Control device, machine tool, control method, and computer program

Abstract

To provide a control device, a machine tool, a control method, and a computer program capable of reducing standby time before execution of a machining program.SOLUTION: A control device for a machine tool comprises: a machine body; a cover that covers the machine body; a main door and an auxiliary door attached to the cover; a main door opening / closing mechanism for opening / closing the main door; a main door locking mechanism for locking the main door; an auxiliary door opening / closing detector that detects opening / closing of the auxiliary door; and an auxiliary door locking mechanism for locking the auxiliary door. The control device comprises an execution unit that executes, in parallel, the locking of the auxiliary door by the auxiliary door locking mechanism, the closing operation of the main door by the main door opening / closing mechanism, and the locking of the main door by the main door locking mechanism when the auxiliary door opening / closing detector detects the closing of the auxiliary door.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present technology relates to a machine tool control device, a machine tool, a control method, and a computer program. [Background technology]

[0002] There is a machine tool that includes a machine body, a cover that covers the machine body, and a front door and a side door attached to the cover (see Patent Document 1). The machine tool locks the front door and the side door, and then executes a machining program. Since machining begins after the doors are locked, safety can be maintained. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-152853 Summary of the Invention [Problem to be solved by the invention]

[0004] Before starting a machining program, the machine tool waits until the side door is locked.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to provide a control device, a machine tool, a control method, and a computer program that can reduce the waiting time before a machining program is executed. [Means for solving the problem]

[0006] A control device according to one embodiment of the present disclosure is a control device for a machine tool comprising a machine body, a cover covering the machine body, a main door and a sub-door attached to the cover, a main door opening / closing mechanism for opening and closing the main door, a main door locking mechanism for locking the main door, a sub-door opening / closing detector for detecting the opening and closing of the sub-door, and a sub-door locking mechanism for locking the sub-door, and is equipped with an execution unit that, when the sub-door opening / closing detector detects that the sub-door is closed, locks the sub-door by the sub-door locking mechanism, closes the main door by the main door opening / closing mechanism, and locks the main door by the main door locking mechanism in parallel.

[0007] In the present disclosure, when the sub door is closed, the locking of the sub door and the closing and locking of the main door are performed in parallel.

[0008] In the control device according to one embodiment of the present disclosure, the execution unit executes a notification process to notify that the sub door is open when the sub door opening / closing detector detects that the sub door is open, and executes a prohibition process to prohibit operation of the machine tool when the sub door opening / closing detector detects that the sub door is open.

[0009] In the present disclosure, when the sub door is open, the operator is notified that the sub door is open and operation of the machine tool is prohibited.

[0010] In the control device according to one embodiment of the present disclosure, the machine tool is provided with a plurality of sub-doors, and when the sub-door opening / closing detector detects that all of the sub-doors are closed, the execution unit locks all of the sub-doors using the sub-door locking mechanism, closes the main door using the main door opening / closing mechanism, and locks the main door using the main door locking mechanism, in parallel.

[0011] In the present disclosure, when all the sub-doors are closed, the locking of all the sub-doors and the closing and locking of the main door are executed in parallel.

[0012] In a control device according to one embodiment of the present disclosure, the execution unit executes a determination process to determine whether the sub-door is in a lock-prohibited state, and if the determination process determines that the sub-door is in the lock-prohibited state, the execution unit does not lock the sub-door that is in the lock-prohibited state.

[0013] In the present disclosure, sub-doors that are in a locking-prohibited state are not locked, and the locking of sub-doors that are not in a locking-prohibited state and the closing operation and locking of the main door are performed in parallel.

[0014] A machine tool according to one embodiment of the present disclosure is a machine tool comprising a machine body, a cover covering the machine body, a main door and a sub-door attached to the cover, a main door opening / closing mechanism for opening and closing the main door, a main door locking mechanism for locking the main door, a sub-door opening / closing detector for detecting whether the sub-door is closed or not, a sub-door locking mechanism for locking the sub-door, and a control device for controlling each of the mechanisms, wherein the control device comprises an execution unit that, when the sub-door opening / closing detector determines that the sub-door is closed, locks the sub-door using the sub-door locking mechanism, closes the main door using the main door opening / closing mechanism, and locks the main door using the main door locking mechanism in parallel.

