration of the closing operation. During the deceleration of the closing operation, the key 8 moves with deceleration in the direction of closing the door 5 (see arrow A2). At this time, as the key 8 decelerates, a force P2 acts on the receiving part 9 due to inertia. The force P2 is also a force that acts in the direction in which the receiving part 9 is connected to the key 8. Therefore, also during the deceleration of the closing operation, the detachment part 7 is likely to maintain the connected state.

[0054] When the detachment part 7 is likely to become detached, it is during the deceleration of the opening operation and the acceleration of the closing operation. FIG. 9(1) shows the state of the detachment part 7 during the deceleration of the opening operation. During the deceleration of the opening operation, the key 8 that is moving in the direction of arrow A3 decelerates. At this time, as the key 8 decelerates, a force P3 acts on the receiving part 9 due to inertia. The force P3 is a force that acts in the direction in which the receiving part 9 detaches from the key 8. Therefore, during the deceleration of the opening operation, the detachment part 7 is likely to become detached.

[0055] FIG. 9(2) shows the state of the detachment part 7 during the acceleration of the closing operation. During the acceleration of the closing operation, the key 8 accelerates in the direction of closing the door 5 (see arrow A4). At this time, as the key 8 accelerates, a force P4 acts on the receiving part 9 due to inertia. The force P4 is also a force that acts in the direction in which the receiving part 9 detaches from the key 8. Therefore, during the acceleration of the closing operation, the detachment part 7 is likely to become detached.

[0056] In order to suppress the key 8 from detaching from the receiving part 9 while shortening the opening and closing time of the door 5, in the opening operation, the opening operation acceleration constant T1 set during acceleration when it is easy to maintain the connected state is made smaller than the opening operation deceleration constant T2 set during deceleration when it is easy to become the detached state. On the other hand, in the closing operation, the closing operation deceleration constant T4 set during deceleration when it is easy to maintain the connected state is made smaller than the closing operation acceleration constant T3 set during acceleration when it is easy to become the detached state. Thereby, compared with the case where a common time constant is set for each of acceleration and deceleration in the opening operation and the closing operation, the time required for the opening operation and the closing operation can be shortened. Note that the opening operation deceleration constant T2 and the closing operation acceleration constant T3 are preferably set to values equal to or less than the standard value of the pulling force at which the detachment part 7 becomes the detached state.

[0057] Referring to FIGS. 10 to 12, the door operation control process will be described. When the operation panel 32 receives an opening / closing instruction for the door 5, the CPU 71 reads out a door operation control program from the ROM 72 and executes this process. The opening / closing instruction means an operation in which the operator presses the door open button 34 or the door close button 35 on the operation panel 32.

[0058] In the present embodiment, either one of an automatic mode and a manual mode can be set for the opening and closing operations of the door 5. The automatic mode is an operation mode in which the door 5 is opened to the end only by pressing the door open button 34 once, and the door 5 is closed to the end only by pressing the door close button 35 once. The manual mode is an operation mode in which the door 5 is moved in the opening direction only while the door open button 34 is pressed, and the door 5 is moved in the closing direction only while the door close button 35 is pressed. The setting of the automatic mode and the manual mode may be stored in the storage unit 74 using, for example, a flag or the like.

[0059] Furthermore, in the present embodiment, for the acceleration and deceleration of each of the opening operation and the closing operation of the door 5, the operation panel 32 can set the on / off of the time constant switching function. The CPU 71 stores a time constant switching flag (0 or 1) in the time constant switching flag storage area 742 (see FIG. 7) of the storage unit 74 based on the on / off of the time constant switching function received by the operation panel 32.

[0060] As shown in FIG. 10, the CPU 71 determines whether it is in the automatic mode (S11). When it is in the manual mode (S11: NO), the CPU 71 sets the manual time constant stored in the manual time constant storage area 748 (see FIG. 7) of the storage unit 74 at the time of acceleration and deceleration of each of the opening operation and the closing operation (S23). For example, while the door opening button 34 is pressed, the CPU 71 executes the opening operation of the door 5 with the manual time constant (S24). While the door closing button 35 is pressed, the CPU 71 executes the closing operation of the door 5 with the manual time constant (S24). When the hand is released from the door opening button 34 or the door closing button 35, the opening operation or the closing operation of the door 5 ends, so the CPU 71 ends this process.

