Cutting method and computer program

Abstract

Provided are a cutting method and a computer program that can surely perform cutting at an end portion. 【Solution means】In the cutting method, in a cutting method in which a nozzle moves between a first position and a second position separated in a first direction and water is ejected from the nozzle during the movement to cut a workpiece, there is a third position between the first position and the second position in the first direction, and there is a fourth position between the third position and the second position in the first direction. A first rectilinear movement in which the nozzle moves from any position between the first position and the third position to the second position, and after completion of the first rectilinear movement, a first reciprocating movement in which the nozzle reciprocates between the second position and the fourth position are executed.

Description

Technical Field

[0001] The present technology relates to a cutting method and a computer program for cutting an object to be cut by water ejected from a nozzle.

Background Art

[0002] A high-pressure water jet nozzle device has been proposed in which a high-pressure water nozzle is moved by a predetermined distance, that is, a working stroke width, to crush, for example, a concrete road surface. The area of the road surface in the working stroke width includes a construction area and end deceleration areas located at both ends of the construction area. The high-pressure water nozzle moves at two speeds in the construction area and at one speed in the end deceleration areas. In the end deceleration areas where it is desired to reduce the speed to ensure crushing, reliable crushing can be performed, and in the construction areas where crushing may be performed even at a higher speed, rapid crushing can be performed (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There is a risk that crushing may become insufficient only by decelerating the nozzle.

[0005] The present disclosure has been made in view of such circumstances, and an object thereof is to provide a cutting method and a computer program capable of reliably performing cutting at the ends.

Means for Solving the Problems

[0006] A cutting method according to an embodiment of the present disclosure is a cutting method in which a nozzle moves between a first position and a second position separated in a first direction, and water is ejected from the nozzle during the movement to cut a workpiece. There is a third position between the first position and the second position in the first direction, and a fourth position between the third position and the second position in the first direction. The nozzle moves from any position between the first position and the third position to the second position for a first straight movement, and after completion of the first straight movement, the nozzle reciprocates between the second position and the fourth position for a first reciprocating movement.

[0007] A computer program according to an embodiment of the present disclosure is a computer program executed by a control device of a cutting machine in which a nozzle moves between a first position and a second position separated in a first direction, and water is ejected from the nozzle during the movement to cut a workpiece. There is a third position between the first position and the second position in the first direction, and a fourth position between the third position and the second position in the first direction. The control device is caused to execute a process of moving the nozzle from any position between the first position and the third position to the second position for a first straight movement, and after completion of the first straight movement, the nozzle reciprocates between the second position and the fourth position for a first reciprocating movement.

Advantages of the Invention

[0008] In the cutting method and the computer program according to an embodiment of the present disclosure, after completion of the first straight movement, the nozzle reciprocates between the second position and the fourth position. Therefore, cutting between the second position and the fourth position, that is, cutting at the end in the region between the first position and the second position (the region of one stroke where the nozzle moves) can be surely performed.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0010] (Embodiment 1) Hereinafter, the present invention will be described based on the drawings showing the cutting method according to Embodiment 1. In the following description, for ease of understanding, the up, down, front, back, left, and right shown in the figure are used as an example of directions. FIG. 1 is a schematic side view of a cutting vehicle, FIG. 2 is a schematic plan view of the cutting vehicle, and FIG. 3 is a schematic front view of a nozzle mechanism. The left-right direction corresponds to the first direction, and the front-back direction corresponds to the second direction.

[0011] The cutting vehicle includes a vehicle 1 and a cutting device 10 attached to the front portion of the vehicle 1. The cutting vehicle corresponds to a cutting machine. The vehicle 1 includes a vehicle body 2 that is rectangular in plan view and extends in the front-back direction. A shaft 3 that is rotatable about an axis is provided at the front portion of the vehicle body 2. The shaft 3 extends in the left-right direction, and front wheels 3a, 3a are provided at both ends thereof. A shaft 4 that is rotatable about an axis is provided at the rear portion of the vehicle body 2. The shaft 4 extends in the left-right direction, and rear wheels 4a, 4a are provided at both ends thereof. The rotational axis direction of the front wheels 3a and the rear wheels 4a is the left-right direction.

