JP2010142922A - Working device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve efficiency of a working line for carrying out a plurality of works by one machine. <P>SOLUTION: Belts 11-17 form an annular circular type conveyor in an assembly device 1, and a work is placed on a palette 71 and turns around the belts 11-17 in a counterclockwise direction. The palettes 71 are placed at the belt 12 first and turn around the belts 11-17 twice, and then are discharged from the loop of these belts and are accumulated at the belt 18. A chuck part 23 moves in a lateral direction and carries out mechanical work such as installation of parts at mechanical work areas 61, 62. The assembly device 1 confirms whether or not a pin 72 is erected by respective sensors 26, 27 at the mechanical work areas 61, 62, and this makes it determined whether the palette 71 is turning the first round or the second round. Accordingly, the assembly device 1 carries out work for first round in the first round and carries out work for second round in the second round. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a work device, for example, to work on a workpiece being conveyed.

2. Description of the Related Art Manufacturing lines are widely used for manufacturing products by performing work while conveying workpieces on a conveyor.
As such a technique, there is an “assembly conveyor device” disclosed in Patent Document 1 below.
JP 2008-184317 A

In this method, a rail is installed in an annular shape, and a shaft carriage that supports a workpiece is moved to a position protruding from the rail.
Since the workpiece protrudes from the rail, the worker can perform assembly work on the workpiece from various angles.

For example, assume that there is one machine that can perform a series of operations on a workpiece on a line. The one machine can perform this series of operations continuously. However, if there is an operation that cannot be performed by the first machine during the operation, before and after the operation process that the first machine cannot perform. It was necessary to prepare a line for performing the first half of the work with one machine and a line for performing the second half of the work with the other one machine.
For this reason, there existed a problem that cost and a place started.

  Accordingly, an object of the present invention is to increase the efficiency of a line that performs a plurality of operations on one machine.

In order to achieve the above object, according to the first aspect of the present invention, in the invention according to claim 1, working means for performing at least a first step and a second step on a work in a predetermined work area, Conveying means that circulates the work on which the working means has performed the first step in an annular shape and conveys the work to the predetermined work area, and the working means performs the work on the work conveyed to the work area. A working device is provided that determines a broken step and performs the first step or the second step based on the determination.
According to a second aspect of the present invention, there is provided a work area for a third step performed between the first step and the second step on the path that circulates in an annular shape. A working device according to claim 1 is provided.
According to a third aspect of the present invention, there is provided the working apparatus according to the second aspect, wherein the third step is a manual operation by a person.

  According to the present invention, the efficiency of a line for performing a plurality of operations with one machine can be increased by circulating the workpiece in an annular shape.

(1) Outline of Embodiment In the assembling apparatus 1 (FIG. 1), the belts 11 to 17 form an annular circulation type conveyor, and a workpiece 2 (not shown) is placed on a pallet 71 and the belts 11 to 11 are arranged. Turn 17 counterclockwise.
For example, the pallet 71 is initially placed on the belt 12, and after making two rounds of the belts 11 to 17, the pallet 71 is discharged from the loop of these belts and accumulated in the belt 18.
The chuck part 23 moves in the lateral direction, and can perform machine work such as attachment of parts in the machine work area 61 and the machine work area 62. A worker work area 63 in which the worker 3 performs manual work is provided between the two work areas.

  While the pallet 71 is placed on the workpiece 2 and makes two rounds, the assembling apparatus 1 performs the first round of mechanical work in the mechanical work area 61 → the first round of manual work in the worker work area 63 → the mechanical work. Machine work in the first round in the area 62 → Machine work in the second round in the machine work area 61 → Manual work in the second round in the worker work area 63 → Machine work in the second round in the machine work area 62 , Different steps can be performed two rounds at the same position (working area).

The pallet 71 stores pins 72. When the first round of work is completed, the stored pins 72 are pushed out by the push pins 25 and the pins 72 are raised.
In the machine work areas 61 and 62, the assembling apparatus 1 confirms whether or not the pins 72 are standing by the sensors 26 and 27, respectively, thereby determining whether the pallet 71 is in the first or second lap. Judging.
Based on this determination, the assembling apparatus 1 performs the work for the first round in the first round, and performs the work for the second round in the second round.