[0061] When it is in the automatic mode (S11: YES), the CPU 71 determines whether the time constant switching flag stored in the time constant switching flag storage area 742 (see FIG. 7) of the storage unit 74 is 1 (S12). When the time constant switching flag is 0 (S12: NO), the time constant switching function is off. In this case, the CPU 71 sets the common time constant T5 stored in the common time constant storage area 747 (see FIG. 7) of the storage unit 74 at the time of acceleration and deceleration of each of the opening operation and the closing operation (S20). When the door opening button 34 is pressed, the CPU 71 executes the opening operation with the common time constant T5, and when the door closing button 35 is pressed, the CPU 71 executes the closing operation with the common time constant T5 (S21).

[0062] Referring to FIG. 11, the acceleration and deceleration of the opening operation when the time constant switching function is off will be specifically described. The dotted graph shown in FIG. 11 shows the speed change of the opening operation when the time constant switching function is turned off. The movement of the door 5 starts at t1 and accelerates with the common time constant T5. When the speed V1 is reached at t3, the door 5 moves at the speed V1. Then, deceleration starts at t5 with the common time constant T5, and the movement of the door 5 stops when the speed becomes 0 at t7. Thus, the opening operation is completed. The movement time from t1 to t3 and the movement time from t5 to t7 are the same. Since acceleration and deceleration are performed with the common time constant T5, it is possible to suppress the detachment portion 7 from being in the detached state during the opening operation.

[0063] Referring to FIG. 12, the acceleration and deceleration of the closing operation when the time constant switching function is off will be specifically described. The dotted graph shown in FIG. 12 indicates the speed change of the closing operation when the time constant switching function is turned off. The movement of the door 5 starts at t11 and accelerates with the common time constant T5. When the speed V1 is reached at t12, the door 5 moves at the speed V1. Then, deceleration starts at t13 with the common time constant T5, and the movement of the door 5 stops at t15 when the speed becomes 0. Thus, the closing operation is completed. The movement time from t11 to t12 and the movement time from t13 to t15 are the same. Since acceleration and deceleration are performed with the common time constant T5, it is possible to suppress the release portion 7 from entering the released state during the closing operation.

[0064] Returning to the flow of FIG. 10, the CPU 71 determines whether the opening operation or the closing operation has been completed (S22). Until the opening operation or the closing operation is completed (S22: NO), the CPU 71 waits. When the opening operation or the closing operation is completed (S22: YES), the CPU 71 ends this process.

[0065] In the automatic mode (S11: YES), when the time constant switching flag is 1 (S12: YES), the time constant switching function is on. The CPU 71 determines whether the moving direction is the opening direction based on the button pressed on the operation panel 32 (S13). When the moving direction is the opening direction (S13: YES), the CPU 71 sets the opening operation acceleration time constant T1 and the opening operation deceleration time constant T2 (S14). The CPU 71 executes the opening operation based on the set opening operation acceleration time constant T1 and opening operation deceleration time constant T2 (S15). On the other hand, when the moving direction is the closing direction (S13: NO), the CPU 71 sets the closing operation acceleration time constant T3 and the closing operation deceleration time constant T4 (S17). The CPU 71 executes the closing operation based on the set closing operation acceleration time constant T3 and closing operation deceleration time constant T4 (S18).

[0066] Referring to FIG. 11, the acceleration and deceleration of the opening operation when the time constant switching function is on will be specifically described. The solid line graph shown in FIG. 11 indicates the speed change of the opening operation when the time constant switching function is turned on. The movement of the door 5 starts at t1 and accelerates with the opening operation acceleration time constant T1. Note that the opening operation acceleration time constant T1 is shorter than the common time constant T5. Also, in this example, the opening operation deceleration time constant T2 and the common time constant T5 are the same. When the speed V1 is reached at t2, the door 5 moves at the speed V1. Then, deceleration starts at t4 with the opening operation deceleration time constant T2, and the movement of the door 5 stops at t6 when the speed becomes 0. Thus, the opening operation is completed.