[0012] A drive unit 8 is provided at the front part of the vehicle body 2. The drive unit 8 supplies power to the shaft 3. By supplying power to the shaft 3, the front wheels 3a rotate forward or backward. No power is supplied to the shaft 4. By the forward or backward rotation of the front wheels 3a, the vehicle 1 moves forward or backward. Note that a drive unit 8 that supplies power to the shaft 4 may be provided. Also, without providing the drive unit 8, that is, without supplying power to the shafts 3 and 4, an operator 40 may move the vehicle 1 forward or backward.

[0013] A frame body 5 is provided at the central part in the front-rear direction of the vehicle body 2. The frame body 5 has an inverted U shape in a front view and protrudes upward from the vehicle body 2. A control panel 5a for operating the cutting device 10 is supported on the frame body 5. The control panel 5a includes a reception part for receiving operations, a control part, a main storage part, an auxiliary storage part, etc. The reception part includes, for example, buttons, switches, a keyboard, etc. The control part includes, for example, a processor and a logic circuit, etc. The processor includes, for example, a CPU, an MPU. The logic circuit includes, for example, an FPGA. The main storage part includes, for example, a RAM. The auxiliary storage part includes, for example, an EEPROM, a flash ROM, a hard disk, etc. The auxiliary storage part stores a control program (computer program) for controlling the cutting vehicle. The control program is stored in the auxiliary storage part from a portable recording medium 20 such as an optical disk or a flash memory. Note that the control panel 5a may be connected to a wired or wireless network, and the control program may be downloaded from an external device to the auxiliary storage part via the network. An operator 60 operates the reception part. For example, the operator 60 performs an input operation of parameters, an operation to start or end driving, etc.

[0014] When the operator 60 performs an operation to start driving, the control part reads the control program from the auxiliary storage part to the main storage part, and controls the operation of the cutting vehicle based on the control program. Note that the cutting vehicle may be controlled by remote operation, and the control program may be stored in a server connected to the cutting vehicle via a network, and the server may control the operation of the cutting vehicle based on the control program.

[0015] A handle 2a is provided at the rear end of the vehicle body 2. The handle 2a has a T-shape when viewed from the rear, and includes a support rod 2b that extends upward from the rear end of the vehicle body 2, and a gripping rod 2c that is connected to the upper end of the support rod 2b and extends horizontally. An operator 60 can grip the gripping rod 2c of the handle 2a to control the forward or backward movement of the vehicle 1, for example, so that the vehicle 1 does not move obliquely.

[0016] A cutting device 10 is provided at the front end of the vehicle body 2. The cutting device 10 includes a frame 11, and the frame 11 has two first frames 11a, 11a arranged horizontally and facing each other, two second frames 11b, 11b arranged vertically and facing each other, and a third frame 11c. The first frame 11a has a rectangular frame shape when viewed from the front. The second frame 11b has a rectangular frame shape when viewed from the side. The first frame 11a and the second frame 11b are connected. The third frame 11c is arranged above the first frame 11a and the second frame 11b and has a rectangular frame shape when viewed from above. The third frame 11c is connected to the first frame 11a and the second frame 11b. The rear second frame 11b is fixed to the vehicle body 2. The frame 11 is entirely covered by a soundproof sheet 14. Mounting members (all not shown in the figure) for attaching reinforcing members or parts are provided on the first frame 11a to the third frame 11c as needed.

[0017] A horizontal rail 12 extending horizontally is provided between the two first frames 11a. The horizontal rail 12 is attached to the first frame 11a, the second frame 11b, or the third frame 11c via, for example, a mounting member. A rectangular parallelepiped trolley box 13a is provided on the horizontal rail 12 so as to be movable horizontally. The left and right portions of the trolley box 13a are open, and the horizontal rail 12 passes through the trolley box 13a horizontally through the opening.

