Door device for machine tool and machine tool

Abstract

To provide a door device for a machine tool, capable of adjusting an assist force based on an operating force acting on a handle, and a machine tool. [Solution] A door device for a machine tool comprises a door that can slide in a first direction so that at least a portion of an opening of the machine tool is open, and can slide in a second direction opposite to the first direction so that at least a portion of the opening is closed, a handle arranged on the door, a strain gauge that detects operation of the handle, an air cylinder that applies an assist force to the door, an air supply flow path that connects the air cylinder to an air supply source, a regulator that adjusts the pressure of the air flowing through the air supply flow path, and a control device that controls the regulator based on a signal from the strain gauge.

Description

[Technical Field]

[0001] The present invention relates to a door device for a machine tool and to a machine tool. [Background technology]

[0002] BACKGROUND ART An auxiliary device that assists in opening and closing a door of a machine tool is known.

[0003] As a related technique, Patent Document 1 discloses a door device for a machine tool. The door device for a machine tool described in Patent Document 1 includes a door that is slidable between a first position and a second position, a handle disposed on the door, at least one air cylinder that applies a first assist force to the door in a first direction from the first position to the second position, and an operation switch that switches the state of at least one switching valve between a first state that allows the door to be moved in the first direction or in the second direction from the second position to the first position without the first assist force, and a second state that applies the first assist force to the door in the first direction. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6982713 Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a door device for a machine tool, and a machine tool, which are capable of adjusting an assist force based on the operating force acting on the handle. [Means for solving the problem]

[0006] An embodiment of the present invention relates to a door device for a machine tool and a machine tool as described below.

[0007] (1) A door that is slidable in a first direction so as to open at least a portion of an opening of a machine tool, and that is slidable in a second direction opposite to the first direction so as to close at least the portion of the opening; a handle disposed on the door; a strain gauge for detecting the operation of the handle; an air cylinder that applies an assist force to the door; an air supply flow path connecting the air cylinder and an air supply source; a regulator for adjusting the pressure of the air flowing through the air supply passage; a control device that controls the regulator based on a signal from the strain gauge; Equipped with Door device for machine tools. (2) The regulator adjusts the pressure based on an electrical signal or an optical signal received from the control device. The door device for a machine tool according to (1) above. (3) A directional control valve is further provided to switch the direction of the assist force between the first direction and the second direction, The control device controls the directional control valve based on the signal from the strain gauge. A door device for a machine tool according to (1) or (2) above. (4) The directional control valve is disposed between the regulator and the air cylinder in a direction along the air supply flow path. The door device for a machine tool according to (3) above. (5) A parameter that defines a change in the magnitude of the first assist force in the first direction in response to a change in the magnitude of the first operating force acting on the handle in the first direction is changeable. A door device for a machine tool according to (3) or (4) above. (6) when the handle is operated in the first direction, the control device transmits a first control command to the directional control valve; the directional control valve that receives the first control command fluidly connects a first chamber of the air cylinder with the regulator; When the handle is operated in the second direction, the control device transmits a second control command to the directional control valve; the directional control valve that receives the second control command fluidly connects a second chamber of the air cylinder with the regulator; When the directional control valve is in a default state, each of the first chamber and the second chamber is fluidly connected to an atmosphere opening port. A door device for a machine tool according to any one of (3) to (5) above. (7) The control device controls the regulator so that the magnitude of the assist force applied to the door changes in accordance with the magnitude of the operating force acting on the handle. A door device for a machine tool according to any one of (1) to (6) above. (8) A support for supporting the strain gauge is provided, The support is a first portion secured to the door; a second portion to which the handle is secured; a third portion in which the strain gauge is disposed; and The third portion is disposed between the first portion and the second portion. A door device for a machine tool according to any one of (1) to (7) above. (9) The third part is a thinned region; a non-thinned region that is thicker than the thinned region; Including, The strain gauge is disposed in the thinned region. The door device for a machine tool according to (8) above. (10) The door includes a first frame; the handle is disposed on a surface of the first frame; The support is disposed on the rear surface of the first frame. A door device for a machine tool according to (8) or (9) above. (11) The strain gauge is disposed on the support in a state inclined with respect to the longitudinal direction of the support. A door device for a machine tool according to any one of (8) to (10) above. (12) The strain gauges include a first strain gauge, a second strain gauge, a third strain gauge, and a fourth strain gauge arranged in a bridge circuit; When the handle is operated in the first direction, the first strain gauge and the second strain gauge extend, When the handle is operated in the first direction, the third strain gauge and the fourth strain gauge contract. A door device for a machine tool according to any one of (1) to (7) above. (13) A support for supporting the strain gauge is provided, the first strain gauge and the second strain gauge are disposed on a first side surface of the support; The third strain gauge and the fourth strain gauge are disposed on a second side surface of the support. The door device for a machine tool according to (12) above. (14) a work support device for supporting a work; a machining head capable of holding a tool for machining the workpiece; a moving device that moves the machining head relative to the workpiece supporting device; a numerical control device for controlling the movement device; a wall having an opening; Door device and Equipped with The door device is a door that is slidable in a first direction to open at least a portion of the opening and that is slidable in a second direction opposite to the first direction to close at least the portion of the opening; a handle disposed on the door; a strain gauge for detecting the operation of the handle; an air cylinder that applies an assist force to the door; an air supply flow path connecting the air cylinder and an air supply source; a regulator for adjusting the pressure of the air flowing through the air supply passage; a control device that controls the regulator based on a signal from the strain gauge; Equipped with Machine tools. (15) The control device includes a memory that stores a first group of parameters that define a change in a first target pressure of the air supply passage in response to a change in a first operating force acting on the handle in the first direction, The numerical control device includes: a storage device that stores a parameter change program; Display and Equipped with The numerical control device executes the parameter change program stored in the storage device to display on the display a first image for accepting a user input for changing the first group of parameters. The machine tool according to (14) above. [Effects of the Invention]

[0008] The present invention can provide a door device for a machine tool, and a machine tool, that can adjust the assist force based on the operating force acting on the handle. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram schematically illustrating a door device for a machine tool according to a first embodiment. [Figure 2] FIG. 2 is a diagram schematically illustrating a door device for a machine tool according to the first embodiment. [Figure 3] FIG. 3 is a diagram schematically illustrating a door device for a machine tool according to the first embodiment. [Figure 4] FIG. 4 is a diagram schematically illustrating a door device for a machine tool according to the first embodiment. [Figure 5] FIG. 5 is a diagram schematically showing a door device for a machine tool in a first modified example of the first embodiment. [Figure 6] FIG. 6 is a diagram schematically illustrating a door device for a machine tool in the first embodiment. [Figure 7]FIG. 7 is a diagram schematically showing an example of the relationship between the operating force and the assist force. [Figure 8] FIG. 8 is a diagram schematically illustrating an example of the relationship between the operating force and the target pressure. [Figure 9] FIG. 9 is a diagram illustrating a schematic diagram of how the controller can generate a first control signal corresponding to a first target pressure based on the signal from the strain gauge and a first set of parameters. [Figure 10] FIG. 10 is a diagram illustrating schematically how the controller can generate a second control signal corresponding to a second target pressure based on the signal from the strain gauge and the second group of parameters. [Figure 11] FIG. 11 is a diagram schematically showing another example of the relationship between the operating force and the assist force. [Figure 12] FIG. 12 is a schematic cross-sectional view showing a part of the door device for a machine tool in the first embodiment. [Figure 13] FIG. 13 is an enlarged view of the area surrounded by the dashed-dotted rectangle A1 in FIG. [Figure 14] FIG. 14 is an enlarged view of the area surrounded by the dashed-dotted rectangle A2 in FIG. [Figure 15] FIG. 15 is a schematic perspective view showing a part of the door device for a machine tool in the first embodiment. [Figure 16] FIG. 16 is a schematic perspective view showing a part of the door device for a machine tool in the first embodiment. [Figure 17] FIG. 17 is a schematic perspective view showing an example of the arrangement of a plurality of strain gauges. [Figure 18] FIG. 18 is a schematic diagram illustrating the extension of the first strain gauge and the second strain gauge due to torsional deformation. [Figure 19] FIG. 19 is a schematic diagram illustrating the contraction of the third and fourth strain gauges due to torsional deformation. [Figure 20] FIG. 20 is a diagram showing a schematic diagram of a plurality of strain gauges arranged in a bridge circuit. [Figure 21]FIG. 21 is a diagram showing a schematic diagram of one strain gauge arranged in a bridge circuit. [Figure 22] FIG. 22 is a diagram showing a schematic diagram of a bridge circuit in which dummy strain gauges are arranged. [Figure 23] FIG. 23 is a diagram schematically illustrating a door device for a machine tool according to the second embodiment. [Figure 24] FIG. 24 is a diagram schematically illustrating a door device for a machine tool according to the second embodiment. [Figure 25] FIG. 25 is a diagram schematically showing an example of the arrangement of movable pulleys and / or air cylinders. [Figure 26] FIG. 26 is a schematic perspective view illustrating a machine tool according to the third embodiment. [Figure 27] FIG. 27 is a diagram schematically showing how a numerical control device can control a control target device. [Figure 28] FIG. 28 is a diagram schematically illustrating an example of the first image displayed on the display. [Figure 29] FIG. 29 is a diagram schematically illustrating another example of the first image displayed on the display. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, a door device 1 for a machine tool and a machine tool 100 according to an embodiment will be described with reference to the drawings. In the following description of the embodiment, parts and members having the same functions are given the same reference numerals, and repeated description of parts and members given the same reference numerals will be omitted.

[0011] (First embodiment) A door apparatus 1A for a machine tool according to a first embodiment will be described with reference to FIGS. 1 to 22. FIGS. 1 to 4 are diagrams schematically illustrating the door apparatus 1A for a machine tool according to the first embodiment. FIG. 5 is a diagram schematically illustrating a door apparatus 1A for a machine tool according to a first modification of the first embodiment. FIG. 6 is a diagram schematically illustrating the door apparatus 1A for a machine tool according to the first embodiment. FIG. 7 is a diagram schematically illustrating an example of the relationship between an operating force and an assisting force. FIG. 8 is a diagram schematically illustrating an example of the relationship between an operating force and a target pressure. FIG. 9 is a diagram schematically illustrating a state in which the control device 66 can generate a first control signal C1 corresponding to a first target pressure based on a signal S from the strain gauge 40 and a first group of parameters PA. FIG. 10 is a diagram schematically illustrating a state in which the control device 66 can generate a second control signal C2 corresponding to a second target pressure based on a signal S from the strain gauge 40 and a second group of parameters PB. FIG. 11 is a diagram schematically illustrating another example of the relationship between an operating force and an assisting force. FIG. 12 is a schematic cross-sectional view showing a portion of a door apparatus 1A for a machine tool according to the first embodiment. FIG. 13 is an enlarged view of an area surrounded by a dashed-dotted rectangle A1 in FIG. 12. FIG. 14 is an enlarged view of an area surrounded by a dashed-dotted rectangle A2 in FIG. 12. FIGS. 15 and 16 are schematic perspective views showing a portion of a door apparatus 1A for a machine tool according to the first embodiment. FIG. 17 is a schematic perspective view showing an example of an arrangement of a plurality of strain gauges 40. FIG. 18 is a schematic diagram illustrating the extension of a first strain gauge 40a and a second strain gauge 40b due to torsional deformation. FIG. 19 is a schematic diagram illustrating the contraction of a third strain gauge 40c and a fourth strain gauge 40d due to torsional deformation. FIG. 20 is a schematic diagram showing an arrangement of a plurality of strain gauges 40 in a bridge circuit 4. FIG. 21 is a schematic diagram showing an arrangement of one strain gauge 40 in a bridge circuit 4. FIG. 22 is a diagram showing a schematic view of a bridge circuit 4 in which a dummy strain gauge 41 is arranged.

[0012] As illustrated in FIG. 1, a door device 1A for a machine tool in the first embodiment (hereinafter simply referred to as "door device 1A") includes a door 2, a handle 3, a strain gauge 40, an air cylinder 5, an air supply passage FP, a regulator 61, and a control device 66.

[0013] The door 2 is slidable in a first direction DR1 and a second direction DR2 opposite to the first direction DR1. More specifically, the door 2 is slidable in the first direction DR1 so as to open at least a portion of the opening OP of the machine tool. The door 2 is also slidable in the second direction DR2 opposite to the first direction DR1 so as to close at least a portion of the opening OP of the machine tool.

[0014] 2 and 3, the door 2 is slidable between a first position Q1 (see FIG. 2) where the door 2 closes an opening OP in a wall 110 that defines the interior area of ​​the machine tool, and a second position Q2 (see FIG. 3) where the door 2 opens the opening OP. The direction from the first position Q1 to the second position Q2 corresponds to a first direction DR1, and the direction from the second position Q2 to the first position Q1 corresponds to a second direction DR2.

[0015] The handle 3 is disposed on the door 2. The handle 3 may be a knob attached to the door 2 or a recess provided in a part of the door 2. In the example shown in FIG. 2, when the handle 3 is operated in a first direction DR1, the door 2 moves from the first position Q1 toward the second position Q2. In the example shown in FIG. 3, when the handle 3 is operated in the second direction DR2 (in other words, the direction opposite to the first direction DR1), the door 2 moves from the second position Q2 toward the first position Q1.

[0016] The strain gauge 40 detects the operation of the handle 3. More specifically, the strain gauge 40 detects the strain caused by the handle 3 being operated.

[0017] The air cylinder 5 applies an assist force to the door 2. The air supply flow path FP connects the air cylinder 5 and an air supply source 91.

[0018] The regulator 61 adjusts the pressure of the air flowing through the air supply flow path FP. The regulator 61 is, for example, an electro-pneumatic regulator 61a. The electro-pneumatic regulator 61a adjusts the pressure of the air flowing through the air supply flow path FP based on an electrical signal. More specifically, the electro-pneumatic regulator 61a adjusts the pressure of the air flowing through the air supply flow path FP based on an electrical signal received from a control device 66, which will be described later. Alternatively, the regulator 61 may adjust the pressure of the air flowing through the air supply flow path FP based on an optical signal received from the control device 66. In other words, the regulator 61 may be an optical / pneumatic converter.