[0015] In the present disclosure, when the sub door is closed, the locking of the sub door and the closing and locking of the main door are performed in parallel.

[0016] A control method according to one embodiment of the present disclosure is a control method for a machine tool including a machine body, a cover covering the machine body, a main door and a sub-door attached to the cover, a main door opening / closing mechanism for opening and closing the main door, a main door locking mechanism for locking the main door, a sub-door opening / closing detector for detecting whether the sub-door is closed or not, and a sub-door locking mechanism for locking the sub-door, wherein when the sub-door opening / closing detector determines that the sub-door is closed, the sub-door locking mechanism locks the sub-door, and the main door opening / closing mechanism and the main door locking mechanism lock the main door in parallel.

[0017] In the present disclosure, when the sub door is closed, the locking of the sub door and the closing and locking of the main door are performed in parallel.

[0018] A computer program according to one embodiment of the present disclosure is a computer program for controlling a machine tool including a machine main body, a cover covering the machine main body, a main door and a sub-door attached to the cover, a main door opening / closing mechanism for opening and closing the main door, a main door locking mechanism for locking the main door, a sub-door opening / closing detector for detecting whether the sub-door is closed or not, and a sub-door locking mechanism for locking the sub-door, and when the sub-door opening / closing detector determines that the sub-door is closed, the computer program causes the machine tool to execute processing that simultaneously locks the sub-door using the sub-door locking mechanism, closes the main door using the main door opening / closing mechanism, and locks the main door using the main door locking mechanism.

[0019] In the present disclosure, when the sub door is closed, the locking of the sub door and the closing and locking of the main door are performed in parallel. [Effects of the Invention]

[0020] In the control device, machine tool, control method, and computer program according to an embodiment of the present disclosure, when the sub door is closed, the sub door is locked and the main door is closed and locked in parallel. Therefore, while the main door is being closed and locked, the sub door can also be locked, thereby reducing the waiting time before the machining program is executed. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a schematic perspective view of a machine body according to a first embodiment. [Figure 2] FIG. 1 is a schematic perspective view of a machine tool. [Figure 3] FIG. 1 is a schematic plan view of a machine tool. [Figure 4] FIG. 2 is a block diagram showing the configuration of the control device of the machine tool and its surroundings. [Figure 5] 10 is a flowchart illustrating a door closing process performed by the control device. [Figure 6] FIG. 10 is a schematic partial perspective view of a machine body, a cover, and a workpiece exchange device according to a second embodiment. [Figure 7] FIG. 1 is a schematic plan view of a machine tool. [Figure 8] FIG. 2 is a block diagram showing the configuration of the control device of the machine tool and its surroundings. [Figure 9] 10 is a flowchart illustrating a door closing process performed by the control device. DETAILED DESCRIPTION OF THE INVENTION

[0022] (Embodiment 1) The present invention will be described below with reference to the drawings showing a machine tool according to a first embodiment. Fig. 1 is a schematic perspective view of the machine body, Fig. 2 is a schematic perspective view of the machine tool, and Fig. 3 is a schematic plan view of the machine tool. The machine tool 100 comprises a machine body 1 and a cover 2 that covers the machine body 1. The machine body 1 comprises a base 11. A column 12 extending in the vertical direction is provided on the rear of the base 11. The column 12 supports a spindle head 13 at its front.

[0023] A vertically extending spindle (not shown) is held at the bottom of the spindle head 13 so that it can rotate around an axis parallel to the vertical direction. A spindle motor 14 connected to the spindle is fixed to the top of the spindle head 13. A tool (not shown) is detachably attached to the lower end of the spindle. A workpiece holder 15 is provided on the front of the base 11 and is movable left and right and forward and backward.

[0024] A turret-type tool magazine 16 is provided in front of the spindle head 13. A plurality of tools are held around the tool magazine 16. The tool magazine 16 is used to attach and detach tools to and from the spindle. A control device 17 is attached to the rear of the column 12. The control device 17 controls the operation of the machine body 1.

[0025] As shown in Figure 2, the cover 2 is provided on the upper side of the base 11. The cover 2 extends in the vertical direction and has a rectangular front wall 5, left wall 6, right wall 7, and rear wall 8 that respectively cover the front, back, left, and right sides of the machine body 1. It also has a ceiling 9 that covers the upper side of the machine body 1. A control device 17 that controls the drive of each motor is provided on the rear wall 8.