  Thus, for example, when a machine work is performed in the machine work area 61, a manual work is performed in the worker work area 63, and a machine work subsequent to the manual work is performed in the machine work area 61, the work manually worked is performed. Since 2 circulates around the machine work area 61, the two steps to be divided can be performed in the same machine work area 61.

(2) Details of the Embodiment FIG. 1 is a diagram showing the assembly apparatus 1 according to the present embodiment as viewed from above.
The assembling apparatus 1 is configured using, for example, a rectangular base having a height of 1 [m], a width of 1 to 3 [m], and a depth of about 1 to 2 [m].
Belts 11 to 17 are annularly installed on the inner peripheral portion of the upper surface of the assembling apparatus 1 and convey pallets 71, 71,... (Hereinafter referred to as pallet 71) on which a workpiece 2 (not shown) is placed in a counterclockwise direction. Circulate. Thus, the belts 11 to 17 function as a circulation type conveyor.
However, the belt 16 extends from the rectangular base surface of the assembling apparatus 1 to the outside, and a belt 18 for accumulating finished products in the depth direction of the assembling apparatus 1 is provided at the tip portion thereof.

Each of the extrusion devices 41 to 45 is a device that pushes the conveyed pallet 71 to the next belt.
For example, the extrusion device 41 pushes the pallet 71 conveyed by the belt 11 onto the belt 12.
In this way, the pallet 71 is sequentially pushed out to the next belt and circulates on the line constituted by the belts 11 to 17.

The opening / closing device 46 opens and closes the conveyance path by the belt 16 by pushing and pulling the door portion 47.
When the second work on the workpiece 2 has not been completed, the control device 51 pushes out the door portion 47 to bring the pallet 71 into contact (hit), and pushes it onto the belt 17 by the extrusion device 43.
As a result, the pallet 71 on which the unfinished work 2 is placed is pushed out by the belt 17 and circulates in an annular shape.

On the other hand, when the second round operation on the workpiece 2 has been completed, the control device 51 pulls the door portion 47 to open the conveyance path on the belt 16 and pushes the pallet 71 conveyed to the end of the belt 16. Extrude onto belt 18 with device 45.
Since the end of the belt 18 on the depth side is closed, the pallet 71 transported by the belt 18 is loaded on the belt 18 with the work 2 for which work has been completed.

The belts 11 to 18 are individually driven by the control device 51, and are individually conveyed and stopped.
The pin 31 moves up and down in the vertical direction from the upper surface of the assembling apparatus 1, and its operation is controlled by the control device 51.
When the pallet 71 has conveyed the belt 13, the pin 31 is installed so that the pallet 71 comes into contact with the belt 13 and is placed at a predetermined position. When the pallet 71 is moved to the belt 14 due to projecting and finishing the work, the belt 13 is lowered below the belt 13.

The pins 32 and 33 also move up and down in the same manner as the pins 31, and the pallets 71 conveyed by the belts 14 and 15 are brought into contact with each other to be positioned and passed.
The positions of the pallet 71 positioned by the pins 31 and 33 are machine work areas 61 and 62 in which the assembling apparatus 1 automatically performs machine work. The pallets are positioned by the pins 32 and accumulated on the belt 14. The position 71 is a worker work area 63 where the worker 3 performs manual work.

In the component containers 91 and 92, a plurality of containers for storing components to be attached to the workpiece 2 are arranged, and different types of components are stored in each container.
The chuck part 23 chucks and takes out the parts from the part containers 91 and 92 and assembles them to the workpiece 2.

  For this reason, the chuck portion 23 is moved in the lateral direction (Y direction) from the vicinity of the component container 91 to the vicinity of the component container 92 by the rail 21, and is moved in the depth direction (X direction) by the movement of the arm 22. When 21 moves up and down, it moves up and down (Z direction).

The control device 51 controls the movement and chucking of the chuck portion 23 in the XYZ directions, takes out the parts from the part container 91, and performs the assembling work on the workpiece 2 on the pallet 71 positioned in the machine work area 61. The parts are taken out from the parts container 92, and the machine work such as assembling is performed on the workpiece 2 on the pallet 71 positioned in the machine work area 62.
Thus, the assembling apparatus 1 can perform automatic assembly at two locations.

