Robot and assembling method thereof

Abstract

A robot includes: a plurality of motors; a decelerator that decelerates the rotation of any one of the motors; a first member to which the motors and the decelerators are fixed; and a second member that is fixed to the speed reducer, the speed reducer being provided with an annular housing part and a shaft part that is supported on the inside in the radial direction of the housing part so as to be rotatable about the central axis of the housing part. The first member includes an inner space in which the drive gears of the motors are accommodated, and two or more openings that open the inner space to the outside and are closed by the motors, the housing portion is fixed to the second member, and the shaft portion is fixed to the first member by a fastener. The fastener is fastened in the internal space through each opening in an open state after each motor is detached.

Description

Technical Field

[0001] This invention relates to robots and their assembly methods. Background Technology

[0002] A multi-joint robot is disclosed in Patent Document 1.

[0003] In this multi-joint robot, the motor, the motor support component that mounts the motor, the gear transmission device, and the arm that rotates at a speed reduced by the gear transmission device are arranged in a row along the axis of the arm.

[0004] The gear transmission device has an outermost annular internal gear component and a bracket disposed inside the internal gear component and supported in a manner that allows it to rotate about the axis of the arm.

[0005] In Patent Document 1, the internal gear component of the gear transmission device is fixed to the arm, and the bracket is fixed to the motor support component. By fixing the internal gear component, which is located closer to the radial outer side than the bracket, to the arm, the outer diameter of the arm can be increased, and the rigidity of the arm can be ensured to be high.

[0006] Existing technical documents

[0007] Patent documents

[0008] Patent Document 1: Booklet No. WO2009 / 098945 Summary of the Invention

[0009] The problem the invention aims to solve

[0010] However, at the front end of the motor support component, a bracket is fixed to a flange-like portion that protrudes outwards from the side of the motor support component. Therefore, the side of the bracket is located further outwards than the motor support component, and the outer surface of the internal gear component is positioned further outwards. In reality, the motor is larger than shown in the figure; therefore, the motor support component would be larger, and the gear transmission device with a bracket larger than the motor support component and an internal gear component larger than the bracket would become larger.

[0011] Therefore, it is desirable to prevent the reduction gear that constitutes the gear transmission device and the joint shaft containing the reduction gear from becoming too large.

[0012] Solution for solving the problem

[0013] One aspect of the present invention is a robot comprising: a plurality of motors; a reducer for reducing the rotation of any one of the motors; a first component for fixing each of the motors and the reducer; and a second component for fixing to the reducer, the reducer having an annular housing portion and a shaft portion, the shaft portion being supported radially inward of the housing portion in a manner rotatable about the central axis of the housing portion, the first component having an internal space for accommodating drive gears of each of the motors, and two or more openings that open the internal space to the outside and are closed by each of the motors, the housing portion being fixed to the second component, and the shaft portion being fixed to the first component by fasteners, the fasteners being secured within the internal space via the openings in a state open after each of the motors is disassembled.

[0014] Another aspect of the invention is a robot assembly method in which a second component is fixed to the annular housing portion of a reducer, the input gear of the reducer is disposed in the internal space of a first component, and the shaft portion of the reducer, which is supported radially inward of the housing portion and the first component in a manner capable of rotating about the central axis of the housing portion, is fixed by fastening fasteners within the internal space through an opening that opens the internal space to the outside. The drive gear of a motor is inserted into the internal space through the opening and the drive gear meshes with the input gear. The motor is then fixed to the first component in a position where the opening is closed. Attached Figure Description

[0015] Figure 1 This is a side view of a robot representing one embodiment of the present invention.

[0016] Figure 2 It is a schematic representation. Figure 1 A partial longitudinal sectional view of the internal structure of the base of the robot's second arm.

[0017] Figure 3 It is aimed at Figure 1 A partial rear view of the back of the second arm of the disassembly robot, viewed along the fourth axis when the cover is behind it.

[0018] Figure 4 It is aimed at from Figure 3 A partial rear view of the back of the second arm with the motor disassembled, viewed along the fourth axis.

[0019] Figure 5 It is a schematic representation. Figure 2 A partial longitudinal sectional view of the internal structure of the base of the robot's second arm.

[0020] Figure 6 This is an explanation Figure 1A partially exploded longitudinal sectional view of one step in the robot assembly method.

[0021] Figure 7 This is an explanation Figure 6 A partial exploded longitudinal sectional view of the subsequent process.