[0019] In the example shown in FIG. 2, a regulator 61 (for example, an electro-pneumatic regulator 61a or an optical / pneumatic converter) is arranged in the air supply flow path FP.

[0020] The control device 66 controls the regulator 61 (for example, an electro-pneumatic regulator 61 a or an optical / pneumatic converter) based on the signal S from the strain gauge 40 .

[0021] The door device 1A in the first embodiment includes a strain gauge 40 that detects the operation of the handle 3. The strain gauge 40 is capable of detecting the operating force acting on the handle 3. The door device 1A in the first embodiment includes an air cylinder 5 that applies an assist force to the door 2, an air supply passage FP that connects the air cylinder 5 and an air supply source 91, a regulator 61 that adjusts the pressure of the air flowing through the air supply passage FP, and a control device 66 that controls the regulator 61 based on a signal S from the strain gauge 40. Therefore, the door device 1A in the first embodiment can adjust the assist force applied to the door 2 based on the operating force acting on the handle 3.

[0022] (Optional configuration) Next, with reference to Figures 1 to 22, optional additional configurations that can be adopted in the door device 1A for a machine tool in the first embodiment or the door device 1B for a machine tool in the second embodiment described below will be described.

[0023] (Air supply source 91) 1, the door device 1A includes an air supply source 91. The air supply source 91 is, for example, an air compressor.

[0024] (Air cylinder 5) 2, the air cylinder 5 has a first chamber 51. When air is supplied to the first chamber 51, the air cylinder 5 applies a first assist force to the door 2 in a first direction DR1. In the example shown in FIG. 2, air can be supplied to the first chamber 51 from an air supply source 91.

[0025] 3, the air cylinder 5 has a second chamber 53. When air is supplied to the second chamber 53, the air cylinder 5 applies a second assist force in the second direction DR2 to the door 2. In the example shown in FIG. 3, air can be supplied to the second chamber 53 from an air supply source 91.

[0026] 1, the air cylinder 5 has a first chamber 51, a second chamber 53, and a piston 54 disposed between the first chamber 51 and the second chamber 53. The air cylinder 5 may have a rod 55 connected to the piston 54.

[0027] 1 , the air cylinder 5 has a first chamber 51 fluidly connectable to an air supply source 91 via a first flow path FP1 and a second chamber 53 fluidly connectable to the air supply source 91 via a second flow path FP2. A piston 54 is driven by a pressure difference between the first chamber 51 and the second chamber 53. A rod 55 moves together with the piston 54. The rod 55 is connected to the door 2. The rod 55 may be connected to the door 2 directly or indirectly via a mechanical transmission element such as a belt, a wire, a cable, or a gear.

[0028] The air cylinder 5 may include a first air cylinder and a second air cylinder. In other words, the door device 1A may use a plurality of air cylinders 5 to apply a first assist force and / or a second assist force to the door 2.

[0029] (Air supply passage FP) In the example shown in FIGS. 2 and 3, the air supply flow path FP includes a first flow path FP1 that fluidly connects the first chamber 51 and the air supply source 91. In the example shown in FIGS. 2 and 3, the air supply flow path FP includes a second flow path FP2 that fluidly connects the second chamber 53 and the air supply source 91. As illustrated in FIGS. 2 and 3, a portion of the first flow path FP1 and a portion of the second flow path FP2 may be shared (in the example shown in FIGS. 2 and 3, a portion of the first flow path FP1 between the air supply source 91 and the directional control valve 7 and a portion of the second flow path FP2 between the air supply source 91 and the directional control valve 7 are shared). Alternatively, the first flow path FP1 and the second flow path FP2 may be completely independent of each other.

[0030] (Third flow path F3 and fourth flow path F4) 1, the door device 1A includes a third flow path F3 that fluidly connects the first chamber 51 and the first atmosphere-opening port D1. In the example shown in FIG. 1, a directional control valve 7 is disposed in the third flow path F3. A portion of the third flow path F3 may be shared with a portion of the first flow path FP1 (for example, a flow path between the first chamber 51 and the directional control valve 7 may be shared).

[0031] In the example shown in FIG. 1, the door device 1A includes a fourth flow path F4 that fluidly connects the second chamber 53 and the second atmosphere-opening port D2. In the example shown in FIG. 1, a directional control valve 7 is disposed in the fourth flow path F4. A portion of the fourth flow path F4 may be shared with a portion of the second flow path FP2 (for example, a flow path between the second chamber 53 and the directional control valve 7 may be shared). In the example shown in FIG. 1, the second atmosphere-opening port D2 is an atmosphere-opening port different from the first atmosphere-opening port D1. Alternatively, the second atmosphere-opening port D2 and the first atmosphere-opening port D1 may be shared.

[0032] (Directional control valve 7) 1 to 3, the door device 1A may include a directional control valve 7. The directional control valve 7 switches the direction of the assist force between a first direction DR1 and a second direction DR2. In the example shown in FIG. 1, the directional control valve 7 is disposed in the air supply flow path FP.

[0033] In the example shown in FIGS. 2 and 3, the control device 66 controls the directional control valve 7 based on the signal S from the strain gauge 40.

[0034] 2, when the signal S from the strain gauge 40 indicates that the handle 3 is being operated in the first direction DR1, the control device 66 controls the directional control valve 7 to supply air to the first chamber 51. In this way, when the handle 3 is operated in the first direction DR1, a first assist force in the first direction DR1 is applied from the air cylinder 5 to the door 2.

[0035] More specifically, when the handle 3 is operated in the first direction DR1 (in other words, when the signal S from the strain gauge 40 indicates that the handle 3 is operated in the first direction DR1), the control device 66 sends a first control command CM1 to the directional control valve 7. In addition, the directional control valve 7 that receives the first control command CM1 fluidly connects the first chamber 51 of the air cylinder 5 to the regulator 61. In this way, air is supplied from the air supply source 91 via the regulator 61 to the first chamber 51 of the air cylinder 5, and the air cylinder 5 applies a first assist force to the door 2 in the first direction DR1.

[0036] 3, when the signal S from the strain gauge 40 indicates that the handle 3 is being operated in the second direction DR2, the control device 66 controls the directional control valve 7 to supply air to the second chamber 53. In this way, when the handle 3 is operated in the second direction DR2, the air cylinder 5 applies a second assist force in the second direction DR2 to the door 2.

[0037] More specifically, when the handle 3 is operated in the second direction DR2 (in other words, when the signal S from the strain gauge 40 indicates that the handle 3 is operated in the second direction DR2), the control device 66 sends a second control command CM2 to the directional control valve 7. In addition, the directional control valve 7 that receives the second control command CM2 fluidly connects the second chamber 53 of the air cylinder 5 to the regulator 61. In this way, air is supplied from the air supply source 91 via the regulator 61 to the second chamber 53 of the air cylinder 5, and the air cylinder 5 applies a second assist force in the second direction DR2 to the door 2.

[0038] In the example shown in FIG. 1, when the directional control valve 7 is in the default state J0, each of the first chamber 51 and the second chamber 53 is fluidly connected to the atmosphere open port D. Therefore, even in a power-off state in which no power is supplied to the directional control valve 7, the door 2 can be freely moved in each of the first direction DR1 and the second direction DR2 without requiring a large operating force. In the example shown in FIG. 1, manual movement of the door 2 in the power-off state is easier than when an assist force is applied by an electric motor.

[0039] 1, in a power-off state in which no power is supplied to the directional control valve 7, the state of the directional control valve 7 is maintained in a default state J0. The directional control valve 7 is, for example, a solenoid valve. In this case, when the solenoid of the directional control valve 7 is energized, the state of the directional control valve 7 is switched from the default state J0 to a first state J1 (see FIG. 2) in which a first assist force can be applied to the door 2 in a first direction DR1, or to a second state J2 (see FIG. 3) in which a second assist force can be applied to the door 2 in a second direction DR2.

[0040] In the example shown in Figures 1 to 3, the state of the directional control valve 7 can be switched between a default state J0 (see Figure 1) in which no assist force is applied to the door 2, a first state J1 (see Figure 2) in which a first assist force can be applied to the door 2 in a first direction DR1, and a second state J2 (see Figure 3) in which a second assist force can be applied to the door 2 in a second direction DR2.

[0041] In the first state J1 illustrated in Fig. 2, a first assist force is applied to the door 2 in a first direction DR1. In the example illustrated in Fig. 2, when the state of the directional control valve 7 is the first state J1, the first chamber 51 of the air cylinder 5 and the regulator 61 are fluidly connected. In the example illustrated in Fig. 2, when the signal S from the strain gauge 40 indicates that the handle 3 is being operated in the first direction DR1, the door 2 moves in the first direction DR1 due to the resultant force of the first assist force and the operating force of the operator.

[0042] 2, when the state of the directional control valve 7 is in the first state J1, the atmosphere open port D (e.g., the second atmosphere open port D2) may be fluidly connected to the second chamber 53. In the example shown in FIGS. 2 and 4, the door 2, which is in the first position Q1, can be moved to an arbitrary position Q3 between the first position Q1 and the second position Q2 and stopped at the arbitrary position Q3.

[0043] In the second state J2 illustrated in Fig. 3, a second assist force is applied to the door 2 in the second direction DR2. In the example illustrated in Fig. 3, when the state of the directional control valve 7 is the second state J2, the second chamber 53 of the air cylinder 5 and the regulator 61 are fluidly connected. In the example illustrated in Fig. 3, when the signal S from the strain gauge 40 indicates that the handle 3 is being operated in the second direction DR2, the door 2 moves in the second direction DR2 due to the resultant force of the second assist force and the operating force of the operator.

[0044] 3, when the state of the directional control valve 7 is in the second state J2, the atmosphere open port D (e.g., the first atmosphere open port D1) may be fluidly connected to the first chamber 51. In the example shown in FIGS. 3 and 4, the door 2, which is in the second position Q2, can be moved to an arbitrary position Q3 between the first position Q1 and the second position Q2 and stopped at the arbitrary position Q3.

[0045] In the example shown in FIGS. 1 to 4, the directional control valve 7 is disposed between the regulator 61 and the air cylinder 5 in the direction along the air supply flow path FP that connects the air cylinder 5 and the air supply source 91.

[0046] In the example shown in Figures 1 to 4, the directional control valve 7 is arranged between the regulator 61 and the air cylinder 5, so that the adjustment of the first assist force when the handle 3 is operated in the first direction DR1 and the adjustment of the second assist force when the handle 3 is operated in the second direction DR2 can be performed using a single regulator 61.

[0047] 1 to 4, the directional control valve 7 is configured by one unit U that can be switched between three states. More specifically, the directional control valve 7 is a three-way valve. Alternatively, as illustrated in FIG. 5, the directional control valve 7 may be configured by a first unit U1 that can be switched between two states and a second unit U2 that can be switched between two states.

[0048] (Regulator 61) In the example shown in FIG. 6, the regulator 61 (more specifically, an electropneumatic regulator 61a) includes a pressure sensor 62, a valve 63 that adjusts the opening of the air supply flow path FP, and a controller 64.

[0049] The pressure sensor 62 detects the pressure in the air supply flow path FP (more specifically, the air pressure downstream of the valve 63). A detection signal SD corresponding to the pressure detected by the pressure sensor 62 is sent to the control device 66 and / or the controller 64.

[0050] Valve 63 is controlled by controller 64. In the example shown in Figure 6, valve 63 is a solenoid valve. Alternatively, valve 63 may be a piezo valve or other type of valve.

[0051] The controller 64 controls the valve 63 based on a control signal C (for example, a first control signal C1 described later or a second control signal C2 described later) received from the control device 66. More specifically, the controller 64 controls the valve 63 so that the pressure detected by the pressure sensor 62 becomes the target pressure indicated by the control signal C.

[0052] (Control device 66) The control device 66 controls the regulator 61 (for example, the electro-pneumatic regulator 61a) based on the signal S from the strain gauge 40. More specifically, the control device 66 controls the regulator 61 so that the pressure in the air supply flow path FP (more specifically, the air pressure downstream of the valve 63 in the air supply flow path FP) is changed according to the magnitude of the operating force acting on the handle 3 indicated by the signal S from the strain gauge 40.

[0053] 6, the control device 66 includes a memory 661 and a processor 662. A program PG and parameters are stored in the memory 661. The control device 66 is, for example, a "Programmable Logic Controller" (hereinafter referred to as "PLC 66a").

[0054] In the example shown in FIG. 6, the control device 66 may derive a target pressure for the air supply passage FP based on the signal S from the strain gauge 40, and send a control signal C corresponding to the target pressure to the regulator 61 (more specifically, the controller 64).

[0055] The control device 66 may determine, based on the signal S from the strain gauge 40, whether the handle 3 is being operated in the first direction DR1 with a force exceeding a first lower threshold SL1 (see FIG. 7). When the handle 3 is being operated in the first direction DR1 with a force exceeding the first lower threshold SL1 (see FIG. 7), the control device 66 controls the regulator 61 and the directional control valve 7 so that a first assist force in the first direction DR1 is applied from the air cylinder 5 to the door 2. More specifically, when the handle 3 is being operated in the first direction DR1 with a force exceeding the first lower threshold SL1 (see FIG. 8), the control device 66 changes the target pressure of the air supply passage FP in accordance with the magnitude of the operating force acting on the handle 3, which is indicated by the signal S from the strain gauge 40. The control device 66 also sends a control signal C corresponding to the changed target pressure to the regulator 61 and maintains the state of the directional control valve 7 in the first state J1 described above.