[0018] Inside the trolley box 13a, there are two upper rollers 13b, 13b that sandwich the front and rear of the upper part of the horizontal rail 12, and two lower rollers 13c, 13c that sandwich the front and rear of the lower part of the horizontal rail 12. The axes of the upper rollers 13b and the lower rollers 13c extend along the vertical direction. The upper rollers 13b and the lower rollers 13c are rotatable about the axis.

[0019] A motor (not shown) is provided on the outer lower surface of the trolley box 13a. On the lower surface portion of the trolley box 13a, a slot (not shown) that penetrates vertically and extends horizontally is formed, and a sprocket (not shown) is inserted into the slot and provided rotatably with the axial direction aligned with the front-rear direction. The sprocket is connected to the rotating shaft of the motor.

[0020] Inside the trolley box 13a, a chain (not shown) is provided below the horizontal rail 12. Both ends of the chain are supported and stretched on the first frames 11a, 11a via, for example, mounting members or reinforcing members. The chain meshes with the tooth portions of the sprocket, and the sprocket is rotated by the motor, and accordingly, the upper rollers 13b and the lower rollers 13c rotate, and the trolley box 13a is configured to move in the left-right direction.

[0021] By operating the control panel 5a, the left-right movement of the trolley box 13a is controlled. Note that the mechanism for driving the trolley box 13a is not limited to the chain, sprocket, and motor described above, and for example, a ball screw mechanism may be used.

[0022] On the front of the trolley box 13a, an injector 16 is attached via a mounting plate 17. The injector 16 includes a support portion 16a fixed to the mounting plate 17, a cylindrical swivel 16b rotatable about an axis disposed in a hole penetrating the support portion 16a vertically, a pipe 16c protruding downward from the swivel 16b, and a bifurcated nozzle 16d connected to the lower end of the pipe 16c and having two injection ports directed obliquely downward. The directions of the injection ports are set such that the water injected from each of the two injection ports collides. The pipe 16c and the nozzle 16d rotate about the vertical direction as the rotation axis by the rotation of the swivel 16b.

[0023] A steel cover 15 that covers the nozzle 16d is detachably provided between the two first frames 11a and between the two second frames 11b. The material of the cover 15 is not limited to steel, and any material that can withstand the impact of gravel may be used. The cover 15 is attached to the first frame 11a or the second frame 11b via, for example, a mounting member. The cover 15 covers above, left and right, and front and back of the nozzle 16d. A slit 15a extending horizontally is formed on the upper surface portion of the cover 15. The pipe 16c is inserted into the slit 15a, and the cover 15 is attached. When the trolley box 13a moves in the horizontal direction, the injector 16 also moves in the horizontal direction. At this time, the pipe 16c moves horizontally inside the slit 15a.

[0024] High-pressure water is supplied to the swivel 16b from a high-pressure pump (not shown). The supplied high-pressure water flows through the pipe 16c and is injected from the nozzle 16d. The injected water hits the surface of an object, for example, a road 50, and cuts the road 50. As the trolley box 13a moves in the horizontal direction, the nozzle 16d cuts the road 50 while moving in the horizontal direction. When the road 50 is made of, for example, reinforced concrete, the concrete portion is cut, and the reinforcing bars 51 remain without being cut. Therefore, the reinforcing bars 51 can be reused and concrete can be placed.

[0025] By driving the drive unit 8, the vehicle 1 moves forward or backward by a predetermined distance d, for example, 10 to 30 mm. By moving left and right, after the cutting in a predetermined area is completed, by moving forward or backward by the predetermined distance d, the uncut area can be cut. In this embodiment, the vehicle 1 moves backward, but it may also move forward. Based on the control program, the left - right movement of the nozzle 16d and the forward - backward movement of the vehicle 1 are controlled.

