| 摘要 |
There is provided a working apparatus, including: a base member; a working member; a driving portion; and a work control portion. The work control portion includes a switching setting unit which sets a switching position in the middle of a stroke length of which the working member extends to the working position from the reference position and sets a coarse movement driving region and a low speed driving region, a coarse movement control unit which controls vibration while controlling the extension speed of the working member to be high in the coarse movement driving region, a low speed control unit which controls the working member to extend to the working position after the speed becomes equal to or less than an allowable speed while controlling the extension speed of the working member to be low in the low speed driving region, and a switching adjustment unit which adjusts the extension speed and acceleration to be smoothly changed when the working member passes through the switching position. Accordingly, it is possible to increase the extension speed of the working member to shorten the working time, and to ensure the accuracy of the working position while reducing an impact load when the working member abuts against a working target. |