[0056] The control device 66 may determine, based on the signal S from the strain gauge 40, whether the handle 3 is being operated in the second direction DR2 with a force exceeding a second lower threshold SL2 (see FIG. 7). When the handle 3 is being operated in the second direction DR2 with a force exceeding the second lower threshold SL2 (see FIG. 7), the control device 66 controls the regulator 61 and the directional control valve 7 so that a second assist force in the second direction DR2 is applied from the air cylinder 5 to the door 2. More specifically, when the handle 3 is being operated in the second direction DR2 with a force exceeding the second lower threshold SL2 (see FIG. 8), the control device 66 changes the target pressure of the air supply passage FP in accordance with the magnitude of the operating force acting on the handle 3, which is indicated by the signal S from the strain gauge 40. The control device 66 also sends a control signal C corresponding to the changed target pressure to the regulator 61 and maintains the state of the directional control valve 7 in the second state J2 described above.

[0057] When it is determined based on the signal S from the strain gauge 40 that the operating force acting on the handle 3 is equal to or less than a predetermined value, the control device 66 may cut off the fluid connection between the air supply source 91 and the air cylinder 5. When it is determined based on the signal S from the strain gauge 40 that the operating force acting on the handle 3 is equal to or less than a predetermined value, the control device 66 may keep the valve 63 of the regulator 61 in a closed state, or may keep the state of the directional control valve 7 in the default state J0.

[0058] In the example shown in FIG. 7 , when the control device 66 determines, based on the signal S from the strain gauge 40, that the operating force acting on the handle 3 in the first direction DR1 (hereinafter referred to as the “first operating force”) is equal to or less than the first lower threshold SL1 and that the operating force acting on the handle 3 in the second direction DR2 (hereinafter referred to as the “second operating force”) is equal to or less than the second lower threshold SL2, the control device 66 shuts off the air supply flow path FP connecting the air supply source 91 and the air cylinder 5. In this case, unintentional generation of an assist force due to the operator touching the door 2 is prevented. The first lower threshold SL1 is, for example, an arbitrary value between 0.1 kgf and 4 kgf (or an arbitrary value between 1 kgf and 4 kgf). The second lower threshold SL2 is, for example, an arbitrary value between 0.1 kgf and 4 kgf (or an arbitrary value between 1 kgf and 4 kgf). As illustrated in FIG. 7 , the value of the second lower threshold SL2 may be the same as the value of the first lower threshold SL1. The air supply passage FP may be blocked by the control device 66 controlling the regulator 61, or by the control device 66 maintaining the state of the directional control valve 7 in the default state J0.

[0059] (Amount of assist force) In the example shown in FIG. 7, the control device 66 controls the regulator 61 (more specifically, the electro-pneumatic regulator 61a) so that the magnitude of the assist force applied to the door 2 changes in accordance with the magnitude of the operating force acting on the handle 3. In this case, the operator is less likely to feel uncomfortable due to the assist force compared to when the assist force is always constant. As exemplified in FIG. 7, the control device 66 may control the regulator (more specifically, the electro-pneumatic regulator 61a) so that the magnitude of the assist force increases nonlinearly in accordance with an increase in the magnitude of the operating force acting on the handle 3.

[0060] In this specification, the magnitude of the first assist force in the first direction DR1 relative to the magnitude of the first operating force in the first direction DR1 acting on the handle 3 is defined as a first assist ratio. Also, in this specification, the magnitude of the second assist force in the second direction DR2 relative to the magnitude of the second operating force in the second direction DR2 acting on the handle 3 is defined as a second assist ratio.

[0061] 7, in a first range RA1 in which the first operating force acting on the handle 3 in the first direction DR1 is greater than the first lower threshold SL1 and equal to or less than the first value V1, the control device 66 may increase the first assist ratio nonlinearly as the first operating force increases. In the example shown in FIG. 7, when the first operating force is "3", the first assist ratio is "1.44", when the first operating force is "4", the first assist ratio is "2.17", and when the first operating force is "5", the first assist ratio is "2.6".

[0062] 7, in a second range RA2 in which the first operating force acting on the handle 3 in the first direction DR1 is greater than the first value V1 and is equal to or less than the first upper limit threshold SH1, the control device 66 may decrease the first assist ratio nonlinearly as the first operating force increases. In the example shown in FIG. 7, the first assist ratio is 2.17 when the first operating force is 6, 1.63 when the first operating force is 8, and 1.3 when the first operating force is 10.

[0063] 7, in a third range RA3 in which the second operating force acting on the handle 3 in the second direction DR2 is greater than the second lower threshold SL2 and equal to or less than the second value V2, the control device 66 may increase the second assist ratio nonlinearly as the second operating force increases. As illustrated in FIG. 7, in a fourth range RA4 in which the second operating force acting on the handle 3 in the second direction DR2 is greater than the second value V2 and equal to or less than the second upper threshold SH2, the control device 66 may decrease the second assist ratio nonlinearly as the second operating force increases.

[0064] 8, the control device 66 changes the target pressure of the air supply flow path FP (hereinafter referred to as "first target pressure T1") in accordance with changes in the first operating force in the first direction DR1 acting on the handle 3. More specifically, the first target pressure T1 is the target pressure in the air supply flow path FP downstream of the valve 63 (see FIG. 6) of the regulator 61 when the first operating force acts on the handle 3 in the first direction DR1.

[0065] 8 , when the control device 66 determines, based on the signal S from the strain gauge 40, that the first operating force acting on the handle 3 in the first direction DR1 is greater than the first lower threshold SL1 and equal to or less than the first value V1, the control device 66 increases the first target pressure T1 in response to an increase in the first operating force. In other words, within a first range RA1 in which the first operating force acting on the handle 3 in the first direction DR1 is greater than the first lower threshold SL1 and equal to or less than the first value V1, the control device 66 controls the regulator 61 so that the pressure in the air supply flow path FP (more specifically, the air pressure downstream of the valve 63 in the air supply flow path FP) increases in response to an increase in the first operating force. In this way, the first assist force in the first direction DR1 can be gradually increased in the initial stage of operating the handle 3 in the first direction DR1.

[0066] In the example shown in FIG. 8 , when the control device 66 determines, based on the signal S from the strain gauge 40, that the first operating force acting on the handle 3 in the first direction DR1 is greater than the first value V1 and equal to or less than the first upper limit threshold SH1, the control device 66 maintains the value of the first target pressure T1. In other words, in a second range RA2 in which the first operating force acting on the handle 3 in the first direction DR1 is greater than the first value V1 and equal to or less than the first upper limit threshold SH1, the control device 66 controls the regulator 61 so that the pressure in the air supply passage FP (more specifically, the air pressure downstream of the valve 63 in the air supply passage FP) is substantially maintained. In this way, during an intermediate stage of the operation of the handle 3 in the first direction DR1, the first assist force in the first direction DR1 is substantially maintained, and acceleration of the door 2 in the first direction DR1 is suppressed. That is, in the second range RA2, the control device 66 decreases the first assist ratio as the first operating force acting on the handle 3 in the first direction DR1 increases.

[0067] The operating force acting on the handle 3 in the first direction DR1 is defined as the first operating force, the range in which the first operating force is greater than a first lower threshold SL1 and equal to or less than a first value V1 is defined as a first range RA1, the range in which the first operating force is greater than the first value V1 and equal to or less than a first upper threshold SH1 is defined as a second range RA2, the rate of increase in the pressure in the air supply flow path FP (more specifically, the air pressure downstream of the valve 63 in the air supply flow path FP) with respect to an increase in the first operating force in the first range RA1 is defined as a first increase rate IN1, and the rate of increase in the pressure in the air supply flow path FP (more specifically, the air pressure downstream of the valve 63 in the air supply flow path FP) with respect to an increase in the first operating force in the second range RA2 is defined as a second increase rate IN2. The control device 66 may control the regulator 61 so that the second increase rate IN2 is smaller than the first increase rate IN1. In the example shown in FIG. 8, the second increase rate IN2 is zero.

[0068] In the example shown in FIG. 8 , when the control device 66 determines, based on the signal S from the strain gauge 40, that the first operating force acting on the handle 3 in the first direction DR1 is greater than the first upper limit threshold SH1, the control device 66 shuts off the air supply flow path FP connecting the air supply source 91 and the air cylinder 5. In this case, even if an excessive operating force is applied to the handle 3, excessive acceleration of the door 2 in the first direction DR1 is suppressed by eliminating the assist force. This suppresses damage to the handle 3 or the support body 45, which will be described later. Note that the control device 66 may shut off the air supply flow path FP by controlling the regulator 61, or by changing the state of the directional control valve 7 from the first state J1 to the default state J0. In addition, an alarm may be displayed simultaneously with the shutoff of the air supply flow path FP (for example, by displaying an alarm on a display provided in the door device 1 or the machine tool 100) to warn the operator that an excessive operating force has been applied to the handle 3.

[0069] 8, the control device 66 changes the target pressure of the air supply flow path FP (hereinafter referred to as the "second target pressure T2") in accordance with changes in the second operating force in the second direction DR2 acting on the handle 3. More specifically, the second target pressure T2 is the target pressure downstream of the valve 63 (see FIG. 6) of the regulator 61 in the air supply flow path FP when the second operating force acts on the handle 3 in the second direction DR2.

[0070] 8 , when the control device 66 determines, based on the signal S from the strain gauge 40, that the second operating force acting on the handle 3 in the second direction DR2 is greater than the second lower threshold SL2 and equal to or less than the second value V2, the control device 66 increases the second target pressure T2 in response to an increase in the second operating force. In other words, in a third range RA3 in which the second operating force acting on the handle 3 in the second direction DR2 is greater than the second lower threshold SL2 and equal to or less than the second value V2, the control device 66 controls the regulator 61 so that the pressure in the air supply flow path FP (more specifically, the air pressure downstream of the valve 63 in the air supply flow path FP) increases in response to an increase in the second operating force. In this way, the second assist force in the second direction DR2 can be gradually increased in the initial stage of operating the handle 3 in the second direction DR2.

[0071] In the example shown in FIG. 8 , when the control device 66 determines, based on the signal S from the strain gauge 40, that the second operating force acting on the handle 3 in the second direction DR2 is greater than the second value V2 and equal to or less than the second upper limit threshold SH2, the control device 66 maintains the value of the second target pressure T2. In other words, in a fourth range RA4 in which the second operating force acting on the handle 3 in the second direction DR2 is greater than the second value V2 and equal to or less than the second upper limit threshold SH2, the control device 66 controls the regulator 61 so that the pressure in the air supply flow path FP (more specifically, the air pressure downstream of the valve 63 in the air supply flow path FP) is substantially maintained. In this way, during an intermediate stage of the operation of the handle 3 in the second direction DR2, the second assist force in the second direction DR2 is substantially maintained, and acceleration of the door 2 in the second direction DR2 is suppressed. That is, in the fourth range RA4, the control device 66 reduces the second assist ratio as the second operating force acting on the handle 3 in the second direction DR2 increases.

[0072] The operating force acting on the handle 3 in the second direction DR2 is defined as the second operating force, the range in which the second operating force is greater than the second lower threshold SL2 and equal to or less than the second value V2 is defined as a third range RA3, the range in which the second operating force is greater than the second value V2 and equal to or less than the second upper threshold SH2 is defined as a fourth range RA4, the rate of increase in the pressure in the air supply flow path FP (more specifically, the air pressure downstream of the valve 63 in the air supply flow path FP) with respect to an increase in the second operating force in the third range RA3 is defined as a third increase rate IN3, and the rate of increase in the pressure in the air supply flow path FP (more specifically, the air pressure downstream of the valve 63 in the air supply flow path FP) with respect to an increase in the second operating force in the fourth range RA4 is defined as a fourth increase rate IN4. The control device 66 may control the regulator 61 so that the fourth increase rate IN4 is smaller than the third increase rate IN3. In the example shown in FIG. 8, the fourth increase rate IN4 is zero. In the example shown in FIG. 8, the third increase rate IN3 is different from the first increase rate IN1.

[0073] In the example shown in FIG. 8 , when the control device 66 determines, based on the signal S from the strain gauge 40, that the second operating force acting on the handle 3 in the second direction DR2 is greater than the second upper limit threshold SH2, the control device 66 shuts off the air supply passage FP connecting the air supply source 91 and the air cylinder 5. In this case, even if an excessive operating force is applied to the handle 3, excessive acceleration of the door 2 in the second direction DR2 is suppressed by eliminating the assist force. This suppresses damage to the handle 3 or the support body 45, which will be described later. Note that the control device 66 may shut off the air supply passage FP by controlling the regulator 61, or by changing the state of the directional control valve 7 from the second state J2 to the default state J0. In addition, an alarm may be displayed simultaneously with the shutoff of the air supply passage FP (for example, by displaying an alarm on a display provided in the door device 1 or the machine tool 100) to warn the operator that an excessive operating force has been applied to the handle 3.

[0074] In the example shown in FIG. 9, the memory 661 stores a first group of parameters PA that define the change in the first target pressure T1 of the air supply flow path FP (more specifically, the first target pressure T1 downstream of the valve 63 in the air supply flow path FP) in response to a change in the first operating force acting on the handle 3 in the first direction DR1.

[0075] When the signal S from the strain gauge 40 indicates that the handle 3 is being operated in the first direction DR1, the control device 66 (more specifically, the processor 662 executing the program PG) generates a first control signal C1 corresponding to the above-mentioned first target pressure T1 based on the signal S from the strain gauge 40 and the first group of parameters PA. More specifically, the control device 66 (more specifically, the processor 662 executing the program PG) derives a first target pressure T1 corresponding to the magnitude of the first operating force acting on the handle 3 in the first direction DR1 based on the signal S from the strain gauge 40 and the first group of parameters PA, and generates the first control signal C1 corresponding to the first target pressure T1. The control device 66 also transmits the first control signal C1 to the regulator 61 (more specifically, the electro-pneumatic regulator 61a). The regulator 61 (more specifically, the controller 64) that receives the first control signal C1 controls the valve 63 so that the pressure in the air supply flow path FP (more specifically, the air pressure downstream of the valve 63 in the air supply flow path FP) becomes the first target pressure T1.