[0026] A vertically long rectangular opening 51 is provided in the center of the front wall 5. Vertically long rectangular right door 52 and left door 53 are arranged side by side in the opening 51 so that they can move left and right. The right door 52 and left door 53 form a front door 56. The front door 56 corresponds to the main door. To the right of the opening 51 is provided an operation panel 54 through which an operator inputs commands. A display unit 55a is provided on the operation panel 54. A side door 70 is provided on the right wall 7. A side door 60 is provided on the left wall 6. The configuration of the side door 60 is the same as that of the side door 70. An operator manually opens and closes the side doors 60, 70. The side doors 60, 70 correspond to secondary doors.

[0027] FIG. 4 is a block diagram showing the configuration of the control device 17 and its surroundings in the machine tool 100. As shown in FIG. 4, the control device 17 includes a control unit 17a, a main memory unit 17b, an auxiliary memory unit 17c, and an input / output interface (I / F) 17d. The control unit 17a includes, for example, a processor or a logic circuit. The processor includes, for example, a CPU, an MPU, or a GPU. The logic circuit includes, for example, an FPGA or an ASIC. The main memory unit 17b includes, for example, a RAM. The auxiliary memory unit 17c includes a rewritable storage device, for example, an EEPROM, a flash ROM, or a hard disk. The I / F 17d is an interface connected to the front door opening / closing mechanism 20, the front opening / closing detector 21, the right opening / closing detector 22, the left opening / closing detector 23, the front locking mechanism 24, the right locking mechanism 25, the left locking mechanism 26, the alarm unit 27, etc. The front door opening / closing mechanism 20 corresponds to the main door opening / closing mechanism. The front locking mechanism 24 corresponds to the main door locking mechanism. The right open / close detector 22 and the left open / close detector 23 correspond to the sub-door open / close detectors. The right locking mechanism 25 and the left locking mechanism 26 correspond to the sub-door locking mechanism.

[0028] The front door opening / closing mechanism 20 is equipped with a ball screw mechanism or an air cylinder, etc., and opens and closes the front door 56. The front open / close detector 21 detects the opening and closing of the front door 56. The front open / close detector 21 is equipped with, for example, a proximity sensor, and detects that the front door 56 is closed when the distance between the right door 52 and the left door 53 is equal to or less than a predetermined threshold, and detects that the front door 56 is open when the threshold is exceeded.

[0029] The right open / close detector 22 detects whether the side door 70 is open or closed. The right open / close detector 22 is equipped with, for example, a contact switch. When the side door 70 is attached to the right wall 7 and the switch is pressed, the right open / close detector 22 detects whether the side door 70 is closed. When the side door 70 is detached from the right wall 7 and the switch is not pressed, the right open / close detector 22 detects whether the side door 70 is open. Note that two side doors 70 are shown in FIG. 2, and each side door 70 is provided with a switch. When both switches are pressed, the right open / close detector 22 detects whether the side door 70 is closed. When at least one switch is not pressed, the right open / close detector 22 detects whether the side door 70 is open. The left open / close detector 23 detects whether the side door 60 is open or closed. The detection method by the left open / close detector 23 is the same as that of the right open / close detector 22, so a description thereof will be omitted.

[0030] The front locking mechanism 24 locks and unlocks the front door 56. The front locking mechanism 24 includes, for example, a locking portion, a locked portion, and a motor. When the locking portion locks with the locked portion by driving the motor, the front door 56 is locked, and when the locking portion and the locked portion are disengaged by driving the motor, the front door 56 is unlocked. The front locking mechanism 24 includes a lock detector 24a. The lock detector 24a includes, for example, a B-contact switch. When the locking portion locks with the locked portion, the B-contact switch opens and detects that the front door 56 is locked. When the locking portion and the locked portion are disengaged, the B-contact switch closes and detects that the front door 56 is unlocked.