[0026] For example, the operator 60 operates the operation unit of the control panel 5a to input the predetermined distance d during backward movement and input an operation start instruction. The control unit moves the nozzle 16d straight in the left - right direction while injecting high - pressure water from the nozzle 16d, and the control unit moves the vehicle 1 backward by the input predetermined distance d. Also, the control unit executes the reciprocating movement of the nozzle 16d described later. The control unit repeats the straight movement, backward movement, and reciprocating movement. The operator 60 operates the operation unit of the control panel 5a to input an operation stop instruction. The control unit stops the movement of the nozzle 16d and stops the injection of high - pressure water.

[0027] Since the frame 11 is entirely covered by the sound - proof sheet 14, the noise during cutting is suppressed. Also, during cutting, debris, for example, concrete pieces hit the cover 15, so the scattering of debris can be suppressed. The debris remains near the cut area. The operator 60 can use, for example, a suction machine to suck the debris and remove it from the road 50. When there are multiple operators 60, the cutting operation and the suction operation may be carried out simultaneously and in parallel.

[0028] The movement of the nozzle 16d will be described. FIG. 4 is an explanatory plan view for explaining the movement locus of the nozzle 16d, and FIG. 5 is an explanatory plan view for explaining the cutting range by the straight movement, backward movement, and reciprocating movement of the nozzle 16d. In FIG. 4, P1 indicates the first position, P2 indicates the second position, P3 indicates the third position, and P4 indicates the fourth position. The first position P1 to the fourth position P4 all indicate the positions of the nozzle 16d in the left-right direction. The position of the nozzle 16d is, for example, the rotation center position of the nozzle 16d. The first position P1 is located on the left side of the second position P2. The third position P3 is between the first position P1 and the second position P2 and is a position separated from the first position P1 by a distance k to the right. The fourth position P4 is between the third position P3 and the second position P2 and is a position separated from the second position P2 by a distance k to the left.

[0029] c indicates the central position between the first position P1 and the second position P2. The distance between the first position P1 or the second position P2 and the central position c is h. The distance h is longer than the distance k. That is, the range of the distance k corresponds to the end region near the first position P1 or the second position P2. The distance k is the distance (reciprocating distance) that the nozzle 16d reciprocates.

[0030] The distance h is, for example, about 550 mm. That is, the distance between the first position P1 and the second position P2 in the left-right direction (the distance of one stroke that the nozzle 16d moves) is about 1100 mm. About 1100 mm is an example of the distance of one stroke, and the distance of one stroke may be smaller or larger than 1100 mm. The distance k is the reciprocating distance and is, for example, about 300 mm. About 300 mm is an example of the reciprocating distance k, and the reciprocating distance k may be smaller or larger than 300 mm. In FIG. 4, for ease of understanding, the predetermined distance d is shown longer than in FIG. 5.

[0031] When the nozzle 16d does not move in the left - right, front - back directions and the swivel 16b rotates, the nozzle 16d cuts a circular area in plan view. Each circle shown in FIG. 5 represents the circular area. In FIG. 5, it shows the state where the circular area moves according to the straight - forward movement, backward movement, and reciprocating movement of the nozzle 16d. That is, the set of each circular area in FIG. 5 represents the cutting area by the nozzle 16d.

[0032] The first position P1 is the position of the nozzle 16d arranged at the left end during the straight - forward movement in the left - right direction. The second position P2 is the position of the nozzle 16d arranged at the right end during the straight - forward movement in the left - right direction. The area between the first position P1 and the second position P2 is the area of one stroke where the nozzle 16d moves in the left - right direction.

[0033] P1' in FIG. 5 indicates the left - end position of the circular area cut by the nozzle 16d located at the first position P1. P2' in FIG. 5 indicates the right - end position of the circular area cut by the nozzle 16d located at the second position P2. P3' in FIG. 5 indicates the right - end position of the circular area cut by the nozzle 16d located at the third position P3. P4' in FIG. 5 indicates the left - end position of the circular area cut by the nozzle 16d located at the fourth position P4.