[0076] In the example shown in FIG. 9, the first group of parameters PA includes a first parameter PA1 that defines the first lower limit threshold SL1 (see FIG. 8) described above. In the example shown in FIG. 9, the first group of parameters PA includes a second parameter PA2 that defines the first increase rate IN1 (see FIG. 8) described above. In the example shown in FIG. 9, the first group of parameters PA includes a third parameter PA3 that defines the maximum value (hereinafter referred to as the "first maximum value MA1"; see FIG. 8) of the pressure in the air supply channel FP (more specifically, the air pressure downstream of the valve 63 in the air supply channel FP) when a first operating force is applied to the handle 3 in the first direction DR1. In the example shown in FIG. 9, the first group of parameters PA includes a fourth parameter PA4 that defines the first upper limit threshold SH1 (see FIG. 8) described above.

[0077] In the example shown in FIG. 10, the memory 661 stores a second group of parameters PB that define the change in the second target pressure T2 of the air supply flow path FP (more specifically, the second target pressure T2 downstream of the valve 63 in the air supply flow path FP) in response to a change in the second operating force acting on the handle 3 in the second direction DR2.

[0078] When the signal S from the strain gauge 40 indicates that the handle 3 is being operated in the second direction DR2, the control device 66 (more specifically, the processor 662 executing the program PG) generates a second control signal C2 corresponding to the above-mentioned second target pressure T2 based on the signal S from the strain gauge 40 and the second group of parameters PB. More specifically, the control device 66 (more specifically, the processor 662 executing the program PG) derives a second target pressure T2 corresponding to the magnitude of the second operating force acting on the handle 3 in the second direction DR2 based on the signal S from the strain gauge 40 and the second group of parameters PB, and generates the second control signal C2 corresponding to the second target pressure T2. The control device 66 also transmits the second control signal C2 to the regulator 61 (more specifically, the electro-pneumatic regulator 61a). The regulator 61 (more specifically, the controller 64) that receives the second control signal C2 controls the valve 63 so that the pressure in the air supply flow path FP (more specifically, the air pressure downstream of the valve 63 in the air supply flow path FP) becomes the second target pressure T2.

[0079] In the example shown in FIG. 10, the second group of parameters PB includes a fifth parameter PB1 that defines the second lower threshold value SL2 (see FIG. 8). In the example shown in FIG. 10, the second group of parameters PB includes a sixth parameter PB2 that defines the third increase rate IN3 (see FIG. 8). In the example shown in FIG. 10, the second group of parameters PB includes a seventh parameter PB3 that defines the maximum value (hereinafter referred to as the "second maximum value MA2"; see FIG. 8) of the pressure in the air supply channel FP (more specifically, the air pressure downstream of the valve 63 in the air supply channel FP) when a second operating force is applied to the handle 3 in the second direction DR2. In the example shown in FIG. 10, the second group of parameters PB includes an eighth parameter PB4 that defines the second upper threshold value SH2 (see FIG. 8).

[0080] 9 and 10, the first group of parameters PA stored in memory 661 can be changed. Also, the second group of parameters PB stored in memory 661 can be changed. By changing the first group of parameters PA and / or the second group of parameters PB, the shape of the graph shown in FIG. 7 or 8 is changed.

[0081] 7 and 11, it is possible to change the parameter (more specifically, the above-mentioned first group of parameters PA) that defines the change in the magnitude of the first assist force in the first direction DR1 in response to the change in the magnitude of the first operating force in the first direction DR1 acting on the handle 3. Also, in the example shown in Figures 7 and 11, it is possible to change the parameter (more specifically, the above-mentioned second group of parameters PB) that defines the change in the magnitude of the second assist force in the second direction DR2 in response to the change in the magnitude of the second operating force in the second direction DR2 acting on the handle 3.

[0082] In this case, the parameters that define the change in assist force in response to the change in the magnitude of the operating force acting on the handle 3 can be adjusted to suit the physique or preference of the operator.

[0083] In the example shown in FIG. 2, the first surface of the piston 54 (hereinafter referred to as the "first pressure-receiving surface 54a") is pressed by air supplied from the air supply channel FP, and in the example shown in FIG. 3, the second surface of the piston 54 (hereinafter referred to as the "second pressure-receiving surface 54b") is pressed by air supplied from the air supply channel FP. Under the condition that the pressure in the air supply channel FP is constant, the first assisting force in the first direction DR1 (see FIG. 2) does not match the second assisting force in the second direction DR2 (see FIG. 3) due to the difference in area between the first pressure-receiving surface 54a and the second pressure-receiving surface 54b. In contrast, in the examples shown in FIGS. 8 to 10, the imbalance in the assisting force caused by the difference in area between the two pressure-receiving surfaces can be corrected by adjusting the first group of parameters PA and / or the second group of parameters PB.

[0084] For example, in the example shown in Fig. 8, the first increase rate IN1 is different from the third increase rate IN3. More specifically, the first increase rate IN1 is greater than the third increase rate IN3 so that the imbalance in the assisting force caused by the area difference between the two pressure receiving surfaces is corrected. In the example shown in Fig. 8, the first maximum value MA1 is different from the second maximum value MA2. More specifically, the first maximum value MA1 is greater than the second maximum value MA2 so that the imbalance in the assisting force caused by the area difference between the two pressure receiving surfaces is corrected.

[0085] 6, the control device 66 is located at a location other than the door 2. Alternatively, the control device 66 may be located at the door 2.

[0086] (Door 2) In the example shown in FIGS. 2 and 3, the door 2 is a door that can slide in a direction substantially parallel to a horizontal plane.

[0087] In the examples shown in FIGS. 2 and 3 , the number of doors 2 is one. Alternatively, the number of doors 2 may be two or more. In this case, each of the multiple doors opens and closes a part of the opening OP. When the door device 1A includes multiple doors, each of the multiple doors may be provided with a mechanism that applies an assist force. Alternatively, the door 2 may be a sliding door having a first panel and a second panel slidably connected to the first panel. In this case, when the opening OP is opened, the first panel and the second panel may overlap, and when the opening OP is closed, the second panel may be unfolded relative to the first panel so that the overlapping area between the first panel and the second panel is reduced. Furthermore, the second panel may be provided with a handle 3, and a mechanism that applies an assist force to the second panel may be provided. Note that the number of doors 2 or the type of door 2 are not limited to the above example.

[0088] (Handle 3) In this specification, the direction from the bottom 2w of the door 2 toward the top 2u of the door is defined as a third direction DR3.

[0089] In the example shown in FIG. 1, the handle 3 extends along the third direction DR3. The handle 3 may have an upper portion 31 connected to the door 2, a lower portion 33 connected to the door 2, and a middle portion 35 gripped by an operator. The middle portion 35 connects the upper portion 31 and the lower portion 33. A space SP (see FIG. 12) into which four fingers of a hand can be inserted at the same time may be formed between the middle portion 35 and the door 2. Note that the shape or type of the handle 3 is not limited to the above example.

[0090] (Support 45) In the example shown in FIG. 12, the door device 1A includes a support 45 (more specifically, a bracket 450) that supports the strain gauge 40.

[0091] 13, the support 45 (more specifically, the bracket 450) has a first portion 45a fixed to the door 2, a second portion 45b to which the handle 3 is fixed, and a third portion 45c to which the strain gauge 40 is disposed. The third portion 45c is disposed between the first portion 45a and the second portion 45b.

[0092] When the handle 3 is operated, distortion is likely to occur in the region between the first portion 45a fixed to the door 2 and the second portion 45b fixed to the handle 3. In the example shown in Fig. 13, the strain gauge 40 is disposed in the third portion 45c between the first portion 45a and the second portion 45b. Therefore, the strain gauge 40 can suitably detect distortion caused by the operation of the handle 3.

[0093] In the example shown in FIG. 12, the strain gauge 40 includes a first strain gauge 40a and a second strain gauge 40b.

[0094] 12, the support 45 (more specifically, the bracket 450) has a first portion 45a fixed to the door 2, a second portion 45b fixed to the handle 3, a third portion 45c on which the first strain gauge 40a is disposed, a fourth portion 45d fixed to the door 2, a fifth portion 45e fixed to the handle 3, and a sixth portion 45f on which the second strain gauge 40b is disposed. The third portion 45c is disposed between the first portion 45a and the second portion 45b, and the sixth portion 45f is disposed between the fourth portion 45d and the fifth portion 45e.

[0095] When the handle 3 is operated, strain is likely to occur in the region between the first portion 45a fixed to the door 2 and the second portion 45b to which the handle 3 is fixed, and in the region between the fourth portion 45d fixed to the door 2 and the fifth portion 45e to which the handle 3 is fixed. In the example shown in Fig. 12, the first strain gauge 40a is disposed in the third portion 45c between the first portion 45a and the second portion 45b, and the second strain gauge 40b is disposed in the sixth portion 45f between the fourth portion 45d and the fifth portion 45e. Therefore, the first strain gauge 40a and the second strain gauge 40b can suitably detect strain caused by the operation of the handle 3.

[0096] In the example shown in FIG. 12, the first portion 45a is positioned higher than the fourth portion 45d.

[0097] 12, the second portion 45b is positioned higher than the fifth portion 45e. More specifically, the upper portion 31 of the handle 3 is fixed to the second portion 45b of the support body 45, and the lower portion 33 of the handle 3 is fixed to the fifth portion 45e of the support body 45.

[0098] 15, the first strain gauge 40a may be disposed on the first side 45c-1 of the third portion 45c. In the example shown in FIG. 15, the first side 45c-1 of the third portion 45c is the side of the third portion 45c on the first direction DR1 side.

[0099] 15, the second strain gauge 40b may be disposed on the first side 45f-1 of the sixth portion 45f. In the example shown in FIG. 15, the first side 45f-1 of the sixth portion 45f is the side of the sixth portion 45f on the first direction DR1 side.

[0100] 16, the strain gauge 40 may include a third strain gauge 40c disposed on the second side portion 45c-2 of the third portion 45c. In the example shown in FIG. 16, the second side portion 45c-2 of the third portion 45c is the side portion of the third portion 45c on the second direction DR2 side.

[0101] 16, the strain gauge 40 may include a fourth strain gauge 40d disposed on the second side portion 45f-2 of the sixth portion 45f. In the example shown in FIG. 16, the second side portion 45f-2 of the sixth portion 45f is the side portion of the sixth portion 45f on the second direction DR2 side.

[0102] 15 and 16, the strain gauge 40 includes a first strain gauge 40a disposed on the first side 45c-1 of the third portion 45c, a second strain gauge 40b disposed on the first side 45f-1 of the sixth portion 45f, a third strain gauge 40c disposed on the second side 45c-2 of the third portion 45c, and a fourth strain gauge 40d disposed on the second side 45f-2 of the sixth portion 45f. In this case, the strain of the support 45 can be suitably detected using at least four strain gauges (40a, 40b, 40c, and 40d). In other words, regardless of where the handle 3 is gripped to perform an operation, the strain of the support 45 fixed to the handle 3 can be suitably detected.

[0103] In the example shown in FIGS. 12 to 16, the support 45 (more specifically, the bracket 450) is fixed to the door 2 so as to be capable of torsional deformation.

[0104] 13, the first portion 45a is fixed to the door 2, and the second portion 45b is fixed to the handle 3. Therefore, when the handle 3 is operated in the first direction DR1, torsional deformation occurs in the third portion 45c between the first portion 45a and the second portion 45b. In the examples shown in FIGS. 12, 13, 15, and 16, the strain gauges 40 (e.g., the first strain gauge 40a and / or the third strain gauge 40c) are disposed in the third portion 45c, where torsional deformation occurs when the handle 3 is operated in the first direction DR1. Therefore, the strain gauges 40 (e.g., the first strain gauge 40a and / or the third strain gauge 40c) disposed in the third portion 45c can suitably detect strain resulting from torsional deformation.

[0105] In the example shown in Fig. 14, the fourth portion 45d is fixed to the door 2, and the fifth portion 45e is fixed to the handle 3. Therefore, when the handle 3 is operated in the first direction DR1, torsional deformation occurs in the sixth portion 45f between the fourth portion 45d and the fifth portion 45e. In the examples shown in Figs. 12, 14, 15, and 16, strain gauges 40 (e.g., the second strain gauge 40b and / or the fourth strain gauge 40d) are arranged in the sixth portion 45f, where torsional deformation occurs when the handle 3 is operated in the first direction DR1. Therefore, the strain gauges 40 (e.g., the second strain gauge 40b and / or the fourth strain gauge 40d) arranged in the sixth portion 45f can suitably detect strain caused by torsional deformation.

[0106] From the viewpoint of suitably detecting strain caused by torsional deformation, it is preferable that the strain gauge 40 (for example, the first strain gauge 40a) is arranged on the support 45 in a state inclined with respect to the longitudinal direction of the support 45. In this specification, a state in which the strain gauge 40 is inclined with respect to the longitudinal direction of the support 45 means a state in which the extension direction of the electrical resistor 401 of the strain gauge 40 is inclined with respect to the longitudinal direction of the support 45.

[0107] 12, 13, and 15, the first strain gauge 40a is disposed on one side of the third portion 45c where torsional deformation occurs when the handle 3 is operated in the first direction DR1. As illustrated in FIG. 15, the first strain gauge 40a is disposed on the support 45 in a state inclined with respect to the longitudinal direction of the support 45. The inclination angle of the first strain gauge 40a with respect to the longitudinal direction of the support 45 is, for example, approximately 45 degrees. Note that this inclination angle is not limited to approximately 45 degrees.

[0108] In the example shown in FIG. 16 , the third strain gauge 40c is disposed on the other side of the third portion 45c, which undergoes torsional deformation when the handle 3 is operated in the first direction DR1. The third strain gauge 40c is disposed on the support 45 at an angle relative to the longitudinal direction of the support 45. If the third strain gauge 40c were disposed parallel or perpendicular to the longitudinal direction of the support 45, the third strain gauge 40c would not expand or contract, and would not be able to detect strain effectively. By disposing the third strain gauge 40c at an angle relative to the longitudinal direction of the support 45, the third strain gauge 40c expands or contracts effectively, and can therefore detect strain effectively. The angle of inclination of the third strain gauge 40c relative to the longitudinal direction of the support 45 is, for example, approximately 45 degrees. Note that this angle of inclination is not limited to approximately 45 degrees.