[0022] Figure 8 This is an explanation Figure 7 A partial exploded longitudinal sectional view of the subsequent process. Detailed Implementation

[0023] Hereinafter, a robot 1 according to one embodiment of the present invention will be described with reference to the accompanying drawings.

[0024] The robot 1 in this embodiment is, for example, a vertical six-axis articulated robot. Figure 1 As shown, robot 1 has a base 2 fixed to a surface F such as the ground, and a rotating body 3 rotatably supported relative to the base 2 about a vertical first axis J1.

[0025] Furthermore, the robot 1 has a first arm 4 that is rotatably supported relative to the rotating body 3 about a horizontal second axis J2, and a second arm 5 that is rotatably supported relative to the first arm 4 about a third axis J3 parallel to the second axis J2. Moreover, the robot 1 has a three-axis wrist unit 6 mounted at the front end of the second arm 5, three motors 12, 13, and 14 for driving the wrist unit 6, and a reducer 42 for slowing down the rotation of the motors 12.

[0026] The wrist unit 6 includes a first wrist element (second component) 7, which is rotatably supported relative to the second arm (first component) 5 about a fourth axis (central axis) J4 extending along a plane including a first axis J1 and orthogonal to a third axis J3. Additionally, the wrist unit 6 includes a second wrist element 8, which is rotatably supported relative to the first wrist element 7 about a fifth axis J5 extending along a plane orthogonal to the fourth axis J4. Furthermore, the wrist unit 6 includes a third wrist element 9, which is rotatably supported relative to the second wrist element 8 about a sixth axis J6 extending along a plane including the fourth axis J4 and orthogonal to the fifth axis J5.

[0027] like Figure 2 As shown, the second arm 5 has a motor mounting surface 10 extending in a direction orthogonal to the fourth axis J4 on the side opposite to the wrist unit 6, and a reducer mounting surface 11 extending in a direction orthogonal to the fourth axis J4 on the wrist unit 6 side. Figure 3 As shown, three motors 12, 13, and 14 for driving the first to third wrist elements 7, 8, and 9 are mounted on the motor mounting surface 10.

[0028] Motors 12, 13, and 14 include: approximately square flange-shaped mounting flanges 15, 16, and 17; circular mating protrusions 18, 19, and 20 protruding from the flange faces 15a, 16a, and 17a of the mounting flanges 15, 16, and 17; and shafts 21, 22, and 23 protruding from the center of the mating protrusions 18, 19, and 20 in a direction orthogonal to the flange faces 15a, 16a, and 17a. At each of the four corners of the mounting flanges 15, 16, and 17, there are four bolt holes 24, 25, and 26 that penetrate the mounting flange along its thickness.

[0029] Additionally, drive gears 27, 28, and 29 are fixed to the shafts 21, 22, and 23 of each of the motors 12, 13, and 14, respectively. When the flange faces 15a, 16a, and 17a of the motors 12, 13, and 14 are in close contact with the motor mounting surface 10 of the second arm 5, the drive gears 27, 28, and 29 have outer diameters that mesh with the input gear 50 or driven gears 53 and 54 (described later), and axial positions of the shafts 21, 22, and 23, respectively. The drive gears 27, 28, and 29, the input gear 50, and the driven gears 53 and 54 are, for example, spur gears.

[0030] like Figure 4 As shown, circular openings 30, 31, and 32 are provided at three locations on the motor mounting surface 10 of the second arm 5. The inner diameter of the openings 30, 31, and 32 is larger than the outer diameter of the drive gears 27, 28, and 29 of the shafts 21, 22, and 23 of each motor 12, 13, and 14. Each opening 30, 31, and 32 has cylindrical inner surfaces 33, 34, and 35 that respectively engage with the engaging protrusions 18, 19, and 20 of each motor 12, 13, and 14. By engaging the engaging protrusions 18, 19, and 20 with the engaging inner surfaces 33, 34, and 35, the openings 30, 31, and 32 are closed by the motors 12, 13, and 14.

[0031] In this embodiment, the three openings 30, 31, and 32 are configured such that their respective centers are at different distances from the fourth axis J4.

[0032] Additionally, the motor mounting surface 10 is provided with multiple threaded holes 39, 40, and 41. These threaded holes 39, 40, and 41 can be used to fasten bolts 36, 37, and 38 that pass through bolt holes 24, 25, and 26. Bolt holes 24, 25, and 26 are located on the mounting flanges 15, 16, and 17 of motors 12, 13, and 14. As mentioned above, each motor 12, 13, and 14 has four bolt holes 24, 25, and 26, but in the example shown in the figure, only three of these threaded holes 39, 40, and 41 are located on the motor mounting surface 10.