[0031] The right locking mechanism 25 locks and unlocks the side door 70. The right locking mechanism 25 is equipped with a lock detector 25a. The left locking mechanism 26 locks and unlocks the side door 60. The left locking mechanism 26 is equipped with a lock detector 26a. The configurations of the right locking mechanism 25 and the left locking mechanism 26 are the same as those of the front locking mechanism 24, and detailed explanations thereof will be omitted. The configurations of the lock detectors 25a and 26a are the same as those of the lock detector 24a, and detailed explanations thereof will be omitted.

[0032] The notification unit 27 is, for example, a display screen, a lamp, a buzzer, etc., and when an abnormality is detected, notifies the abnormality by displaying information indicating the abnormality, lighting or flashing a light, or making a sound.

[0033] The auxiliary storage unit 17c stores a control program. The control unit 17a reads the control program from the auxiliary storage unit 17c into the main storage unit 17b and executes it. The control unit 17a stores data generated by the execution of the control program in the auxiliary storage unit 17c. The control unit 17a transmits drive signals to the front door opening / closing mechanism 20, the front locking mechanism 24, the right locking mechanism 25, the left locking mechanism 26, and the alarm unit 27 via the input / output I / F 17d as necessary. The control unit 17a receives detection results from the front opening / closing detector 21, the right opening / closing detector 22, the left opening / closing detector 23, the locking detectors 24a, 25a, 26a, etc. via the input / output I / F 17d.

[0034] The control program may be stored in a storage medium 18, such as an optical disk, flash memory, or hard disk, and may be downloaded from the storage medium 18 to the auxiliary storage unit 17c. Alternatively, the control program may be downloaded from an external server via a network (not shown) to the auxiliary storage unit 17c. Processing by the control program, for example, a door closing process described below, may be performed by a server or a terminal connected to the control device 17 via the network, or may be performed by distributed processing between the server and a device other than the server, such as a terminal or a second server.

[0035] FIG. 5 is a flowchart illustrating the door closing process performed by the control device 17. The control unit 17a closes and locks all doors, and then executes a machining program to machine a workpiece. The control unit 17a determines whether any doors other than the front door 56 are open (S1). The control unit 17a acquires the detection results of the right open / close detector 22 and the left open / close detector 23, and determines whether the side doors 60 and 70 are closed. If it is determined that any door other than the front door 56 is open (S1: YES), that is, if at least one of the side doors 60, 70 is not closed, the control unit 17a drives the alarm unit 27 (S8).

[0036] The notification unit 27 notifies, for example, that the side doors 60, 70 are open. For example, the display screen indicates that the side doors 60, 70 are open, a lamp lights up or flashes, and a buzzer sounds. The operator recognizes that the side doors 60, 70 are open and can check the status of the side doors 60, 70. The control unit 17a prohibits the operation of the machine tool 100 (S9) and terminates the processing. This is because, with the side doors 60, 70 open, there is a risk that safety during machining cannot be ensured. For example, in step S9, the control unit 17a stores a prohibition flag that prohibits the operation of the machine tool 100 in the main memory unit 17b or the auxiliary memory unit 17c, and while the prohibition flag is stored, the control unit 17a does not execute the machining program even if it receives an instruction to execute the machining program.

[0037] In step S1, if it is determined that no doors other than the front door 56 are open (S1: NO), the control unit 17a sends a close command to the front door 56 (S2), that is, sends a close command to the front door opening / closing mechanism 20. The front door opening / closing mechanism 20 starts a closing operation. The control unit 17a sends a lock command to all doors other than the front door 56 (S3), that is, sends a lock command to the right locking mechanism 25 and the left locking mechanism 26. The right locking mechanism 25 and the left locking mechanism 26 start locking the side doors 70 and 60.

[0038] The control unit 17a acquires the detection result of the front door open / close detector 21 and determines whether the front door 56 is closed (S4). If it is determined that the front door 56 is not closed (S4: NO), the control unit 17a returns the process to step S4. If it is determined that the front door 56 is closed (S4: YES), a lock command is sent to the front door 56 (S5), that is, a lock command is sent to the front locking mechanism 24. The front locking mechanism 24 starts locking the front door 56. In steps S2 to S5 described above, the closing operation and locking of the front door 56 and the locking of the side doors 60, 70 are executed in parallel. For example, the closing operation and locking of the front door 56 and the locking of the side doors 60, 70 are executed so that at least a first execution time of the closing operation and locking operation of the front door 56 and a second execution time of the locking operation of the side doors 60, 70 overlap at least partially. As long as the first execution time and the second execution time at least partially overlap, the start and end times of the closing and locking operations of the front door 56 do not have to coincide with the start and end times of the locking operations of the side doors 60, 70. The start and end times of the closing and locking operations of the front door 56 may coincide with the start and end times of the locking operations of the side doors 60, 70.