[0034] As described above, when the position of the nozzle 16d is the rotation - center position of the nozzle 16d, the first position P1 to the fourth position P4 (see FIG. 4) of the nozzle 16d do not coincide with the positions P1' to P4' (see FIG. 5). In this case, based on the positions P1' to P4' and the diameter of the circular area, etc., the first position P1 to the fourth position P4 and the predetermined distance d are determined in advance.

[0035] At the time of input of the operation start instruction, the nozzle 16d is arranged at the left end. After the input of the operation start instruction, as shown in FIG. 4, the nozzle 16d moves straight from the first position P1 toward the second position P2. At this time, as shown in FIG. 5A for reference, the circular area moves from P1' to P2'. As shown in FIG. 4, after reaching the second position P2, the vehicle 1 moves backward by a predetermined distance d (see FIG. 5B). At this time, as shown in FIG. 5B, the circular area moves backward by a predetermined distance d.

[0036] The backward movement by a predetermined distance d from the second position P2 corresponds to the first-step movement. The predetermined distance d is, for example, 10 to 30 mm. Note that the predetermined distance d is smaller than the diameter D of the circular region. The diameter D of the circular region is, for example, 100 to 300 mm. Note that the diameter D is not limited to 100 to 300 mm, and it may be smaller than 100 mm or larger than 300 mm.

[0037] Next, as shown in FIG. 4, the nozzle 16d moves a distance k from the second position P2 to the fourth position P4. At this time, as shown in FIG. 5C, the circular region moves from P2' to P4'. Next, as shown in FIG. 4, the nozzle 16d moves a distance k from the fourth position P4 to the second position P2. At this time, as shown in FIG. 5D, the circular region moves from P4' to P2'.

[0038] That is, the nozzle 16d reciprocates in the region between the second position P2 and the fourth position P4, in other words, in the right-end region. The nozzle 16d further reciprocates once between the second position P2 and the fourth position P4. In this embodiment, the number of reciprocations between the second position P2 and the fourth position P4 is 2, but the number of reciprocations may be 1 or 3 or more. The number of reciprocations is determined according to the pressure and water volume of the pressurized water jetted from the nozzle 16d and the strength of the road 50 (the object to be cut).

[0039] When the reciprocating movement between the second position P2 and the fourth position P4 is completed and the nozzle 16d is located at the second position P2, as shown in FIG. 4, the nozzle 16d moves straight from the second position P2 toward the first position P1. At this time, as shown in FIG. 5E, the circular region moves from P2' to P1'.

[0040] Next, as shown in FIG. 4, after reaching the first position P1, the vehicle 1 moves backward by a predetermined distance d. The backward movement by a predetermined distance d from the first position P1 corresponds to the second-step movement. At this time, as shown in FIG. 5F, the circular region moves backward by a predetermined distance d.

[0041] Then, as shown in FIG. 4, the nozzle 16d reciprocates twice in the region between the first position P1 and the third position P3, in other words, in the left end region. In this embodiment, the number of reciprocations between the first position P1 and the third position P3 is two, but the number of reciprocations may be one or three or more. The number of reciprocations is determined according to the pressure and the amount of the pressurized water ejected from the nozzle 16d and the strength of the road 50 (the object to be cut). When the nozzle 16d reciprocates between the first position P1 and the third position P3, the circular region reciprocates between P1' and P3' (see FIG. 5F).

[0042] When the reciprocating movement between the first position P1 and the third position P3 is completed and the nozzle 16d is located at the first position P1, as described above, the nozzle 16d moves straight from the first position P1 toward the second position P2. After reaching the second position P2, the vehicle 1 reverses by a predetermined distance d. Then the nozzle 16d reciprocates in the right end region described above, moves straight from the second position P2 toward the first position P1, and after reaching the first position P1, the vehicle 1 reverses by a predetermined distance d. The nozzle 16d and the vehicle 1 repeat these operations until an operation stop instruction is input to the control panel 5a or the control by the control program ends.