Although not shown, the assembling apparatus 1 includes a notification device such as a buzzer or a light. When a predetermined number of pallets 71 are accumulated in the worker work area 63, the worker 3 is notified of this. It has become.
Therefore, the worker 3 keeps other work with other devices until the pallet 71 is accumulated in the worker work area 63, and if there is a notice, the worker 3 visits the assembly device 1 and enters the worker work area 63. The accumulated pallet 71 can be processed, and the work efficiency of the worker 3 can be improved.

A metal pin 72 is erected at the corner of the pallet 71.
The pallet 71 is a flag pin for determining how many times the pallet 71 has made an annular line composed of the belts 11 to 17.
Although details will be described later, in the initial state, the pin 72 is housed in a through-hole 73 (FIG. 2C) provided at a corner of the pallet 71, and the pallet 71 is disposed at the end on the depth side of the belt 17. When reaching the section, the push pin 25 rises from the base surface of the assembling apparatus 1 and pushes the pin 72 onto the upper surface of the pallet 71, thereby causing the pin 72 to stand on the pallet 71.
When the pallet 71 is transporting the belt 13, the pallet 71 is placed so that the side on which the pin 72 stands is the front side (lower left as viewed from the operator 3).

A sensor 26 is installed outside the machine work area 61.
The sensor 26 is a metal sensor, and is fixed to a position where the position of the raised pin 72 is within the detection range of the sensor 26 when the pallet 71 is positioned in the machine work area 61.

The assembly apparatus 1 determines that the pin 72 is standing when the sensor 26 detects the pin 72, and determines that the pin 72 is not standing when the pin 72 is not detected.
In addition, you may comprise so that the detection of the pin 72 by the sensor 26 may be performed by whether the detection value of a metal detection is more than a predetermined threshold value.
Furthermore, the pallet 71 is made of resin or the like so as not to affect the sensor 26.
The sensor 27 is similarly installed in the machine work area 62, and the assembling apparatus 1 uses this to determine whether or not the pin 72 is standing on the pallet 71 positioned in the machine work area 62.

  As described above, the assembling apparatus 1 performs, for example, the first round mechanical work and the second round mechanical work in the mechanical work area 61, and at least the first step (the first round mechanical work) is performed on the workpiece 2. ) And the second step (second-round machine work step) in a predetermined work area (machine work area 61), a machine work function by the chuck unit 23 controlled by the control device 51. ) And the belts 11 to 17, the work 2 on which the working means has performed the first step (the first round of mechanical work) is circulated in a ring shape and conveyed to a predetermined work area (mechanical work area 61). The working means (the function of the control device 51) determines a process performed on the work 2 conveyed to the work area (in the state of the pin 72), and based on the determination. To perform the first step or the second step.

A work area (worker work area 63) of the third process (manual work by the worker 3) performed between the first process and the second process is provided on the path that circulates in an annular shape. It has been.
The machine work in the machine work area 62 is the same as the machine work area 61, and there is a manual work in the worker work area 63 between the machine work in the first lap and the machine work in the second lap in the machine work area 62. To do.
It can also be considered that the third step in the machine work area 62 is performed between the first and second rounds of machine work in the machine work area 61.

The assembling apparatus 1 can be set so that the machine work is performed in both the machine work area 61 and the machine work area 62, or the machine work is performed only in one of the machine work area 61 or the machine work area 62. It can also be configured.
How the assembling apparatus 1 works depends on the type of the workpiece 2 and the like.

FIG. 2A is a perspective view of the pallet 71.
The pallet 71 is provided with a recess in the center where the workpiece 2 is fitted, and the workpiece 2 is placed in the recess.
The recess is formed so as to be fitted to the workpiece 2 in a predetermined direction. When the workpiece 2 is placed in the recess, the workpiece 2 is positioned with respect to the pallet 71.
Further, since the pallet 71 is placed on the belt of the assembling apparatus 1 so that the pin 72 is at the lower left, the workpiece 2 is placed in a direction defined in advance with respect to the assembling apparatus 1.

FIG. 2B is a cross-sectional view showing an initial state of the pallet 71, that is, a state where the pins 72 are accommodated in the through holes 73 of the pallet 71.
The pallet 71 is placed on the belt 12 serving as a starting point of conveyance in a state where the pins 72 are housed in this way.
As an example, the belt 12 is the starting point, but the starting belt is any one of the belts 11 to 17 and is defined by the type of the work 2 and the type of the process.