[0109] 15 and 16, the third portion 45c includes a thinned region 451c and a non-thinned region 453c that is thicker than the thinned region 451c. In this case, when the handle 3 is operated in the first direction DR1, distortion is likely to occur in the thinned region 451c. In the example shown in FIGS. 15 and 16, a first gap G1 exists between the thinned region 451c and the door 2. In this case, when the handle 3 is operated in the first direction DR1, distortion is likely to occur in the thinned region 451c.

[0110] In the example shown in FIG. 15, a strain gauge 40 (for example, a first strain gauge 40a) is disposed in the thinned region 451c. In this case, the strain gauge 40 can suitably detect strain occurring in the thinned region 451c. In the example shown in FIG. 16, a third strain gauge 40c is disposed in the thinned region 451c. In this case, the third strain gauge 40c can suitably detect strain occurring in the thinned region 451c.

[0111] 15 and 16, a first hole 452c is formed in the third portion 45c. In the example shown in Fig. 15, a strain gauge 40 (e.g., first strain gauge 40a) is disposed in a region of the third portion 45c thinned by the first hole 452c (in other words, thinned region 451c). In the example shown in Fig. 16, a third strain gauge 40c is disposed in a region of the third portion 45c thinned by the first hole 452c (in other words, thinned region 451c).

[0112] 12, 14, and 15, the second strain gauge 40b is disposed on one side of the sixth portion 45f where torsional deformation occurs when the handle 3 is operated in the first direction DR1. As illustrated in FIG. 15, the second strain gauge 40b is disposed on the support 45 in a state inclined with respect to the longitudinal direction of the support 45. The inclination angle of the second strain gauge 40b with respect to the longitudinal direction of the support 45 is, for example, approximately 45 degrees. Note that the inclination angle is not limited to approximately 45 degrees.

[0113] 16, the fourth strain gauge 40d is disposed on the other side of the sixth portion 45f where torsional deformation occurs when the handle 3 is operated in the first direction DR1. The fourth strain gauge 40d is disposed on the support 45 in a state inclined with respect to the longitudinal direction of the support 45. The inclination angle of the fourth strain gauge 40d with respect to the longitudinal direction of the support 45 is, for example, approximately 45 degrees. Note that the inclination angle is not limited to approximately 45 degrees.

[0114] 15 and 16, the sixth portion 45f includes a thinned region 451f and a non-thinned region 453f that is thicker than the thinned region 451f. In this case, when the handle 3 is operated in the first direction DR1, distortion is likely to occur in the thinned region 451f. In the example shown in FIGS. 15 and 16, a second gap G2 exists between the thinned region 451f and the door 2. In this case, when the handle 3 is operated in the first direction DR1, distortion is likely to occur in the thinned region 451f.

[0115] In the example shown in Fig. 15, second strain gauge 40b is arranged in thinned region 451f. In this case, second strain gauge 40b can suitably detect strain occurring in thinned region 451f. In the example shown in Fig. 16, fourth strain gauge 40d is arranged in thinned region 451f. In this case, fourth strain gauge 40d can suitably detect strain occurring in thinned region 451f.

[0116] 15 and 16, a second hole 452f is formed in the sixth portion 45f. In the example shown in Fig. 15, the second strain gauge 40b is disposed in the region of the sixth portion 45f thinned by the second hole 452f (in other words, the thinned region 451f). In the example shown in Fig. 16, the fourth strain gauge 40d is disposed in the region of the sixth portion 45f thinned by the second hole 452f (in other words, the thinned region 451f).

[0117] 12 to 16, the door 2 includes a first frame 21. In the example shown in FIGS. 12 to 14, the handle 3 is disposed on the front surface 211 of the first frame 21, and the support 45 (more specifically, the bracket 450) is disposed on the back surface 213 of the first frame 21. In the example shown in FIGS. 12 to 14, the first frame 21 of the door 2 is sandwiched between the handle 3 and the support 45 (more specifically, the bracket 450).

[0118] 13, the first frame 21 may have a substantially L-shape in a cross section perpendicular to the third direction DR3. Alternatively, the first frame 21 may have a substantially rectangular shape or a substantially C-shape in a cross section perpendicular to the third direction DR3.

[0119] In the examples shown in FIGS. 12 to 16 , the support 45 extends along the third direction DR3. As illustrated in FIG. 12 , the longitudinal direction of the support 45 may coincide with the third direction DR3. In the examples shown in FIGS. 12 to 16 , the support 45 is a rod-shaped body (more specifically, a flat bar). The support 45 may have a substantially rectangular shape in a cross section perpendicular to the third direction DR3. In this case, it is easy to arrange the strain gauges 40 on the side surfaces of the support 45. In the examples shown in FIGS. 15 and 16 , the support 45 has a first side surface 45s on the first direction DR1 side and a second side surface 45t on the second direction DR2 side. In the example shown in FIG. 15 , the first strain gauge 40a and the second strain gauge 40b are arranged on the first side surface 45s. In the example shown in FIG. 16 , the third strain gauge 40c and the fourth strain gauge 40d are arranged on the second side surface 45t.

[0120] (First group fixed member B1) 12 to 16, the door apparatus 1A includes a first group of fixing members B1 that fix the support body 45 (more specifically, the bracket 450) to the door 2 (more specifically, the first frame 21 of the door 2). In the example shown in FIGS. 12 and 13, the first group of fixing members B1 includes a first fixing member B1-1 (e.g., a first bolt) that fixes a first portion 45a of the support body 45 (more specifically, the first portion of the bracket 450) to the door 2 (more specifically, the first frame 21 of the door 2). As illustrated in FIGS. 12 and 14, the first group of fixing members B1 may include a second fixing member B1-2 (e.g., a second bolt) that fixes a fourth portion 45d of the support body 45 (more specifically, the fourth portion of the bracket 450) to the door 2 (more specifically, the first frame 21 of the door 2).

[0121] (Second group fixed member B2) 12 to 16, the door apparatus 1A includes a second group of fixing members B2 that fix the handle 3 to the support body 45 (more specifically, the bracket 450). In the example shown in FIGS. 12 and 13, the second group of fixing members B2 includes a third fixing member B2-1 (e.g., a third bolt) that fixes a first portion of the handle 3 (more specifically, the upper portion 31 of the handle 3) to a second portion 45b of the support body 45 (more specifically, the second portion of the bracket 450). As illustrated in FIGS. 12 and 14, the second group of fixing members B2 may include a fourth fixing member B2-2 (e.g., a fourth bolt) that fixes the second portion of the handle 3 (more specifically, the lower portion 33 of the handle 3) to a fifth portion 45e of the support body 45 (more specifically, the fifth portion of the bracket 450).

[0122] In the example shown in FIG. 13, a first through-hole portion 21h into which the third fixing member B2-1 is inserted is formed in the door 2 (more specifically, the first frame 21 of the door 2). In the example shown in FIG. 13, a gap (hereinafter referred to as the "third gap G3") exists between the third fixing member B2-1 and the first through-hole portion 21h. Due to the existence of the third gap G3, deformation of the support body 45 is less likely to be hindered by the third fixing member B2-1. As exemplified in FIG. 13, the door device 1A may include a first collar 461 disposed between the third fixing member B2-1 and the first through-hole portion 21h. In the example shown in FIG. 13, the third fixing member B2-1 is disposed so as to penetrate the first collar 461.

[0123] In the example shown in FIG. 14, the door 2 (more specifically, the first frame 21 of the door 2) is formed with a second through-hole portion 21k into which the fourth fixing member B2-2 is inserted. In the example shown in FIG. 14, a gap (hereinafter referred to as a "fourth gap G4") exists between the fourth fixing member B2-2 and the second through-hole portion 21k. Due to the existence of the fourth gap G4, deformation of the support body 45 is less likely to be hindered by the fourth fixing member B2-2. As exemplified in FIG. 14, the door device 1A may include a second collar 462 arranged between the fourth fixing member B2-2 and the second through-hole portion 21k. In the example shown in FIG. 14, the fourth fixing member B2-2 is arranged to penetrate the second collar 462.

[0124] (Strain gauge 40) In the example shown in FIG. 17, the strain gauges 40 include a first strain gauge 40a, a second strain gauge 40b, a third strain gauge 40c, and a fourth strain gauge 40d.

[0125] 17, the first strain gauge 40a and the second strain gauge 40b are arranged along the longitudinal direction of the support 45. In the example shown in Fig. 17, the third strain gauge 40c and the fourth strain gauge 40d are arranged along the longitudinal direction of the support 45. In the example shown in Fig. 17, the first strain gauge 40a and the second strain gauge 40b are arranged on a first side surface 45s of the support 45, and the third strain gauge 40c and the fourth strain gauge 40d are arranged on a second side surface 45t of the support 45.

[0126] 15 and 17, when a first operating force in a first direction DR1 acts on the handle 3, the first strain gauge 40a (more specifically, the electrical resistor 401a of the first strain gauge 40a) stretches (see FIG. 18). As a result, the electrical resistance of the first strain gauge 40a increases.

[0127] 15 and 17, when a first operating force in the first direction DR1 acts on the handle 3, the second strain gauge 40b (more specifically, the electrical resistor 401b of the second strain gauge 40b) stretches (see FIG. 18). As a result, the electrical resistance of the second strain gauge 40b increases.

[0128] 16 and 17, when a first operating force in the first direction DR1 acts on the handle 3, the third strain gauge 40c (more specifically, the electrical resistor 401c of the third strain gauge 40c) contracts (see FIG. 19). As a result, the electrical resistance of the third strain gauge 40c decreases.

[0129] 16 and 17, when a first operating force in the first direction DR1 acts on the handle 3, the fourth strain gauge 40d (more specifically, the electrical resistor 401d of the fourth strain gauge 40d) contracts (see FIG. 19). As a result, the electrical resistance of the fourth strain gauge 40d decreases.

[0130] 15 and 17, the first strain gauge 40a (more specifically, the electrical resistor 401a of the first strain gauge 40a) contracts when a second operating force in the second direction DR2 acts on the handle 3. In the example shown in Figures 15 and 17, the second strain gauge 40b (more specifically, the electrical resistor 401b of the second strain gauge 40b) contracts when a second operating force in the second direction DR2 acts on the handle 3.

[0131] 16 and 17, the third strain gauge 40c (more specifically, the electrical resistor 401c of the third strain gauge 40c) stretches when a second operating force in the second direction DR2 acts on the handle 3. In the example shown in Figures 16 and 17, the fourth strain gauge 40d (more specifically, the electrical resistor 401d of the fourth strain gauge 40d) stretches when a second operating force in the second direction DR2 acts on the handle 3.

[0132] As illustrated in Fig. 20, the first strain gauge 40a, the second strain gauge 40b, the third strain gauge 40c, and the fourth strain gauge 40d may be arranged in a bridge circuit 4. More specifically, in the example shown in Fig. 20 (or in the examples shown in Figs. 15 and 16), the first strain gauge 40a, the second strain gauge 40b, the third strain gauge 40c, and the fourth strain gauge 40d may be arranged on a support 45 to form a Wheatstone bridge circuit. In Fig. 20, "E1" is the input voltage to the bridge circuit 4, and "E2" is the output voltage from the bridge circuit 4.

[0133] When the first strain gauge 40a, the second strain gauge 40b, the third strain gauge 40c, and the fourth strain gauge 40d form a Wheatstone bridge circuit, resistance changes caused by temperature changes are canceled. Also, in the example shown in Fig. 20 (or the examples shown in Figs. 15 and 16), resistance changes caused by operating forces unrelated to the opening and closing operation of the door 2 (for example, a force pulling the handle 3 toward you) are canceled.

[0134] 20, the control device 66 receives a signal corresponding to the output voltage E2 of the bridge circuit 4 as a signal S from the strain gauge 40. More specifically, the control device 66 receives the signal corresponding to the output voltage E2 from the bridge circuit 4 via the amplifier 65.

[0135] In the example shown in FIG. 20 (or the examples shown in FIGS. 15 and 16), when the handle 3 is operated in the first direction DR1, the first strain gauge 40a and the second strain gauge 40b expand, and the third strain gauge 40c and the fourth strain gauge 40d contract. As a result, the value of the output voltage E2 of the bridge circuit 4 becomes positive (or negative). On the other hand, when the handle 3 is operated in the second direction DR2, the first strain gauge 40a and the second strain gauge 40b contract, and the third strain gauge 40c and the fourth strain gauge 40d expand. As a result, the value of the output voltage E2 of the bridge circuit 4 becomes negative (or positive). Therefore, the control device 66 can determine whether the operation direction of the handle 3 is the first direction DR1 or the second direction DR2 based on the signal S from the strain gauge 40 (more specifically, based on the signal corresponding to the output voltage E2 of the bridge circuit 4).

[0136] 20 (or the examples shown in FIGS. 15 and 16), the absolute value of the output voltage E2 of the bridge circuit 4 increases as the first operating force of the handle 3 in the first direction DR1 increases. Therefore, the control device 66 can derive the magnitude of the first operating force of the handle 3 in the first direction DR1 based on the signal S from the strain gauge 40 (more specifically, based on the signal corresponding to the output voltage E2 of the bridge circuit 4).

[0137] 20 (or the examples shown in FIGS. 15 and 16), the absolute value of the output voltage E2 of the bridge circuit 4 increases as the second operating force of the handle 3 in the second direction DR2 increases. Therefore, the control device 66 can derive the magnitude of the second operating force of the handle 3 in the second direction DR2 based on the signal S from the strain gauge 40 (more specifically, based on the signal corresponding to the output voltage E2 of the bridge circuit 4).