[0067] Here, as described above, the opening operation deceleration time constant T2 set during the deceleration of the opening operation is a time constant that becomes equal to or less than the standard value of the pulling force at which the detachment part 7 becomes the detached state. Therefore, it is possible to suppress the detachment part 7 from becoming the detached state during deceleration. And the opening operation acceleration time constant T1 set during the acceleration of the opening operation is a time constant different from the opening operation deceleration time constant T2 and is smaller than the common time constant T5. Therefore, the time (t1 to t2) from when the door 5 starts moving until it reaches the speed V1 is shorter than the time (t1 to t3) from when the door 5 starts moving until it reaches the speed V1 when the time constant switching function is off. Therefore, by turning on the time constant switching function, the time required for the opening operation can be shortened compared to when the time constant switching function is off.

[0068] Returning to the flow of FIG. 10, the CPU 71 determines whether the opening operation has been completed (S16). Until the opening operation is completed (S16: NO), the CPU 71 waits. When the opening operation is completed (S16: YES), the CPU 71 ends this process.

[0069] Referring to FIG. 12, the acceleration and deceleration of the closing operation when the time constant switching function is on will be specifically described. The solid-line graph shown in FIG. 12 indicates the speed change of the closing operation when the time constant switching function is turned on. The movement of the door 5 starts at t11 and accelerates with the closing operation acceleration time constant T3. In this example, the closing operation acceleration time constant T3 and the common time constant T5 are the same. When the speed V1 is reached at t12, the door 5 moves at the speed V1. Then, deceleration starts at t13 with the closing operation deceleration time constant T4, and the movement of the door 5 stops at a speed of 0 at t14. Thus, the closing operation is completed.

[0070] Here, as described above, the closing operation acceleration time constant T3 set during the acceleration of the closing operation is a time constant that is equal to or less than the standard value of the pulling force at which the separating portion 7 is in the separated state. Therefore, it is possible to suppress the separating portion 7 from being in the separated state during acceleration. The closing operation deceleration time constant T4 set during the deceleration of the closing operation is a time constant different from the closing operation acceleration time constant T3 and is smaller than the common time constant T5. Therefore, the time (t13 to t14) from when the door 5 starts decelerating from the speed V1 until the speed reaches 0 is shorter than the time (t13 to t15) from when the door 5 starts decelerating from the speed V1 until the speed reaches 0 when the time constant switching function is off. Therefore, by turning on the time constant switching function, the time taken for the closing operation can be shortened compared to when the time constant switching function is off.

[0071] Returning to the flow of FIG. 10, the CPU 71 determines whether or not the closing operation has been completed (S19). Until the closing operation is completed (S19: NO), the CPU 71 waits. When the closing operation is completed (S19: YES), the CPU 71 ends this process.

[0072] Referring to FIGS. 13 and 14, other embodiments will be described. As described above, during the acceleration of the opening operation and the deceleration of the closing operation, the separating portion 7 is likely to maintain the connected state. Therefore, for example, the speed V1 when the time constant switching function is off may be further increased. Also, a stopping operation may be performed when the opening operation of the door 5 is completed. The stopping operation means that immediately before the door 5 is fully opened, the speed is once set to 0 and then moved again at a low speed, and when the door 5 abuts against a portion to be abutted (not shown) provided at the side end of the opening 31 and a load of a certain level or more is applied, it is determined that the door 5 is fully opened and the door 5 is stopped.