[0039] The control unit 17a acquires the detection results of the lock detectors 24a, 25a, and 26a and determines whether all the doors are locked (S6). If it is determined that all the doors are not locked (S6: NO), the control unit 17a returns the process to step S6. If it is determined that all the doors are locked (S6: YES), the control unit 17a starts executing the machining program (S7) and ends the process. The control unit 17a that executes the processes of steps S2 to S5 corresponds to the execution unit. The control unit 17a executes the notification process of step S8 and the prohibition process of step S9.

[0040] In machine tool 100 according to the first embodiment, when the left and right side doors 60, 70 are closed, the locking of the side doors 60, 70 and the closing operation and locking of the front door 56 are carried out in parallel. Therefore, while the closing operation and locking of the front door 56 are being carried out, the locking of the side doors 60, 70 can also be carried out, thereby reducing the waiting time before the execution of the machining program.

[0041] Furthermore, if the right open / close detector 22 or the left open / close detector 23 determines that one of the side doors 60, 70 is open, the operator is notified that the side doors 60, 70 are open and operation of the machine tool is prohibited. The operator can be urged to close the side doors 60, 70 to ensure safety. Furthermore, the front door 56 is closed and locked in parallel only when all of the side doors 60, 70 are closed and locked, thereby ensuring safety.

[0042] (Embodiment 2) The present invention will be described below with reference to the drawings showing a machine tool according to embodiment 2. Of the configurations according to embodiment 2, the same configurations as those in embodiment 1 are given the same reference numerals and detailed description thereof will be omitted.

[0043] Fig. 6 is a schematic partial perspective view of the machine body 1, cover 2a, and workpiece exchange device 10. Fig. 7 is a schematic plan view of machine tool 101. In embodiment 2, a rectangular opening 71 is formed in the right wall 7 of machine tool 101. A side door 72 is provided in opening 71. Side door 72 is movable back and forth to open and close opening 71.

[0044] A workpiece exchange device 10 is provided on the right side of the right wall 7. The workpiece exchange device 10 has an arm 10a. The arm 10a is movable left and right and forward and backward.

[0045] The machine tool 101 is provided with a second cover 30 that surrounds the workpiece exchange device 10. The second cover 30 is U-shaped in plan view with an opening on the left side, and is provided with a front wall 30a, a right wall 30b, and a rear wall 30c. The second cover 30 is positioned so that its left side, i.e., the open portion, faces the right wall 7. The two left end portions of the second cover 30 are connected to the right wall 7. An opening (not shown) is provided in the front wall 30a, and a second front door 31 is provided in said opening. The second front door 31 is movable left and right to open and close said opening. The second front door 31 corresponds to a sub-door.

[0046] The operator operates the operation panel 54 in advance to input an open signal and a lock prohibition signal for the side door 72. The control unit 17a stores information indicating that the side door 72 is in the lock prohibition state in the main memory unit 17b or the auxiliary memory unit 17c. The side door 72 keeps the opening 71 open. A table (not shown) on which a workpiece is placed, for example, is disposed inside the second cover 30. The arm 10a passes through the opening 71 and moves between the workpiece holder 15 and the table, allowing the exchange of a machined workpiece with an unmachined workpiece.

[0047] 8 is a block diagram showing the configuration in the vicinity of control device 17 of machine tool 100. In the second embodiment, machine tool 100 is provided with a front door opening / closing mechanism 20, a front open / close detector 21, a left open / close detector 23, a front locking mechanism 24, a right locking mechanism 25, a left locking mechanism 26, and an alarm unit 27, but as these have the same configuration as in the first embodiment, detailed description thereof will be omitted.