FIG. 2C is a cross-sectional view showing a state where the pins 72 are erected on the pallet 71.
The pin 72 is pushed upward in the through hole 73 by the push pin 25 (FIG. 1), and as a result, the pin 72 stands on the surface of the pallet 71.
The upper end portion of the through hole 73 is provided with a stepped portion projecting toward the inner peripheral side, and the both ends of the pin 72 are provided with convex portions projecting in the circumferential direction.
When the convex portions at both ends of the pin 72 abut against the stepped portion of the through hole 73, the amount of movement of the pin 72 is regulated.

Further, the inner diameter of the step portion of the through hole 73 is slightly larger than the outer diameter of the pin 72 so that the pin 72 can slide through the through hole 73.
Further, the convex portion at the lower end of the pin 72 is fitted with a ring whose outer periphery is biased with respect to the inner peripheral surface of the through hole 73, and imparts an appropriate frictional force between the pin 72 and the through hole 73. ing.
For this reason, when the pin 72 is pushed out to the upper surface of the pallet 71, the pin 72 is held on the surface of the pallet 71 by the urging force of the ring.

FIG. 3 is a view for explaining the push-out mechanism of the pin 72, and is a cross-sectional view in the vicinity of the push pin 25 of FIG.
A through hole 48 is formed in the base surface 49 of the assembling apparatus 1, and a pin stand device 52 that pushes the push pin 25 upward is installed on the lower surface thereof.

The through-hole 48 is formed in a portion where the pin 72 of the pallet 71 is positioned when the pallet 71 is transported through the belt 17 and abuts against the end of the belt 17 in the depth direction.
Thus, when the pin stand device 52 raises the push pin 25 in a state where the pallet 71 is in contact, the upper end portion of the push pin 25 pushes the lower end portion of the pin 72 upward, whereby the pin 72 slides. And pushed up.

FIG. 4 is a block diagram illustrating an example of a control system of the assembly apparatus 1.
The control device 51 is a device that controls the entire assembly device 1, and has a large-capacity storage medium composed of a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), a hard disk, and the like. And an interface for connecting the computer to peripheral devices such as the pinning device 52.

  A program for controlling the operation of the assembling apparatus 1 is stored in the storage medium, and the control apparatus 51 executes the program by the CPU, transports the pallet 71, performs work on the chuck portion 23, and the like. Various controls such as setting up 72 are performed.

Belt drive motors 53a, 53b,... (Hereinafter referred to as belt drive motor 53) are installed for each of the belts 11 to 18, and drive the belts 11 to 18 independently of each other.
As described above, the assembly apparatus 1 individually drives the belts 11 to 18 to perform work with a certain efficiency by the chuck portion 23 and irregular work by the worker 3 on the same line on the assembly apparatus 1. It can be carried out.

Sensors 54a, 54b,... (Hereinafter referred to as sensor 54) are various sensors. For example, the sensors 54a, 54b,... The pallet 71 is detected for standing, or the coordinate value of the chuck portion 23 is detected for controlling the chuck portion 23.
The operation panel 55 includes, for example, a touch panel and various keys. The operation panel 55 displays an operation state of the assembly apparatus 1 and allows a person in charge to perform various inputs for operating the assembly apparatus 1. .

FIG. 5 is a flowchart for explaining the procedure of the machine work performed by the assembling apparatus 1 in the machine work area 61.
The following processing is performed by the CPU of the control device 51 according to a predetermined program.
Here, it is assumed that the pallet 71 is placed on the belt 12 (FIG. 1).
First, the assembling apparatus 1 drives the belt 12 to bring the pallet 71 into contact with the front end of the belt 12.
A sensor is installed at the front end of the belt 12, and the assembling apparatus 1 detects the contact of the pallet 71 by detecting the pallet 71 with the sensor.

When the pallet 71 reaches the end of the belt 12, the assembling apparatus 1 stops the belt 12 and drives the extrusion device 42 to push the pallet 71 onto the belt 13.
Subsequently, the assembling apparatus 1 raises the pin 31 and drives the belt 13 to carry the pallet 71 into the machine work area 61 (step 5).
The assembling apparatus 1 includes a sensor that detects the pallet 71 that is carried into the machine work area 61 and contacts the pin 31. When the pallet 71 is detected by the sensor, the belt 13 is stopped.
As a result, the pallet 71 is placed at a predetermined position in the machine work area 61.