[0073] FIG. 13 shows the speed change of the door 5 during the opening operation and the stopping operation when the time constant switching function is off. The movement of the door 5 starts at t21 and accelerates with the common time constant T5. When the speed V1 is reached at t22, the door 5 moves at the speed V1. Then, deceleration starts at t23 with the common time constant T5, and the movement of the door 5 is temporarily stopped when the speed becomes 0 at t24 before the door 5 is fully opened. Then, acceleration starts again at t25 and the door 5 moves at the speed V2, and is brought into contact with a portion to be abutted (not shown) provided at the side end of the opening 31. Note that the speed V2 is lower than the speed V1. At this time, the door 5 is in a fully opened state and cannot move any further. A load of a certain level or more is applied to the motor 14. When a load of a certain level or more is applied to the motor 14, the CPU 71 determines that the door 5 is fully opened and stops the door 5.

[0074] FIG. 14 shows the speed change of the door 5 during the opening operation and the stopping operation when the time constant switching function is on. The speed at which the door 5 moves is set to V2, which is higher than V1. The movement of the door 5 starts at t31 and accelerates with the opening operation acceleration time constant T1. When the speed V3 is reached at t32, the door 5 moves at the speed V3. Then, deceleration starts at t33 with the opening operation deceleration time constant T2, and the door 5 is moved at the speed V4 without stopping at t34 before the door 5 is fully opened. Then, acceleration starts again at t35 and the door 5 moves at the speed V2, and is brought into contact with a portion to be abutted (not shown) provided at the side end of the opening 31. At this time, the door 5 is in a fully opened state and cannot move any further. When a load of a certain level or more is applied to the motor 14, the CPU 71 determines that the door 5 is fully opened and stops the door 5.

[0075] In this way, when the time constant switching function is turned on, the time taken for the opening operation can be further shortened by moving the door 5 at high speed. The same applies to the closing operation. Also, by continuing to move the door 5 without stopping it before the positioning operation starts and then executing the positioning operation, the opening operation can be further shortened. The same control as the opening operation may be performed in the closing operation.

[0076] In the above description, the motor 14, the belt 62, and the key 8 are examples of the driving unit of the present invention. The key 8 is an example of the connecting portion of the present invention. The receiving portion 9 fixed to the left door 51 is a part of the door of the present invention. The opening operation acceleration time constant T1, the opening operation deceleration time constant T2, the closing operation acceleration time constant T3, the closing operation deceleration time constant T4, the common time constant T5, and the manual time constant T6 stored in the storage unit 74 are control parameters of the present invention. The opening operation acceleration time constant T1 is an example of the first acceleration and deceleration time constant of the present invention. The opening operation deceleration time constant T2 is an example of the first deceleration time constant of the present invention. The closing operation acceleration time constant T3 is an example of the second acceleration time constant of the present invention. The closing operation deceleration time constant T4 is an example of the second deceleration time constant of the present invention. In the flow shown in FIG. 10, the processes of S14 and S17 are examples of the setting steps of the present invention. The processes of S15 and S18 are examples of the control steps of the present invention.

[0077] As described above, the numerical control device 70 of the above embodiment controls the operation of the machine tool 1 including the driving unit 6 that drives the door 5 that can be opened and closed. The operation of the key 8 fixed to the belt 62 of the driving unit 6 is controlled by the motor 14. The CPU 71 of the numerical control device 70 sets the acceleration time constant when the driving unit 6 drives the door 5, and controls the operation of the key 8 based on the time constant. Therefore, the numerical control device 70 can, for example, gently increase the speed at the start of driving and gently decrease the speed at the end of driving in order to drive the door 5 safely and at high speed. Also, the operating conditions of the door 5 can be changed when the door 5 is opened and when it is closed.

[0078] The machine tool 1 is provided with a detachment part 7. The detachment part 7 is displaceable between a connected state in which a receiving part 9 fixed to the door 5 is connected to the key 8 and a detached state in which the receiving part 9 is detached from the motor 14. The time constants include an opening operation acceleration time constant T1 and an opening operation deceleration time constant T2. These opening operation acceleration time constant T1 and opening operation deceleration time constant T2 are time constants set when the door 5 is driven with acceleration and deceleration by moving the key 8 to the receiving part 9 side of the door 5 while the detachment part 7 is in the connected state. The opening operation acceleration time constant T1 is the time constant set when driving the door 5 with acceleration. The opening operation deceleration time constant T2 is the time constant when driving the door 5 with deceleration.