[0138] 20 (or the examples shown in FIGS. 15 and 16), at least four strain gauges (40a, 40b, 40c, 40d) are deformed when the handle 3 is operated. Alternatively, as illustrated in FIG. 21, only one strain gauge 40 (e.g., the first strain gauge 40a) may be deformed when the handle 3 is operated.

[0139] In the example shown in FIG. 21, when the handle 3 is operated in the first direction DR1, the first strain gauge 40a contracts. As a result, the value of the output voltage E2 of the bridge circuit 4 becomes negative (or positive). On the other hand, when the handle 3 is operated in the second direction DR2, the first strain gauge 40a expands. As a result, the value of the output voltage E2 of the bridge circuit 4 becomes positive (or negative). Therefore, the control device 66 can determine whether the operation direction of the handle 3 is the first direction DR1 or the second direction DR2 based on the signal S from the strain gauge 40 (more specifically, based on the signal corresponding to the output voltage E2 of the bridge circuit 4).

[0140] 21, as the first operating force of the handle 3 in the first direction DR1 increases, the absolute value of the output voltage E2 of the bridge circuit 4 increases. Therefore, the control device 66 can derive the magnitude of the first operating force of the handle 3 in the first direction DR1 based on the signal S from the strain gauge 40 (more specifically, based on the signal corresponding to the output voltage E2 of the bridge circuit 4).

[0141] 21, as the second operating force of the handle 3 in the second direction DR2 increases, the absolute value of the output voltage E2 of the bridge circuit 4 increases. Therefore, the control device 66 can derive the magnitude of the second operating force of the handle 3 in the second direction DR2 based on the signal S from the strain gauge 40 (more specifically, based on the signal corresponding to the output voltage E2 of the bridge circuit 4).

[0142] In the example shown in FIG. 21 , one of the four resistors in the bridge circuit 4 is a strain gauge 40, and three of the four resistors in the bridge circuit 4 are fixed resistors 42 (in other words, resistors whose electrical resistance does not substantially change). Alternatively, two of the four resistors in the bridge circuit 4 may be strain gauges, or three of the four resistors in the bridge circuit 4 may be strain gauges. Furthermore, when the bridge circuit 4 includes multiple strain gauges, at least one of the multiple strain gauges may be a dummy strain gauge. In the example shown in FIG. 22 , one of the four resistors in the bridge circuit 4 is a strain gauge 40 (e.g., a first strain gauge 40a) that detects the operation of the steering wheel 3, and one of the four resistors in the bridge circuit 4 is a dummy strain gauge 41.

[0143] 20 to 22, when the control device 66 determines, based on the signal S from the strain gauge 40 (more specifically, based on the signal corresponding to the output voltage E2 of the bridge circuit 4), that the handle 3 is receiving a first operating force in the first direction DR1 that exceeds the first lower threshold value SL1, the control device 66 sends a first group of control commands to the regulator 61 and the directional control valve 7 so that the air cylinder 5 applies a first assist force in the first direction DR1 to the door 2. Note that the first group of control commands includes the above-mentioned first control signal C1 sent to the regulator 61.

[0144] 20 to 22, when the control device 66 determines based on the signal S from the strain gauge 40 (more specifically, based on the signal corresponding to the output voltage E2 of the bridge circuit 4) that the handle 3 is receiving a second operating force in the second direction DR2 that exceeds the second lower threshold value SL2, the control device 66 sends a second group of control commands to the regulator 61 and the directional control valve 7 so that the air cylinder 5 applies a second assist force in the second direction DR2 to the door 2. Note that the second group of control commands includes the above-mentioned second control signal C2 sent to the regulator 61.

[0145] (Second embodiment) A door device 1B for a machine tool according to a second embodiment will be described with reference to Figures 23 to 25. Figures 23 and 24 are diagrams schematically showing the door device 1B for a machine tool according to the second embodiment. Figure 25 is a diagram schematically showing an example of the arrangement of the movable pulley 86 and / or the air cylinder 5.

[0146] Door device 1B for a machine tool in the second embodiment differs from door device 1A for a machine tool in the first embodiment in that door device 1B for a machine tool in the second embodiment is provided with a movable pulley 86. In other respects, door device 1B for a machine tool in the second embodiment is similar to door device 1A for a machine tool in the first embodiment.

[0147] In the second embodiment, differences from the first embodiment will be mainly described. On the other hand, in the second embodiment, repeated descriptions of matters already described in the first embodiment will be omitted. Therefore, it goes without saying that matters already described in the first embodiment can be applied to the second embodiment even if they are not explicitly described in the second embodiment.

[0148] As illustrated in FIG. 23, the door device 1B for a machine tool in the second embodiment includes: (1) a door 2 that can slide in a first direction DR1 so as to open at least a portion of an opening OP of the machine tool, and can slide in a second direction DR2 opposite to the first direction DR1 so as to close at least a portion of the opening OP; (2) a handle 3 arranged on the door 2; (3) a strain gauge 40 that detects the operation of the handle 3; (4) an air cylinder 5 that applies an assist force to the door 2; (5) an air supply flow path FP that connects the air cylinder 5 and an air supply source 91; (6) a regulator 61 that adjusts the pressure of the air flowing through the air supply flow path FP; and (7) a control device 66 that controls the regulator 61 based on a signal S from the strain gauge 40.

[0149] Therefore, the door device 1B for a machine tool in the second embodiment has the same effects as the door device 1A for a machine tool in the first embodiment.

[0150] 23 and 24, the air cylinder 5 has a piston 54 that is driven by air supplied to the first chamber 51. More specifically, the air cylinder 5 has the first chamber 51, a second chamber 53, and the piston 54 that is disposed between the first chamber 51 and the second chamber 53.

[0151] 23 and 24, the door device 1B includes a movable pulley 86 that converts a first movement amount of the door 2 into a second movement amount of the piston 54 that is smaller than the first movement amount. The second movement amount is, for example, half of the first movement amount.

[0152] 23 and 24, the door device 1B includes the movable pulley 86, so that the movement stroke of the piston 54 can be made shorter than the movement stroke of the door 2. Therefore, the length of the air cylinder 5 can be made shorter.

[0153] Next, optional additional configurations that can be employed in the door device 1B for a machine tool according to the second embodiment will be described with reference to FIGS.

[0154] (1st movable pulley 86A) 23 and 24, the movable pulley 86 includes a first movable pulley 86A. The first movable pulley 86A is supported by a first rod 55A (more specifically, a first end 551A of the first rod 55A) so as to be rotatable about a first rotation axis AX1. A second end of the first rod 55A is coupled to, for example, the piston 54.

[0155] Assume that the state of the directional control valve 7 is the first state J1, as illustrated in Fig. 23. In the example shown in Fig. 23, the first chamber 51 is fluidly connected to the air supply source 91. In this case, air is supplied to the first chamber 51, so that a first force F1 is applied to the piston 54, the first rod 55A, and the first movable pulley 86A in the first direction DR1.

[0156] 23, the door device 1B includes a flexible member 87 guided by a first movable pulley 86A. The door 2 is directly or indirectly connected to the flexible member 87. In this case, when a first force F1 is applied to the first movable pulley 86A in a first direction DR1, the flexible member 87 applies a first assist force to the door 2 that is half the magnitude of the first force F1.

[0157] Assume that the resultant force of the first assist force and the operating force of the operator moves the door 2 by a first movement amount in the first direction DR1. In this case, the first movable pulley 86A, the first rod 55A, and the piston 54 move in the first direction DR1 by a second movement amount that is half the first movement amount.

[0158] The flexible member 87 may be a linear material such as a wire or a cable, or may be a strip-shaped material such as a belt. In the example shown in FIG. 23, a first end 87a of the flexible member 87 is connected to the main body 50 (in other words, the cylinder portion) of the air cylinder 5. Alternatively, the first end 87a of the flexible member 87 may be connected to the wall 110.

[0159] (2nd movable pulley 86B) 24, the movable pulley 86 includes a second movable pulley 86B. The second movable pulley 86B is supported by a second rod 55B (more specifically, a first end 551B of the second rod 55B) so as to be rotatable about a second rotation axis AX2. A second end of the second rod 55B is coupled to, for example, the piston 54.

[0160] Assume that the state of the directional control valve 7 is the second state J2, as illustrated in Fig. 24. In the example shown in Fig. 24, the second chamber 53 is fluidly connected to the air supply source 91. In this case, air is supplied to the second chamber 53, so that a second force F2 is applied to the piston 54, the second rod 55B, and the second movable pulley 86B in the second direction DR2.

[0161] 24, the door device 1B includes a flexible member 87 guided by a second movable pulley 86B. The door 2 is also directly or indirectly connected to the flexible member 87. In this case, when a second force F2 is applied to the second movable pulley 86B in the second direction DR2, the flexible member 87 applies a second assist force to the door 2 that is half the magnitude of the second force F2.

[0162] Assume that the resultant force of the second assist force and the operating force of the operator moves the door 2 in the second direction DR2 by a third movement amount. In this case, the second movable pulley 86B, the second rod 55B, and the piston 54 move in the second direction DR2 by a fourth movement amount that is half the third movement amount.

[0163] 24, the second end 87b of the flexible member 87 is connected to the body 50 of the air cylinder 5. Alternatively, the second end 87b of the flexible member 87 may be connected to the wall 110.

[0164] In addition, when a winding device that winds up excess wire and pays out insufficient wire is provided, the second movable pulley 86B may be omitted or may be replaced with a fixed pulley.

[0165] In the example shown in FIGS. 23 and 24, the air cylinder 5 is a double-rod cylinder. More specifically, the air cylinder 5 includes a first rod 55A that protrudes in a first direction DR1 from a first end of the main body 50 and a second rod 55B that protrudes in a second direction DR2 from a second end of the main body 50. A first movable pulley 86A is disposed at the tip of the first rod 55A, and a second movable pulley 86B is disposed at the tip of the second rod 55B. In the example shown in FIGS. 23 and 24, the flexible member 87 is guided by both the first movable pulley 86A disposed at the tip of the first rod 55A and the second movable pulley 86B disposed at the tip of the second rod 55B.

[0166] (Arrangement of movable pulley 86) 25, the rotation axes of the movable pulley 86 are parallel to the vertical direction. More specifically, the first rotation axis AX1 of the first movable pulley 86A is parallel to the vertical direction, and the second rotation axis AX2 of the second movable pulley 86B is parallel to the vertical direction. In this case, the size of the movable pulley 86 in the height direction can be made compact, and the size of the entire mechanism that applies the assist force in the height direction can also be made compact.

[0167] 25, movable pulley 86 is disposed on ceiling 111 of the machine tool (more specifically, on upper surface 111u of ceiling 111). In this case, the rotation axis of movable pulley 86 is parallel to the vertical direction, so that the size of the entire machine tool in the height direction can be made compact.

[0168] (Arrangement of air cylinder 5) In the example shown in FIG. 25, the air cylinder 5 is arranged on the ceiling 111 of the machine tool (more specifically, on the upper surface 111u of the ceiling 111). In this case, adding the air cylinder 5 does not require increasing the size of the machine tool in a plan view. Also, it is easy to add a mechanism for applying an assist force (such as the air cylinder 5) to an existing machine tool. In the example shown in FIG. 25, the main body 50 of the air cylinder 5 (in other words, the cylinder portion) is fixed to the ceiling 111. The arrangement of the air cylinder 5 in FIG. 25 may be adopted in the first embodiment.

[0169] In the example shown in FIG. 25, the main body 50 of the air cylinder 5 is arranged so as not to overlap with the movable pulley 86 in a plan view. More specifically, the main body 50 of the air cylinder 5 and the movable pulley 86 (more specifically, the first movable pulley 86A and the second movable pulley 86B) are arranged along a single horizontal plane. In this case, the height of the entire mechanism that applies the assist force can be made compact. In the example shown in FIG. 25, the first movable pulley 86A, the main body 50 of the air cylinder 5, and the second movable pulley 86B are arranged on a single straight line parallel to the horizontal plane.

[0170] (First connecting member 88) The door device 1B has a first connecting member 88 that connects the door 2 and the flexible member 87. In the example shown in FIG. 25, the first connecting member 88 is arranged so as not to overlap with the air cylinder 5 in a plan view. More specifically, the air cylinder 5 and the first connecting member 88 are arranged along a single horizontal plane. In this case, the height of the entire mechanism that applies the assist force can be made compact. In the example shown in FIG. 25, when the direction from the back of the machine tool toward the opening OP of the machine tool is defined as a fourth direction DR4, the first connecting member 88 is arranged on the fourth direction DR4 side of the air cylinder 5.

[0171] (Second connecting member 89) The door device 1B may have at least one second connecting member 89 that connects the ceiling portion 111 and the flexible member 87. In the example shown in FIG. 25, the air cylinder 5 and at least one second connecting member 89 are arranged along one horizontal plane. In the example shown in FIG. 25, the number of second connecting members 89 is two, but the number of second connecting members 89 may be one or three or more. Furthermore, if the flexible member 87 is an endless member, for example, the second connecting member 89 may be omitted.

[0172] (Door 2) 25, the number of doors 2 is one. Alternatively, the number of doors 2 may be two or more.

[0173] In the example shown in FIG. 25, the opening OP includes a first opening OP1 formed in a front wall 112 of the machine tool and a second opening OP2 formed in a ceiling portion 111 of the machine tool. Also, in the example shown in FIG. 25, the door 2 has a first plate portion 23 that can close the first opening OP1 in the front wall 112 and a second plate portion 24 that can close the second opening OP2 in the ceiling portion 111. In the example shown in FIG. 25, the door 2 has a substantially L-shape in a cross section perpendicular to the first direction DR1. Note that in the first or second embodiment, the shape of the door 2 is not limited to the above example and may be any shape.

[0174] (support member 95) The door device 1B may have a support member 95 that supports the air cylinder 5, the movable pulley 86, and the first connecting member 88. In this case, by attaching the support member 95 to the ceiling portion 111, the air cylinder 5, the movable pulley 86, and the first connecting member 88 can be arranged on the ceiling portion 111.