In this way, when the pallet 71 is carried into the machine work area 61, the assembling apparatus 1 detects the pin 72 by the sensor 26 and determines whether the pin 72 is standing (step 10).
When the pin 72 is not standing (step 10; N), the assembling apparatus 1 drives the chuck portion 23 to perform a predetermined first round of mechanical work on the work 2 installed on the pallet 71. (Step 15).

On the other hand, when the pin 72 is standing (step 10; Y), the assembling apparatus 1 drives the chuck portion 23 to perform a predetermined second round with respect to the workpiece 2 installed on the pallet 71. Machine work is performed (step 25).
When the mechanical work on the workpiece 2 is finished, the assembling apparatus 1 lowers the pin 31, drives the belt 13 and the belt 14, moves the pallet 71 from the belt 13 to the belt 14, and carries it out to the next process ( Step 20).

  The belt 13 and the belt 14 are installed adjacent to each other on the same line. When the belt 13 and the belt 14 are simultaneously driven in the direction of the belt 14, the pallet 71 can be moved from the belt 13 to the belt 14.

  In this way, the assembling apparatus 1 determines whether the workpiece 2 placed in the machine work area 61 is conveyed on the first round on the line formed in an annular shape or whether it is the second round. It is possible to determine whether 72 is not standing (first round) or whether it is standing (second round), and work corresponding to each can be performed.

  The work in the machine work area 61 has been described above, but the work in the machine work area 62 is the same. The assembling apparatus 1 determines whether the pins 72 are standing on the pallet 71 with respect to the work 2. Can perform different tasks.

FIG. 6 is a flowchart for explaining a procedure in which the assembling apparatus 1 raises the pins 72 of the pallet 71.
First, the assembling apparatus 1 conveys the pallet 71 with the belt 15 and contacts the pin 33 to position the pallet 71 in the machine work area 62.
Then, the assembling apparatus 1 checks whether or not the pin 72 is standing by the sensor 27, controls the chuck portion 23, and performs an operation corresponding to the state of the pin 72 with respect to the workpiece 2 (that is, the first round Machine work or machine work on the second round) is performed (step 50).

When the work in the machine work area 62 is completed, the assembling apparatus 1 moves the pallet 71 by moving the pallet 71 from the belt 15 to the belt 16 by lowering the pins 33 and driving the belt 15 and the belt 16. Unload from the machine work area 62 (step 55).
The belt 15 and the belt 16 are installed adjacent to each other on the same line, and when the belt 15 and the belt 16 are driven in the belt 16 direction, the pallet 71 can be moved from the belt 15 to the belt 16.

The assembling apparatus 1 moves the pallet 71 from the belt 15 to the belt 16 and determines whether or not the pin 72 of the pallet 71 is standing.
The assembling apparatus 1 makes this determination by storing the state of the pin 72 confirmed when the pallet 71 is carried into the machine work area 62.

If the pin 72 is standing (step 60; Y), the work of the second round with respect to the work 2 has been completed in the previous work, so the assembling apparatus 1 uses the opening / closing device 46 to open the door portion 47. Is opened (step 85), and the pallet 71 is conveyed to the end of the belt 16.
When the assembly device 1 detects that the pallet 71 has reached the end by a sensor, the assembling device 1 moves the pallet 71 from the belt 16 to the belt 18 by the extrusion device 45 and drives the belt 18 to move the pallet 71 to the belt 18. Move along the route. Then, the assembling apparatus 1 stops the belt 18 at an appropriate place, and accumulates the pallet 71 on the belt 18 (step 90).
In this way, the work 2 that has completed the work by making two turns around the line is accumulated on the belt 18.

On the other hand, when the pin 72 is not standing (step 60; N), since the work 2 needs to make another round, the assembling apparatus 1 drives the opening / closing device 46 to close the door portion 47 ( Step 65).
When the pallet 71 comes into contact with the door portion 47, the assembling apparatus 1 detects this with a sensor, drives the belt 17, pushes out the pallet 71 with the extrusion device 43, and moves the pallet 71 from the belt 16 to the belt 17. Move (step 70).