[0043] The injection pressure P of the nozzle 16d required for cutting or crushing the concrete portion of the road 50 is expressed, for example, by the following formula. Injection pressure P (MPa) ≥ uniaxial compressive strength σ of the concrete portion c (N / mm 2 ) × coefficient α The coefficient α is, for example, 2 to 4. Note that 1 MPa = 1 N / mm 2 .

[0044] The uniaxial compressive strength σ of the concrete of the road 50 c is, for example, about 18 to 45 (N / mm 2 ). In order to surely cut or crush the concrete portion, when the coefficient α is 4, the injection pressure P of the nozzle 16d required for cutting or crushing the concrete portion of the road 50 is 72 to 180 (N / mm 2 ) or more. Note that 18 to 45 (N / mm 2) is the uniaxial compressive strength σ of concrete c is an example, and the uniaxial compressive strength σ of concrete c is not limited to this. The uniaxial compressive strength σ of concrete c may be greater than 45 (N / mm 2 ), for example, it may be 45 to 100 (N / mm 2 ). Also, the uniaxial compressive strength σ of concrete c may be less than 18 (N / mm 2 ), for example, it may be 10 to 15 (N / mm 2 ).

[0045] For example, when the uniaxial compressive strength σ of the concrete of the road 50 c is about 18 to 45 (N / mm 2 ), when injecting pressurized water from the nozzle 16d with an injection pressure P of at least 72 to 180 (N / mm 2 ) to cut the road 50, by setting the reciprocating distance k to 300 mm, the cutting of the end region can be surely performed.

[0046] In the above-described embodiment, after the completion of the reciprocating movement in the left end region, the nozzle 16d is located at the first position P1, but it may be located at a position other than the first position P1. For example, when the number of reciprocations is 1.5 times, the nozzle 16d is located at the third position P3 and moves straight from the third position P3 to the second position P2. For example, when the number of reciprocations is 1.25 times, the nozzle 16d is located between the first position P1 and the third position P3 and moves straight from the position between the first position P1 and the third position P3 to the second position P2. That is, the control unit executes a first straight movement in which the nozzle 16d moves from any position between the first position P1 and the third position P3 to the second position P2.

[0047] Also, in the above-described embodiment, after the reciprocating movement in the right end region is completed, that is, after the completion of the first reciprocating movement, the nozzle 16d is located at the second position P2, but it may be located at a position other than the second position P2. For example, when the number of reciprocations is 1.5 times, the nozzle 16d is located at the fourth position P4 and moves straight from the fourth position P4 to the first position P1. For example, when the number of reciprocations is 1.25 times, the nozzle 16d is located between the second position P2 and the fourth position P4 and moves straight from the position between the second position P2 and the fourth position P4 to the first position P1. That is, the control unit executes the second straight movement in which the nozzle 16d moves from any position between the second position P2 and the fourth position P4 to the first position P1.

[0048] Also, in the above-described embodiment, the control unit of the control panel 5a controls the reverse movement of the vehicle 1, but after the first straight movement or the second straight movement, the operator 60 may execute the reverse movement.

[0049] In the cutting method according to the first embodiment, after the completion of the first straight movement, the nozzle 16d reciprocates between the second position P2 and the fourth position P4, so that cutting can be surely performed at the right end portion in one stroke in which the nozzle 16d moves, that is, between the second position P2 and the fourth position P4. Also, after the completion of the second straight movement, the nozzle 16d reciprocates between the first position P1 and the third position P3, so that cutting can be surely performed at the left end portion in one stroke in which the nozzle 16d moves, that is, between the first position P1 and the third position P3.

[0050] Also, after the completion of the first straight movement, by executing the first step movement, the cutting area can be expanded in the front-rear direction. Also, after the completion of the second straight movement, by executing the second step movement, the cutting area can be expanded in the front-rear direction.