[0048] The input / output I / F 17d is connected to the second front door opening / closing mechanism 20a, the second front door opening / closing detector 28, the second front locking mechanism 29, the right opening / closing mechanism 22a, and the right opening / closing detector 22b. The second front door opening / closing mechanism 20a is equipped with a ball screw mechanism or an air cylinder, etc., and opens and closes the second front door 31. The second front door opening / closing detector 28 detects the opening and closing of the second front door 31. The second front door opening / closing detector 28 is equipped with, for example, a proximity sensor, and detects the closing of the second front door 31 when the distance between the edge of the second front door 31 and the edge of the opening in the front wall 30a is equal to or less than a predetermined threshold, and detects the opening of the second front door 31 when the distance exceeds the threshold.

[0049] The second front locking mechanism 29 locks and unlocks the second front door 31. The second front locking mechanism 29 includes, for example, a locking portion, a locked portion, and a motor. When the locking portion locks with the locked portion by driving the motor, the second front door 31 is locked, and when the locking portion and the locked portion are disengaged by driving the motor, the second front door 31 is unlocked. The second front locking mechanism 29 includes a lock detector 29a. The lock detector 29a includes, for example, a B-contact switch. When the locking portion locks with the locked portion, the B-contact switch opens and detects that the second front door 31 is locked. When the locking portion and the locked portion are disengaged, the B-contact switch closes and detects that the second front door 31 is unlocked.

[0050] The right opening / closing mechanism 22a has the same configuration as the second front door opening / closing mechanism 20a, and detailed description thereof will be omitted. The right opening / closing detector 22 has the same configuration as the second front opening / closing detector 28, and detailed description thereof will be omitted.

[0051] 9 is a flowchart illustrating the door closing process by the control device 17. In the door closing process in the second embodiment, the processes of steps S1 to S5 and S7 to S9 are the same as the processes of steps S1 to S5 and S7 to S9 of the door closing process in the first embodiment, and detailed explanations thereof will be omitted. Here, the process of steps S10 to S12 will be mainly explained.

[0052] After the process of step S2, the control unit 17a determines whether or not there is a door in an unlocking prohibited state (S10). If it is determined that there is no door in an unlocking prohibited state (S10: NO), the control unit 17a proceeds to the process of step S3. The control unit 17a executes the determination process of step S10.

[0053] When it is determined that there is a door in the locking prohibited state (S10: YES), the control unit 17a sends a lock command to all doors other than the front door 56 and the doors in the locking prohibited state (S11). As described above, when the side door 72 is in the locking prohibited state, the control unit 17a sends a lock command to the doors other than the front door 56 and the side door 72, i.e., the side door 60 and the second front door 31. That is, the control unit 17a sends a lock command to the second front locking mechanism 29 and the left locking mechanism 26. The second front locking mechanism 29 and the left locking mechanism 26 start locking the second front door 31 and the side door 60.

[0054] After processing step S5, the control unit 17a determines whether all doors other than the doors in the locking prohibited state have been locked (S12). For example, the control unit 17a acquires the detection results of the lock detectors 24a, 26a, and 29a and determines whether all doors other than the front door 56, the side door 60, the second front door 31, and the side door 70 have been locked. If it is determined that all doors other than the doors in the locking prohibited state have not been locked (S12: NO), the control unit 17a returns the process to step S12. If it is determined that all doors other than the doors in the locking prohibited state have been locked (S12: YES), the control unit 17a starts execution of the machining program (S7) and ends the process.

[0055] In the machine tool 101 according to the second embodiment, locking of the side door 72 that is in the locking-prohibited state is not performed, and locking of the side door 60 and the second front door 31 that are not in the locking-prohibited state and closing operation and locking of the front door 56 are performed in parallel. In other words, the control unit 17a, for the side door 72 that is in the locking-prohibited state, assumes that the side door 72 is closed and locked regardless of the detection result of the right open / close detector 22, and performs the door closing process. Therefore, even when a side door 72 that is always open exists, as in the case of using the workpiece exchange device 10, the door closing process can be performed to ensure safety. Furthermore, if a new door other than the front door 56, i.e., the second front door 31, is provided, the door closing process can be performed taking the second front door 31 into consideration, and locking of the second front door 31 and closing operation and locking of the front door 56 can be performed in parallel.

[0056] In the first and second embodiments, the side doors 60, 70, 72 and the second front door 31 are examples of sub-doors. If a door is provided on the ceiling 9 of the cover 2 or on the right wall or ceiling of the second cover 30, the sub-door also includes these doors.