[0079] For example, when the door 5 is driven by moving the key 8 to the receiving part 9 side of the door 5 while the detachment part 7 is in the connected state, when the door 5 is accelerated, the key 8 is pushed into the receiving part 9 side of the door 5, so the detachment part 7 can maintain the connected state. On the contrary, when the driving door 5 is suddenly decelerated, the receiving part 9 of the door 5 may separate from the key 8 due to the action of inertia, and the detachment part 7 may enter the detached state. Therefore, in this embodiment, when the door 5 is driven by moving the key 8 to the receiving part 9 side of the door 5 while the detachment part 7 is in the connected state, the opening operation acceleration time constant T1 and the opening operation deceleration time constant T2 are set respectively. And since the opening operation acceleration time constant T1 is smaller than the opening operation deceleration time constant T2, the door 5 can be driven in a shorter time during acceleration than during deceleration, and during deceleration, the door 5 can be driven so that the receiving part 9 of the door 5 and the key 8 do not separate. In the above embodiment, the direction in which the key 8 is moved to the receiving part 9 side of the door 5 is the direction in which the key 8 opens the door 5. Therefore, such an effect can be obtained when opening the door 5.

[0080] Furthermore, the time constant has a closing operation acceleration time constant T3 and a closing operation deceleration time constant T4. These closing operation acceleration time constant T3 and closing operation deceleration time constant T4 are time constants set when the door 5 is driven with acceleration and deceleration by moving the release part 7 in the connected state to the side opposite to the receiving part 9 side of the key 8. The closing operation acceleration time constant T3 is set when driving the door 5 with acceleration. The closing operation deceleration time constant T4 is set when driving the door 5 with deceleration. For example, when driving the door 5 by moving the key 8 to the side opposite to the receiving part 9 side of the door 5 in the connected state of the release part 7, when accelerating the door 5, the key 8 may move away from the receiving part 9 and the release part 7 may enter the released state. On the other hand, when decelerating the driving door 5, the receiving part 9 of the door 5 is pushed into the key 8 side by the action of inertia, so the release part 7 can maintain the connected state. Therefore, in the present embodiment, when driving the door 5 by moving the key 8 to the side opposite to the receiving part 9 side of the door 5 in the connected state of the release part 7, the closing operation acceleration time constant T3 and the closing operation deceleration time constant T4 are set respectively. And, since the closing operation deceleration time constant T4 is smaller than the closing operation acceleration time constant T3, the door 5 can be driven in a shorter time during deceleration than during acceleration, and the door 5 can be driven so that the receiving part 9 of the door 5 and the key 8 do not separate during acceleration. In the above embodiment, the direction in which the key 8 is moved to the side opposite to the receiving part 9 side of the door 5 is the direction in which the key 8 closes the door 5. Therefore, such an effect can be obtained when closing the door 5.

[0081] The present invention is not limited to the above embodiment and various modifications are possible. In the above embodiment, time constants during acceleration and deceleration are set to control the opening and closing operations of the door 5, but other control parameters may be used, for example, speed or acceleration may be set. For example, in the above embodiment, when setting acceleration instead of the time constant during the opening operation of the door 5, the acceleration on the acceleration side (first acceleration) may be made larger than the acceleration on the deceleration side (second acceleration). Also, during the closing operation of the door 5, the acceleration on the deceleration side (fourth acceleration) may be made larger than the acceleration on the acceleration side (third acceleration).

[0082] Furthermore, the acceleration can be changed by changing the speed. For example, prepare target speeds 1 and 2, where target speed 1 < target speed 2, and operate towards target speed 2 immediately after reaching target speed 1. In this case, even if both have the same time constant, in effect, it is as if the time constant is doubled. By applying this property, the effects of the above-described embodiment can be obtained simply by changing the speed.