[0051] In Embodiment 1, the bifurcated nozzle 16d cuts the workpiece while rotating, but the nozzle does not necessarily rotate. For example, one or more nozzles fixed to the support portion 16a may move in the left-right direction and the front-rear direction. As described above, when the position of the nozzle 16d is the rotation center position of the nozzle 16d, the first position P1 to the fourth position P4 (see FIG. 4) of the nozzle 16d do not coincide with the positions P1' to P4'. On the other hand, when there is a single nozzle fixed to the support portion 16a, or when a plurality of nozzles are fixed to the support portion 16a and the plurality of nozzles are arranged in the front-rear direction, the first position P1 to the fourth position P4 and the positions P1' to P4' can be made to coincide.

[0052] (Embodiment 2) Hereinafter, the present invention will be described based on the drawings showing the cutting method according to Embodiment 2. Among the configurations of Embodiment 2, the same configurations as those in Embodiment 1 are denoted by the same reference numerals, and the detailed description thereof will be omitted. FIG. 6 is an explanatory plan view for explaining the movement locus of the nozzle 16d.

[0053] As shown in FIG. 6, in Embodiment 2, after the input of the operation start instruction, the nozzle 16d moves straight from the first position P1 toward the second position P2, and after reaching the second position P2, it reciprocates a predetermined number of times between the second position P2 and the fourth position P4 (the first reciprocating movement). After the reciprocating movement is completed, the vehicle 1 moves backward (the first step movement). The nozzle 16d moves straight from the second position P2 toward the first position P1, and after reaching the first position P1, it reciprocates a predetermined number of times between the first position P1 and the third position P3 (the second reciprocating movement). After the reciprocating movement is completed, the vehicle 1 moves backward (the second step movement).

[0054] In Embodiment 2, after the completion of the first reciprocating movement, the first step movement is performed, and after the completion of the second reciprocating movement, the second step movement is performed. By the first reciprocating movement, cutting at the right end portion in one stroke in which the nozzle 16d moves can be surely performed. By the second reciprocating movement, cutting between the first position P1 and the third position P3, that is, cutting at the left end portion in one stroke in which the nozzle 16d moves can be surely performed. Further, by executing the first step movement and the second step movement, the cutting region can be expanded in the front-rear direction.

[0055] (Embodiment 3) Hereinafter, the present invention will be described based on the drawings showing the cutting method according to Embodiment 3. Among the configurations of Embodiment 3, the same reference numerals are given to the configurations similar to those of Embodiment 1 or 2, and the detailed description thereof will be omitted. FIG. 7 is an explanatory plan view for explaining the movement locus of the nozzle 16d. In Embodiment 3, after the input of the operation start instruction, the nozzle 16d performs a reciprocating movement. Except for this reciprocating movement, the nozzle 16d and the vehicle 1 perform the same movement as in Embodiment 2.

[0056] Also in Embodiment 3, similar to Embodiment 2, by the first reciprocating movement, cutting at the right end portion in one stroke in which the nozzle 16d moves can be surely performed. By the second reciprocating movement, cutting between the first position P1 and the third position P3, that is, cutting at the left end portion in one stroke in which the nozzle 16d moves can be surely performed. Further, by executing the first step movement and the second step movement, the cutting region can be expanded in the front-rear direction.

[0057] The cutting method according to the embodiment will be described in comparison with the conventional cutting method. FIG. 8 is an explanatory plan view for explaining the conventional cutting method. As described above, the nozzle 16d repeats the movement of one stroke in the left - right direction and the retraction, and as shown in FIG. 8, cuts the area of the path 50 (hereinafter referred to as the unit area) defined by the front - rear distance in the front - rear direction and the left - right distance corresponding to one stroke. The cutting is performed, for example, so that the unit areas are arranged side by side in the left - right direction. Conventionally, since the cutting of the end portions of the unit areas was insufficient, as shown in FIG. 8, the cutting was performed so that the right - hand ends and the left - hand ends of two adjacent unit areas overlapped. Therefore, it was likely to cause a decrease in cutting efficiency. The unit area can be determined in advance based on, for example, the diameter of the circular area cut by the nozzle 16d, the distance of one stroke, the predetermined distance d moved during retraction, and the number of retractions.