[0175] (Third embodiment) A machine tool 100 according to the third embodiment will be described with reference to Figures 1 to 29. Figure 26 is a schematic perspective view showing the machine tool 100 according to the third embodiment. Figure 27 is a diagram showing a state in which the numerical control device 15 can control a control target device. Figure 28 is a diagram showing a schematic example of a first image IM1 displayed on the display 157. Figure 29 is a diagram showing a schematic example of another first image IM1 displayed on the display 157.

[0176] In the third embodiment, differences from the first and second embodiments will be mainly described. On the other hand, in the third embodiment, repeated descriptions of matters already described in the first or second embodiment will be omitted. Therefore, it goes without saying that matters already described in the first or second embodiment can be applied to the third embodiment, even if they are not explicitly described in the third embodiment.

[0177] 26, a machine tool 100 in the third embodiment includes a workpiece support device 12, a machining head 13, a moving device 14, a numerical control device 15, a wall 110 having an opening OP, and a door device 1. The machine tool 100 may be a lathe, a machining center, or a multi-tasking machine capable of performing multiple types of machining.

[0178] The door device 1 may be the door device 1A in the first embodiment, the door device 1B in the second embodiment, or another door device. The door device 1 includes: (1) a door 2 that is slidable in a first direction DR1 so as to open at least a portion of an opening OP and that is slidable in a second direction DR2 opposite to the first direction DR1 so as to close at least a portion of the opening OP; (2) a handle 3 disposed on the door 2; (3) a strain gauge 40 that detects operation of the handle 3; (4) an air cylinder 5 that applies an assist force to the door 2; (5) an air supply flow path FP that connects the air cylinder 5 and an air supply source 91; (6) a regulator 61 that adjusts the pressure of air flowing through the air supply flow path FP; and (7) a control device 66 that controls the regulator 61 based on a signal S from the strain gauge 40.

[0179] The workpiece support device 12 supports the workpiece. The workpiece support device 12 may include a chuck 121 that holds the workpiece, or may include a table that supports the workpiece. The workpiece support device 12 may include a workpiece rotation device 123 that rotates the workpiece. The workpiece rotation device 123 may rotate the chuck 121 that holds the workpiece.

[0180] The machining head 13 can hold a tool T for machining a workpiece. The machining head 13 may include a rotation drive device 133 that rotates the tool T.

[0181] The moving device 14 moves the machining head 13 relative to the workpiece supporting device 12 .

[0182] The numerical control device 15 controls the movement device 14. More specifically, the numerical control device 15 transmits a movement command to the movement device 14, and the movement device 14, upon receiving the movement command, moves the machining head 13 relative to the workpiece support device 12.

[0183] Additionally, the numerical control device 15 may control the workpiece rotation device 123. More specifically, the numerical control device 15 transmits a first rotation command to the workpiece rotation device 123, and the workpiece rotation device 123, which receives the first rotation command, rotates the workpiece. Alternatively, or additionally, the numerical control device 15 may control the rotation drive device 133. More specifically, the numerical control device 15 transmits a second rotation command to the rotation drive device 133, and the rotation drive device 133, which receives the second rotation command, rotates the tool T.

[0184] The wall 110 may define a processing area. In the example shown in FIG. 25 , a workpiece can be loaded into the processing area through an opening OP in the wall 110. The wall 110 may include a front wall 112. In the example shown in FIG. 25 , the opening OP is formed in the front wall 112.

[0185] (Optional configuration) Next, optional additional configurations that can be employed in machine tool 100 in the third embodiment will be described with reference to FIGS.

[0186] (Numerical Control Device 15) In the example shown in FIG. 27 , the numerical control device 15 includes a hardware processor 150 (hereinafter simply referred to as "processor 150"), a storage device 152 (in other words, a memory), a communication circuit 154, an input device 156, and a display 157. The processor 150, the storage device 152, the communication circuit 154, the input device 156, and the display 157 are connected to one another via a bus 158. In the example shown in FIG. 27 , the input device 156 includes a touch panel 156t on the display 157. In other words, the display 157 is a display with a touch panel 156t. The input device 156 may include a button, a switch, a lever, a pointing device, and / or a keyboard.

[0187] The storage device 152 is a storage medium readable by the processor 150 of the numerical control device 15. The storage device 152 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, or a flash memory, a magnetic disk, or any other type of memory.

[0188] The storage device 152 stores data DA and a machining program PM. The processor 150 of the numerical control device 15 executes the machining program PM stored in the storage device 152, causing the numerical control device 15 to generate control commands. The communication circuit 154 also transmits the control commands to devices to be controlled (more specifically, the moving device 14, the workpiece rotating device 123, the rotary drive device 133, etc.). In this way, the processor 150 executes the machining program PM, allowing the numerical control device 15 to control devices to be controlled (more specifically, the moving device 14, the workpiece rotating device 123, the rotary drive device 133, etc.).

[0189] The storage device 152 may store a parameter changing program PT that changes the first group of parameters PA and the second group of parameters PB stored in the memory 661 of the control device 66. The numerical control device 15 (more specifically, the processor 150 of the numerical control device 15) executes the parameter changing program PT to change the first group of parameters PA and the second group of parameters PB stored in the memory 661 of the control device 66 based on user input.

[0190] In the example shown in FIG. 28, the numerical controller 15 can display on the display 157 an image (hereinafter referred to as a "first image IM1") that accepts a user input for changing the above-mentioned first group of parameters PA.

[0191] More specifically, the numerical control device 15 executes the parameter changing program PT stored in the storage device 152 to display a first image IM1 for accepting a user input for changing the above-mentioned first group of parameters PA on the display 157. The first image IM1 may include an image for accepting a user input for changing the above-mentioned second group of parameters PB.

[0192] In the example shown in FIG. 28, the first image IM1 includes a first button BN1 (more specifically, an image of a plus button) that increases the first parameter PA1 that defines the above-mentioned first lower limit threshold SL1 (see FIG. 8). After the first button BN1 is pressed or clicked, the approval button BP is pressed or clicked, causing the numerical controller 15 to increase the value of the first parameter PA1 stored in the memory 661 of the control device 66. In the example shown in FIG. 28, after the first button BN1 is pressed or clicked, the approval button BP is pressed or clicked, causing the numerical controller 15 to increase both the value of the first parameter PA1 stored in the memory 661 of the control device 66 and the value of the fifth parameter PB1 stored in the memory 661 of the control device 66. In other words, the first button BN1 may be a button that increases the first parameter PA1 that defines the above-mentioned first lower threshold SL1 (see Figure 8) and the fifth parameter PB1 that defines the above-mentioned second lower threshold SL2 (see Figure 8).

[0193] In the example shown in FIG. 28, the first image IM1 includes a second button BN2 (more specifically, an image of a minus button) that decreases the first parameter PA1 that defines the above-mentioned first lower limit threshold SL1 (see FIG. 8). After the second button BN2 is pressed or clicked, the approval button BP is pressed or clicked, causing the numerical controller 15 to decrease the value of the first parameter PA1 stored in the memory 661 of the control device 66. In the example shown in FIG. 28, after the second button BN2 is pressed or clicked, the approval button BP is pressed or clicked, causing the numerical controller 15 to decrease both the value of the first parameter PA1 stored in the memory 661 of the control device 66 and the value of the fifth parameter PB1 stored in the memory 661 of the control device 66. In other words, the second button BN2 may be a button that decreases the first parameter PA1 that determines the above-mentioned first lower threshold SL1 (see Figure 8) and the fifth parameter PB1 that determines the above-mentioned second lower threshold SL2 (see Figure 8).

[0194] Alternatively, or additionally, as illustrated in FIG. 29 , the first image IM1 may include a first designation field NY1 for designating the value of a first parameter PA1 that defines the above-described first lower threshold value SL1 (see FIG. 8 ). After a value is entered in the first designation field NY1, pressing or clicking the approve button BP may cause the numerical controller 15 to change the value of the first parameter PA1 stored in the memory 661 of the control device 66 to a value corresponding to the value entered in the first designation field NY1. In the example illustrated in FIG. 29 , after a value is entered in the first designation field NY1, pressing or clicking the approve button BP may cause the numerical controller 15 to change the value of the first parameter PA1 stored in the memory 661 of the control device 66 to a value corresponding to the value entered in the first designation field NY1, and may also change the value of the fifth parameter PB1 stored in the memory 661 of the control device 66 to a value corresponding to the value entered in the first designation field NY1.

[0195] 28, the first image IM1 includes a change button BM (more specifically, an image of the change button) for changing the second parameter PA2 that defines the above-mentioned first increase rate IN1 (see FIG. 8). After the change button BM is pressed or clicked, the approval button BP is pressed or clicked, causing the numerical control device 15 to change the value of the second parameter PA2 stored in the memory 661 of the control device 66.

[0196] Alternatively, or additionally, as illustrated in FIG. 29 , the first image IM1 may include a second designation field NY2 for designating the value of the second parameter PA2 that defines the above-described first increase rate IN1 (see FIG. 8 ). After a value is entered in the second designation field NY2, pressing or clicking the approve button BP causes the numerical controller 15 to change the value of the second parameter PA2 stored in the memory 661 of the control device 66 to a value corresponding to the value entered in the second designation field NY2. In the example illustrated in FIG. 29 , after a value is entered in the second designation field NY2, pressing or clicking the approve button BP causes the numerical controller 15 to change the value of the second parameter PA2 stored in the memory 661 of the control device 66 to a value corresponding to the value entered in the second designation field NY2, and change the value of the sixth parameter PB2 stored in the memory 661 of the control device 66 to another value corresponding to the value entered in the second designation field NY2.

[0197] Note that the graph showing the first increase rate IN1 (see FIG. 8) and the graph displayed in the first image IM1 use different units. Therefore, the control device 66 executing the parameter change program PT is preferably configured to automatically derive the changed value of the second parameter PA2 and / or the changed value of the sixth parameter PB2 based on a user input, including an operation of the change button BM or an input to the second specification field NY2. When deriving the changed value of the second parameter PA2 and the changed value of the sixth parameter PB2, the numerical control device 15 preferably derives the changed value of the second parameter PA2 and the changed value of the sixth parameter PB2 in consideration of the difference between the area of ​​the first pressure-receiving surface 54a of the piston 54 and the area of ​​the second pressure-receiving surface 54b of the piston 54.

[0198] In the example shown in FIG. 28 , the first image IM1 includes a third button BN3 (more specifically, an image of a plus button) that increases the third parameter PA3 that defines the above-mentioned first maximum value MA1 (see FIG. 8 ). After the third button BN3 is pressed or clicked, the approval button BP is pressed or clicked, causing the numerical controller 15 to increase the value of the third parameter PA3 stored in the memory 661 of the control device 66. In the example shown in FIG. 28 , after the third button BN3 is pressed or clicked, the approval button BP is pressed or clicked, causing the numerical controller 15 to increase both the value of the third parameter PA3 stored in the memory 661 of the control device 66 and the value of the seventh parameter PB3 stored in the memory 661 of the control device 66. In other words, the third button BN3 may be a button that increases the third parameter PA3 that defines the above-mentioned first maximum value MA1 (see FIG. 8 ) and the seventh parameter PB3 that defines the above-mentioned second maximum value MA2 (see FIG. 8 ).

[0199] In the example shown in FIG. 28, the first image IM1 includes a fourth button BN4 (more specifically, an image of a minus button) that decreases the third parameter PA3 that determines the above-mentioned first maximum value MA1 (see FIG. 8). After the fourth button BN4 is pressed or clicked, the accept button BP is pressed or clicked, causing the numerical controller 15 to decrease the value of the third parameter PA3 stored in the memory 661 of the control device 66. In the example shown in FIG. 28, after the fourth button BN4 is pressed or clicked, the accept button BP is pressed or clicked, causing the numerical controller 15 to decrease both the value of the third parameter PA3 stored in the memory 661 of the control device 66 and the value of the seventh parameter PB3 stored in the memory 661 of the control device 66. In other words, the fourth button BN4 may be a button that decreases the third parameter PA3 that determines the above-mentioned first maximum value MA1 (see FIG. 8) and the seventh parameter PB3 that determines the above-mentioned second maximum value MA2 (see FIG. 8).

[0200] Alternatively, or additionally, as illustrated in FIG. 29 , the first image IM1 may include a third designation field NY3 for designating the value of the third parameter PA3 that defines the above-mentioned first maximum value MA1 (see FIG. 8 ). After a value is entered in the third designation field NY3, pressing or clicking the approve button BP causes the numerical controller 15 to change the value of the third parameter PA3 stored in the memory 661 of the control device 66 to a value corresponding to the value entered in the third designation field NY3. In the example illustrated in FIG. 29 , after a value is entered in the third designation field NY3, pressing or clicking the approve button BP causes the numerical controller 15 to change the value of the third parameter PA3 stored in the memory 661 of the control device 66 to a value corresponding to the value entered in the third designation field NY3, and change the value of the seventh parameter PB3 stored in the memory 661 of the control device 66 to another value corresponding to the value entered in the third designation field NY3.

[0201] Note that the graph showing the first maximum value MA1 (see FIG. 8) and the graph displayed in the first image IM1 use different units. Therefore, it is preferable that the control device 66 executing the parameter change program PT be configured to automatically derive a change value for the third parameter PA3 based on user input including operation of the third button BN3 or the fourth button BN4 or input into the third specification field NY3.

[0202] The control device 66 may be configured to automatically derive the changed value of the third parameter PA3 and the value of the seventh parameter PB3 based on a user input including an operation of the third button BN3 or the fourth button BN4 or an input to the third specification field NY3. When the changed value of the third parameter PA3 and the changed value of the seventh parameter PB3 are derived, the numerical control device 15 preferably derives the changed value of the third parameter PA3 and the changed value of the seventh parameter PB3 in consideration of the difference between the area of ​​the first pressure-receiving surface 54a of the piston 54 and the area of ​​the second pressure-receiving surface 54b of the piston 54.