Then, when the pallet 71 is transported by the belt 17 and abuts against the end on the depth side, the assembling apparatus 1 detects this with a sensor and stops the belt 17.
Next, the assembling apparatus 1 drives the pin stand device 52 to raise the push pin 25, and pushes the pin 72 onto the surface of the pallet 71 to stand it (step 75).
Thereafter, the assembling apparatus 1 drives the belt 11 and also drives the extrusion apparatus 44 to push the pallet 71 onto the belt 11 and move the pallet 71 from the belt 17 to the belt 11 (step 80).

While the present embodiment has been described above, various modifications can be made.
For example, a plurality of pins 72 can be set up on the pallet 71. If one pin 72 is regarded as a digital signal, the number of pins 72 × 2 bits can be identified, so that the pallet 71 can be circulated more times.
In addition, as a method for identifying the state of the pallet 71, an electronic element such as an IC tag (non-contact IC chip) is used instead of the pin 72, and the number of times the pallet 71 has circulated and other information are stored in the electronic element. It can also comprise so that a process may be managed using this.

In the present embodiment, the pin 72 is used to determine how many times the pallet 71 has circulated. However, the pin 72 may be configured to determine the type of the workpiece 2.
In this case, for example, the pins 72 are standing for the first type of work 2, and the pins 72 are not standing for the second type, and the chuck portion 23 performs different operations. Configure to do. In this case, a plurality of types of workpieces 2 can be mixed and assembled.

  Furthermore, in the present embodiment, when the continuous work is divided by another work, the work 2 is circulated and the work is performed at the same work position. However, the present invention is not limited to this. It can also be applied to the case where continuous operations are divided in time, such as applying a chemical in the above operation and drying the chemical while circulating, and then performing the next operation.

According to the present embodiment, the following effects can be obtained.
(1) By recirculating the workpiece in an annular shape, the assembling apparatus 1 can repeatedly perform different operations at the same assembly position (machine work areas 61 and 62).
(2) By giving identification information such as the pins 72 to the pallet 71, the assembling apparatus 1 can identify the state of the workpiece 2 and can perform work corresponding to this.
(3) For example, the work 2 is placed on the pallet 71, the work is performed in the machine work area 61, the work is ejected once, another process is performed in the worker work area 63, and the pallet 71 is further rotated once on the line. A plurality of divided operations can be performed by one assembly apparatus 1 such that the next operation is performed again in the machine operation area 61.
(4) It is not necessary to switch the line even when there are a plurality of operations other than assembling such as performing an operation other than the assembly such as inspection after incorporating the components and then further incorporating the components.
(5) Since the progress of the work (process) for each pallet 71 can be individually determined by the pin 72, it is possible to appropriately work even if workpieces 2 having different processes to be performed next are randomly mixed on the line. it can.

It is the figure which showed the place which looked at the assembly apparatus from the top. It is a figure for demonstrating a pallet. It is a figure for demonstrating the pushing mechanism of a pin. It is the block diagram which showed an example of the control system of an assembly apparatus. It is a flowchart for demonstrating the procedure of a machine work. It is a flowchart for demonstrating the procedure to raise a pin.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Assembling apparatus 2 Work 3 Worker 11-11 Belt 21 Rail 22 Arm 23 Chuck part 25 Extrusion pin 26, 27 Sensor 31-33 Pin 41-45 Extrusion apparatus 46 Opening / closing apparatus 47 Door part 48 Through-hole 49 Base surface 51 Control apparatus 52 Pin stand device 53 Belt drive motor 54 Sensor 55 Operation panel 61, 62 Machine work area 63 Worker work area 71 Pallet 72 Pins 91, 92 Parts container

Claims (3)

Working means for performing at least a first step and a second step on a workpiece in a predetermined work area;
Transporting means for transporting the workpiece, which has been subjected to the first step by the working means, to the predetermined working area by circulating around the workpiece,
The working device judges a process performed on a work conveyed to a work area, and performs the first process or the second process based on the judgment.   The work area of the 3rd process performed between the 1st process and the 2nd process is provided on the path which goes around in the shape of a circle, The claim 1 characterized by things. Work equipment.   The working device according to claim 2, wherein the third step is a manual operation by a person.

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