[0058] FIG. 9 is an explanatory plan view for explaining the cutting method according to the embodiment. In the embodiment, since the cutting of the end portions of the unit areas can be surely performed, as shown in FIG. 9, there is no need to overlap the right - hand ends and the left - hand ends of two adjacent unit areas, and the cutting can be performed so that the right edges (right sides) and the left edges (left sides) of two adjacent unit areas coincide, and the cutting efficiency can be improved.

[0059] The control program (computer program) can be deployed to be executed on a single computer, or arranged at one site, or distributed over a plurality of sites and executed on a plurality of computers interconnected by a communication network.

[0060] The embodiments disclosed this time should be considered as illustrative in all aspects and not restrictive. The scope of the present invention is intended to include all modifications within the scope of the claims and the scope equivalent to the claims. The matters described in each embodiment can be combined with each other. Also, the independent claims and dependent claims described in the claims can be combined with each other in all possible combinations regardless of the citation form. Further, although the claims use a form (multi-claim form) of describing claims that cite two or more other claims, it is not limited to this. It may be described using a form of describing a multi-claim (multi-multi-claim) that cites at least one multi-claim.

Description of Reference Numerals

[0061] 1 Vehicle 5a Control Panel 12 Horizontal Rail 13a Trolley Box 13b Upper Roller 13c Lower Roller 16 Injector 16b Swivel 16a Support Portion 16c Pipe 16d Nozzle

Claims

1. In a cutting method in which a nozzle moves between a first position and a second position separated in a first direction, and water is ejected from the nozzle during the movement to cut a workpiece, there is a third position between the first position and the second position in the first direction, there is a fourth position between the third position and the second position in the first direction, a first rectilinear movement in which the nozzle moves from any position between the first position and the third position to the second position, and after completion of the first rectilinear movement, a first reciprocating movement in which the nozzle reciprocates between the second position and the fourth position are executed.

2. After completion of the first rectilinear movement, a first step movement in which the nozzle moves a predetermined distance in a second direction intersecting the first direction is executed, and after completion of the first step movement, the first reciprocating movement is executed The cutting method according to claim 1.

3. After completion of the first reciprocating movement, a first step movement in which the nozzle moves a predetermined distance in a second direction intersecting the first direction is executed The cutting method according to claim 1.

4. After completion of the first reciprocating movement, a second rectilinear movement in which the nozzle moves from any position between the second position and the fourth position to the first position, and after completion of the second rectilinear movement, a second reciprocating movement in which the nozzle reciprocates between the first position and the third position are executed. The cutting method according to any one of claims 1 to 3.

5. After completion of the second rectilinear movement, a second step movement in which the nozzle moves a predetermined distance in a second direction intersecting the first direction is executed, and after completion of the second step movement, the second reciprocating movement is executed The cutting method according to claim 4.

6. After completion of the second reciprocating movement, a second step movement in which the nozzle moves a predetermined distance in a second direction intersecting the first direction is executed The cutting method according to claim 4.

7. A computer program executed by a control device of a cutting machine in which a nozzle moves between a first position and a second position separated in a first direction, and water is ejected from the nozzle during the movement to cut a workpiece, there is a third position between the first position and the second position in the first direction, there is a fourth position between the third position and the second position in the first direction, in the control device, a first rectilinear movement in which the nozzle moves from any position between the first position and the third position to the second position, After completion of the first straight movement, execute a first reciprocating movement in which the nozzle reciprocates between the second position and the fourth position A computer program for executing a process.

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