[0203] In the example shown in FIG. 28 , the first image IM1 includes a fifth button BN5 (more specifically, an image of a plus button) that increases the fourth parameter PA4 that defines the above-mentioned first upper limit threshold SH1 (see FIG. 8 ). After the fifth button BN5 is pressed or clicked, the approve button BP is pressed or clicked, causing the numerical controller 15 to increase the value of the fourth parameter PA4 stored in the memory 661 of the control device 66. In the example shown in FIG. 28 , after the fifth button BN5 is pressed or clicked, the approve button BP is pressed or clicked, causing the numerical controller 15 to increase both the value of the fourth parameter PA4 stored in the memory 661 of the control device 66 and the value of the eighth parameter PB4 stored in the memory 661 of the control device 66. In other words, the fifth button BN5 may be a button that increases the fourth parameter PA4 that defines the above-mentioned first upper limit threshold SH1 (see FIG. 8 ) and the eighth parameter PB4 that defines the above-mentioned second upper limit threshold SH2 (see FIG. 8 ).

[0204] In the example shown in FIG. 28 , the first image IM1 includes a sixth button BN6 (more specifically, an image of a minus button) that decreases the fourth parameter PA4 that defines the above-mentioned first upper limit threshold SH1 (see FIG. 8 ). After the sixth button BN6 is pressed or clicked, the approve button BP is pressed or clicked, causing the numerical controller 15 to decrease the value of the fourth parameter PA4 stored in the memory 661 of the control device 66. In the example shown in FIG. 28 , after the sixth button BN6 is pressed or clicked, the approve button BP is pressed or clicked, causing the numerical controller 15 to decrease both the value of the fourth parameter PA4 stored in the memory 661 of the control device 66 and the value of the eighth parameter PB4 stored in the memory 661 of the control device 66. In other words, the sixth button BN6 may be a button that decreases the fourth parameter PA4 that defines the above-mentioned first upper limit threshold SH1 (see FIG. 8 ) and the eighth parameter PB4 that defines the above-mentioned second upper limit threshold SH2 (see FIG. 8 ).

[0205] Alternatively, or additionally, as illustrated in FIG. 29 , the first image IM1 may include a fourth designation field NY4 for designating the value of the fourth parameter PA4 that defines the above-mentioned first upper limit threshold SH1 (see FIG. 8 ). After a value is entered in the fourth designation field NY4, pressing or clicking the approve button BP causes the numerical controller 15 to change the value of the fourth parameter PA4 stored in the memory 661 of the control device 66 to a value corresponding to the value entered in the fourth designation field NY4. After a value is entered in the fourth designation field NY4, pressing or clicking the approve button BP causes the numerical controller 15 to change the value of the fourth parameter PA4 stored in the memory 661 of the control device 66 to a value corresponding to the value entered in the fourth designation field NY4, and may also change the value of the eighth parameter PB4 stored in the memory 661 of the control device 66 to a value corresponding to the value entered in the fourth designation field NY4.

[0206] In the example shown in FIG. 27, the control device 66 is arranged outside the numerical control device 15, but the control device 66 may also be arranged integrally within the numerical control device 15.

[0207] In the third embodiment, the first group of parameters PA that can be changed using the numerical control device 15 are not limited to the first parameter PA1, the second parameter PA2, the third parameter PA3, and the fourth parameter PA4. At least one of the first parameter PA1, the second parameter PA2, the third parameter PA3, and the fourth parameter PA4 may be a parameter that cannot be changed using the numerical control device 15. Furthermore, other parameters included in the first group of parameters PA may be changeable using the numerical control device 15.

[0208] In the third embodiment, the second group of parameters PB that can be changed using the numerical control device 15 are not limited to the fifth parameter PB1, the sixth parameter PB2, the seventh parameter PB3, and the eighth parameter PB4. At least one of the fifth parameter PB1, the sixth parameter PB2, the seventh parameter PB3, and the eighth parameter PB4 may be a parameter that cannot be changed using the numerical control device 15. Furthermore, other parameters included in the second group of parameters PB may be changeable using the numerical control device 15.

[0209] Changes in the first group of parameters PA (or changes in the second group of parameters PB) are only allowed within a predetermined range. In the examples shown in Figures 28 and 29, the range indicated by the hatched area is outside the predetermined range.

[0210] 28 and 29, the first image IM1 is operated to change both the first group of parameters PA and the second group of parameters PB. Alternatively, an image for changing the first group of parameters PA and an image for changing the second group of parameters PB may be provided separately.

[0211] The present invention is not limited to the above-described embodiments or modifications, and it is clear that each embodiment or modification can be appropriately modified or changed within the scope of the technical concept of the present invention. Furthermore, various techniques used in each embodiment or modification can be applied to other embodiments or modifications as long as no technical contradiction occurs. Furthermore, optional additional configurations in each embodiment or modification can be omitted as appropriate. [Explanation of symbols]

[0212] 1, 1A, 1B...door device, 2...door, 2u...top, 2w...bottom, 3...handle, 4...bridge circuit, 5...air cylinder, 7...directional control valve, 12...workpiece support device, 13...machining head, 14...moving device, 15...numerical control device, 21...first frame, 21h...first through-hole portion, 21k...second through-hole portion, 23...first plate portion, 24...second plate portion, 31...upper portion, 33...lower portion, 35...middle portion, 40...strain gauge, 40a...first strain gauge, 40b...second strain gauge, 40c...third strain gauge, 40d...fourth strain gauge, 41...dummy strain gauge, 42...fixed resistor, 45... Support body, 45a...first part of support body, 45b...second part of support body, 45c...third part of support body, 45c-1...first side part of third part, 45c-2...second side part of third part, 45d...fourth part of support body, 45e...fifth part of support body, 45f...sixth part of support body, 45f-1...first side part of sixth part, 45f-2...second side part of sixth part, 45s...first side face of support body, 45t...second side face of support body, 50...main body part of air cylinder, 51...first chamber, 53...second chamber, 54...piston, 54a...first pressure receiving surface, 54b...second pressure receiving surface, 55...rod, 55A...first rod, 55B...second 2 rods, 61...regulator, 61a...electro-pneumatic regulator, 62...pressure sensor, 63...valve, 64...controller, 65...amplifier, 66...controller, 86...moving pulley, 86A...first moving pulley, 86B...second moving pulley, 87...flexible member, 87a...first end, 87b...second end, 88...first connecting member, 89...second connecting member, 91...air supply source, 95...support member, 100...machine tool, 110...wall, 111...ceiling portion, 111u...top surface, 112...front wall, 121...chuck, 123...workpiece rotation device, 133...rotation drive device, 150...processor, 152...storage device, 154...Communication circuit, 156...Input device, 156t...Touch panel, 157...Display, 158...Bus, 211...Surface of first frame, 213...Back surface of first frame, 401, 401a, 401b, 401c, 401d...Electrical resistor, 450...Bracket, 451c...Thinned area, 451f...Thinned area, 452c...First hole, 452f...Second hole, 453c...Non-thinned area, 453f...Non-thinned area, 461...First collar, 462...Second collar, 551A...First end of first rod, 551B...First end of second rod, 661...Memory, 662...Processor,AX1...first rotating axis, AX2...second rotating axis, B1...first group of fixed members, B1-1...first fixed member, B1-2...second fixed member, B2...second group of fixed members, B2-1...third fixed member, B2-2...fourth fixed member, BM...change button, BN1...first button, BN2...second button, BN3...third button, BN4...fourth button, BN5...fifth button, BN6...sixth button, BP...approval button, C...control signal, C1...first control signal, C2...second control signal, CM1...first control command, CM2...second control command, D...open port to atmosphere, D1...first atmosphere Opening port, D2...Second atmospheric opening port, DA...Data, DR1...First direction, DR2...Second direction, DR3...Third direction, DR4...Fourth direction, E1...Input voltage to bridge circuit, E2...Output voltage of bridge circuit, F1...First force, F2...Second force, F3...Third flow path, F4...Fourth flow path, FP...Air supply flow path, FP1...First flow path, FP2...Second flow path, G1...First gap, G2...Second gap, G3...Third gap, G4...Fourth gap, IM1...First image, IN1...First increase rate, IN2...Second increase rate, IN3...Third increase rate, IN4...Fourth increase rate, J0...Differential Fault state, J1...first state, J2...second state, MA1...first maximum value, MA2...second maximum value, NY1...first specification field, NY2...second specification field, NY3...third specification field, NY4...fourth specification field, OP...opening, OP1...first opening, OP2...second opening, PA...first group of parameters, PA1...first parameter, PA2...second parameter, PA3...third parameter, PA4...fourth parameter, PB...second group of parameters, PB1...fifth parameter, PB2...sixth parameter, PB3...seventh parameter, PB4...eighth parameter, PG...progressive program, PM...machining program, PT...parameter change program, Q1...first position, Q2...second position, Q3...any position between the first and second positions, RA1...first range, RA2...second range, RA3...third range, RA4...fourth range, S...signal, SD...detection signal, SH1...first upper threshold, SH2...second upper threshold, SL1...first lower threshold, SL2...second lower threshold, SP...space, T...tool, T1...first target pressure, T2...second target pressure, U...unit, U1...first unit, U2...second unit, V1...first value, V2...second value,

Claims

1. a door that is slidable in a first direction so as to open at least a portion of an opening of the machine tool, and that is slidable in a second direction opposite to the first direction so as to close at least the portion of the opening; a handle disposed on the door; a strain gauge for detecting the operation of the handle; an air cylinder that applies an assist force to the door; an air supply flow path connecting the air cylinder and an air supply source; a regulator for adjusting the pressure of the air flowing through the air supply passage; a control device that controls the regulator based on a signal from the strain gauge; a support for supporting the strain gauge; Equipped with The support is a first portion secured to the door; a second portion to which the handle is secured; a third portion in which the strain gauge is disposed; and The third portion is disposed between the first portion and the second portion. Door device for machine tools.

2. The regulator adjusts the pressure based on an electrical or optical signal received from the control device.

2. The door device for a machine tool according to claim 1.

3. a directional control valve that switches the direction of the assist force between the first direction and the second direction, The control device controls the directional control valve based on the signal from the strain gauge.

3. The door device for a machine tool according to claim 2.

4. The directional control valve is disposed between the regulator and the air cylinder in a direction along the air supply flow path.

4. The door device for a machine tool according to claim 3.

5. A parameter that defines a change in the magnitude of a first assist force in the first direction in response to a change in the magnitude of a first operating force acting on the handle in the first direction is changeable.

5. The door device for a machine tool according to claim 3 or 4.

6. When the handle is operated in the first direction, the control device transmits a first control command to the directional control valve; the directional control valve that receives the first control command fluidly connects a first chamber of the air cylinder with the regulator; When the handle is operated in the second direction, the control device transmits a second control command to the directional control valve; the directional control valve that receives the second control command fluidly connects a second chamber of the air cylinder with the regulator; When the directional control valve is in a default state, each of the first chamber and the second chamber is fluidly connected to an atmosphere opening port.

5. The door device for a machine tool according to claim 3 or 4.

7. The control device controls the regulator so that the magnitude of the assist force applied to the door changes in accordance with the magnitude of the operating force acting on the handle. The door device for a machine tool according to any one of claims 1 to 4.

8. The third portion is a thinned region; a non-thinned region that is thicker than the thinned region; Including, The strain gauge is disposed in the thinned region.

2. The door device for a machine tool according to claim 1.

9. the door comprises a first frame; the handle is disposed on a surface of the first frame; The support body is disposed on the rear surface of the first frame.

2. The door device for a machine tool according to claim 1.

10. The strain gauge is disposed on the support in a state in which the extension direction of the electrical resistor of the strain gauge is inclined with respect to the longitudinal direction of the support.

2. The door device for a machine tool according to claim 1.

11. a door that is slidable in a first direction so as to open at least a portion of an opening of the machine tool, and that is slidable in a second direction opposite to the first direction so as to close at least the portion of the opening; a handle disposed on the door; a strain gauge for detecting the operation of the handle; an air cylinder that applies an assist force to the door; an air supply flow path connecting the air cylinder and an air supply source; a regulator for adjusting the pressure of the air flowing through the air supply passage; a control device that controls the regulator based on a signal from the strain gauge; Equipped with the strain gauges include a first strain gauge, a second strain gauge, a third strain gauge, and a fourth strain gauge arranged in a bridge circuit; When the handle is operated in the first direction, the first strain gauge and the second strain gauge extend, When the handle is operated in the first direction, the third strain gauge and the fourth strain gauge contract. Door device for machine tools.

12. a support for supporting the strain gauge; the first strain gauge and the second strain gauge are disposed on a first side surface of the support; The third strain gauge and the fourth strain gauge are disposed on a second side surface of the support. The door device for a machine tool according to claim 11.

13. a workpiece support device that supports the workpiece; a machining head capable of holding a tool for machining the workpiece; a moving device that moves the machining head relative to the workpiece supporting device; a numerical control device for controlling the movement device; a wall having an opening; Door device and Equipped with The door device is a door that is slidable in a first direction to open at least a portion of the opening and that is slidable in a second direction opposite to the first direction to close at least the portion of the opening; a handle disposed on the door; a strain gauge for detecting the operation of the handle; an air cylinder that applies an assist force to the door; an air supply flow path connecting the air cylinder and an air supply source; a regulator for adjusting the pressure of the air flowing through the air supply passage; a control device that controls the regulator based on a signal from the strain gauge; a support for supporting the strain gauge; Equipped with The support is a first portion secured to the door; a second portion to which the handle is secured; a third portion in which the strain gauge is disposed; and The third portion is disposed between the first portion and the second portion. Machine tools.

14. the control device includes a memory that stores a first group of parameters that define a change in a first target pressure of the air supply passage in response to a change in a first operating force acting on the handle in the first direction; The numerical control device includes: a storage device that stores a parameter change program; Display and Equipped with The numerical control device executes the parameter change program stored in the storage device to display on the display a first image for accepting a user input for changing the first group of parameters. The machine tool according to claim 13.

Images