[0057] It should be noted that a computer program can be deployed to be executed on a single computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communications network.

[0058] The embodiments disclosed herein are illustrative in all respects and should not be considered limiting. The scope of the present invention is intended to include all modifications within the scope of the claims and the scope equivalent to the claims. The features described in each embodiment can be mutually combined. Furthermore, independent claims and dependent claims described in the claims can be mutually combined in any and all combinations, regardless of the reference format. Furthermore, although the claims use a format in which a claim references two or more other claims (multiple claim format), this is not limiting. A multiple claim (multi-multi claim) that references at least one other multiple claim may also be used. [Explanation of symbols]

[0059] 1 Machine body 2 Cover 56 Front door (main door) 60, 70 Side door (secondary door) 2a Cover 30 Second cover 31 Second front door (sub-door) 100 Machine tools 101 Machine tools 20 Front door opening and closing mechanism 24 Front locking mechanism 22 Right open / close detector 23 Left open / close detector 25 Right locking mechanism 26 Left locking mechanism 20a Second front door opening / closing mechanism 22a Right open / close detector 29 Second front locking mechanism

Claims

1. A control device for a machine tool comprising: a machine body; a cover that covers the machine body; a main door and a sub door attached to the cover; a main door opening / closing mechanism that opens and closes the main door; a main door locking mechanism that locks the main door; a sub door opening / closing detector that detects whether the sub door is open or closed; and a sub door locking mechanism that locks the sub door, an execution unit that, when the sub-door open / close detector detects that the sub-door is closed, executes in parallel locking of the sub-door by the sub-door locking mechanism, closing operation of the main door by the main door open / close mechanism, and locking of the main door by the main door locking mechanism; Control device.

2. a notification process in which, when the sub door opening / closing detector detects that the sub door is open, the execution unit notifies the user that the sub door is open; When the sub-door open / close detector detects that the sub-door is open, a prohibition process is executed to prohibit the operation of the machine tool. The control device according to claim 1 .

3. the machine tool includes a plurality of the sub-doors, When the sub-door open / close detector detects that all the sub-doors are closed, the execution unit executes in parallel the locking of all the sub-doors by the sub-door locking mechanism, the closing operation of the main door by the main door open / close mechanism, and the locking of the main door by the main door locking mechanism. The control device according to claim 1 or 2.

4. the execution unit executes a determination process to determine whether the sub door is in a lock-prohibited state, When it is determined in the determination process that the sub door is in the lock-prohibited state, the sub door in the lock-prohibited state is not locked. The control device according to claim 1 or 2.

5. A machine tool comprising: a machine body; a cover that covers the machine body; a main door and a sub door attached to the cover; a main door opening / closing mechanism that opens and closes the main door; a main door locking mechanism that locks the main door; a sub door opening / closing detector that detects whether the sub door is closed or not; a sub door locking mechanism that locks the sub door; and a control device that controls each of the mechanisms, The control device and an execution unit that, when the sub-door open / close detector determines that the sub-door is closed, executes in parallel locking of the sub-door by the sub-door locking mechanism, closing operation of the main door by the main door open / close mechanism, and locking of the main door by the main door locking mechanism. Machine tools.

6. A control method for a machine tool comprising a machine body, a cover covering the machine body, a main door and a sub door attached to the cover, a main door opening / closing mechanism for opening and closing the main door, a main door locking mechanism for locking the main door, a sub door opening / closing detector for detecting whether the sub door is closed or not, and a sub door locking mechanism for locking the sub door, When the sub-door open / close detector determines that the sub-door is closed, the sub-door locking mechanism locks the sub-door, and the main door opening / closing mechanism closes the main door and the main door locks the main door. Control method.

7. A computer program for controlling a machine tool including a machine body, a cover that covers the machine body, a main door and a sub door attached to the cover, a main door opening / closing mechanism that opens and closes the main door, a main door locking mechanism that locks the main door, a sub door opening / closing detector that detects whether the sub door is closed or not, and a sub door locking mechanism that locks the sub door, The machine tool When the sub-door open / close detector determines that the sub-door is closed, the sub-door locking mechanism locks the sub-door, and the main door opening / closing mechanism closes the main door and the main door locks the main door. A computer program that executes a process.

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