[0083] In the above embodiment, the door 5 may be a single-slide door. The door 5 may move between a closed position and an open position by moving in the vertical direction. An opening may be formed on the upper surface of the cover 3, and the door 5 may be provided at the opening on the upper surface of the cover 3.

[0084] In the above embodiment, the key 8 may be fixed to the belt 62 by rotating 90 degrees about an axis extending in the left-right direction, and the receiving part 9 may be fixed to the left door 51 by rotating 90 degrees about an axis extending in the left-right direction. The key 8 may be fixed to the left door 51, and the receiving part 9 may be fixed to the belt 62. In this case, the receiving part 9 is moved by the motor 14 and the belt 62, and the left door 51 is moved by connecting the key 8 to the receiving part 9. Therefore, in the case of this configuration, the receiving part 9 corresponds to the connecting part of the present invention.

Explanation of Reference Numerals

[0085] 1 Machine tool 5 Door 6 Driving part 7 Disengaging part 8 Key 9 Receiving part 14 Motor 51 Left door 52 Right door 70 Numerical control device 71 CPU T1 Opening operation acceleration time constant T2 Opening operation deceleration time constant T3 Closing operation acceleration time constant T4 Closing operation deceleration time constant

Claims

1. In a numerical control device for controlling the operation of a machine tool provided with a drive unit for driving a door that can be opened and closed, a setting unit that sets control parameters when the drive unit drives the door; a control unit that controls the drive unit based on the control parameters set by the setting unit characterized by comprising.

2. The control parameter is related to the speed when the drive unit drives the door characteristic of the numerical control device according to claim 1.

3. The control parameter is the acceleration when the drive unit drives the door with acceleration and deceleration characteristic of the numerical control device according to claim 2.

4. The control parameter is a time constant for defining the acceleration characteristic of the numerical control device according to claim 3.

5. The drive unit includes a connecting portion that connects to the door, The machine tool includes a separating unit that can be displaced between a connecting state in which the door is connected to the connecting portion and a separating state in which the door is detached from the connecting portion, The time constant is When the separating unit moves the connecting portion toward the door side in the connecting state, it has a first time constant when driving the door with acceleration and deceleration, The first time constant is A first acceleration time constant when driving the door with acceleration, A first deceleration time constant when driving the door with deceleration characterized by comprising, The first acceleration time constant is smaller than the first deceleration time constant characteristic of the numerical control device according to claim 4.

6. The direction in which the connecting portion is moved toward the door side is the direction in which the drive unit opens the door, characterized in that of the numerical control device according to claim 5.

7. The drive unit includes a connecting portion that connects to the door, The machine tool includes a separating unit that can be displaced between a connecting state in which the door is connected to the connecting portion and a separating state in which the door is detached from the connecting portion, The time constant is When the separating unit moves the connecting portion to the side opposite to the door side in the connecting state, it has a second time constant when driving the door with acceleration and deceleration, The second time constant is A second acceleration time constant when driving the door with acceleration, A second deceleration time constant when driving the door with deceleration characterized by comprising, The second deceleration time constant is smaller than the second acceleration time constant characteristic of the numerical control device according to any one of claims 4 to 6.

8. The direction in which the connecting portion is moved to the side opposite to the door side is the direction in which the drive unit closes the door The numerical control device according to claim 7, characterized in that

9. a drive unit that drives an openable and closable door; a setting unit that sets control parameters when the drive unit drives the door; a control unit that controls the drive unit based on the control parameters set by the setting unit A machine tool characterized by comprising

10. In a control method of a numerical control device that controls the operation of a machine tool including a drive unit that drives an openable and closable door, a setting step of setting control parameters of the drive unit when the drive unit drives the door; a control step of controlling the drive unit based on the control parameters set in the setting step A control method characterized by comprising

11. In a control program of a numerical control device that controls the operation of a machine tool including a drive unit that drives an openable and closable door, causing a computer of the numerical control device to perform a setting step of setting control parameters of the drive unit when the drive unit drives the door; perform a control step of controlling the drive unit based on the control parameters set in the setting step A control program characterized by causing

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