| 摘要 |
PROBLEM TO BE SOLVED: To provide a substrate working machine capable of conveying a circuit substrate to a working position while reducing a cycle time.SOLUTION: A working machine comprises: a conveying device 14 for conveying a circuit board and holding the circuit board at a working position; a mark camera 80 for picking up an image of the circuit board at the working position; a substrate camera 86 for picking up the image of the circuit board before conveying it to the working position; and a control device 100 for controlling the conveying device so that the conveying device is driven by a first driving amount by calculating the first driving amount of the conveying device required for conveying the circuit board from a setting position to the working position. The image of the circuit board is picked up during conveyance between the setting position and the working position, so as to detect a position of the circuit board during picking up the image on the basis of picked-up image data. Then, the conveying device is controlled so that the first driving amount is corrected on the basis of detected positional information and the conveying device is driven by the corrected first driving amount. Thereby, the circuit board can be properly conveyed to the working position while reducing a cycle time. |