[0033] The reducer 42 includes an annular housing portion 43 located at the outermost radial position, and a shaft portion 44 located radially inner to the housing portion 43 and rotatably supported relative to the housing portion 43 about a fourth axis J4. The housing portion 43 includes a flange-shaped flange 45 protruding radially outward, and a fitting outer surface 46 for engaging the first wrist element 7. A plurality of bolt holes 47, spaced circumferentially at intervals and passing parallel to the fourth axis J4, are provided on the flange 45 of the housing portion 43.

[0034] The shaft portion 44 has a hollow hole (central hole) 48 extending through the fourth axis J4 in the radially central region. Additionally, the shaft portion 44 has a mounting end face 44a disposed on the motor 12, 13, and 14 sides and extending in a direction orthogonal to the fourth axis J4. A cylindrical outer surface 44b is provided around the mounting end face 44a, and a plurality of threaded holes 49 are provided circumferentially spaced around the fourth axis J4 on the mounting end face 44a.

[0035] In addition, the reducer 42 has an input gear at a position that protrudes from the mounting end face 44a of the shaft 44 toward the motor 12, 13, 14. The input gear 50 is rotatably supported relative to the shaft 44 around the fourth axis J4.

[0036] A reduction gear mechanism (not shown) is provided between the housing portion 43 and the shaft portion 44. By rotating the input gear 50 around the fourth axis J4, the shaft portion 44 is rotated relative to the housing portion 43 at a speed reduced by the reduction ratio set by the reduction gear mechanism based on the rotation of the input gear 50.

[0037] Two drive shafts 51 and 52, coaxially arranged with respect to the fourth axis J4, are rotatably inserted into the hollow hole 48 of the reducer 42 about the fourth axis J4. Driven gears 53 and 54 are fixed to the motor 12, 13, and 14 sides of the two drive shafts 51 and 52, respectively. That is, the reducer 42 is provided with two driven gears 53 and 54, whose outer diameter decreases sequentially as they move away from the mounting end face 44a along the fourth axis J4, and an input gear 50, which are rotatably coaxially arranged about the fourth axis J4.

[0038] The reducer mounting surface 11 of the second arm 5 includes: a central through hole 55 of a size through which the input gear 50 and the two driven gears 53, 54 pass; and a plurality of bolt holes 56 arranged at positions corresponding to the threaded holes 49 when the mounting end face 44a of the shaft portion 44 is tightly fitted. In addition, a fitting inner surface 57 is provided around the reducer mounting surface 11 to fit into the cylindrical outer surface 44b of the shaft portion 44 of the reducer 42.

[0039] Between the motor mounting surface 10 and the reducer mounting surface 11 of the second arm 5, there is an enclosed internal space M that is sealed by mounting motors 12, 13, 14 and reducer 42. The motors 12, 13, 14 and their mounting surfaces 10, as well as the reducer 42 and its mounting surface 11, are sealed by O-rings or other sealing components (not shown). Within the internal space M, drive gears 27, 28, 29 mounted on the shafts 21, 22, 23 of each motor 12, 13, 14 mesh with the input gear 50 and driven gears 53, 54 located on the reducer 42 side, and are lubricated using grease or other lubricants.

[0040] In this embodiment, such as Figure 4 As shown, the reducer 42 is fixed to the reducer mounting surface 11 of the second arm 5 using twelve bolts (fasteners) 58 and 61. Specifically, the shaft portion 44 of the reducer 42 is fixed to the reducer mounting surface 11 of the second arm 5 using bolts 58, which are tightened within the internal space M through the openings 30, 31, and 32 that are open after the motors 12, 13, and 14 are disassembled. For example, a total of twelve bolts 58 and 61 are provided, arranged in groups of three at four locations. The twelve bolt holes 56 are arranged on the same pitch circle centered on the fourth axis J4.

[0041] Of the twelve bolt holes 56, nine bolt holes 56 have support surfaces 59 on the inner surface of the internal space M of the second arm 5. For example... Figure 4 As shown, the positions of the support surfaces 59 of the nine bolt holes 56 are configured such that three of each can be seen in each opening 30, 31, 32 when viewed from the motor mounting surface 10 side along the direction of the fourth axis J4.

[0042] The remaining three bolt holes 56 have support surfaces 60 at positions on the outer surface of the second arm 5 on the motor mounting surface 10 side where there are no openings 30, 31, and 32. Therefore, as Figure 5 As shown, the bolt 61 that passes through these three bolt holes 56 is longer than the bolt 58 that passes through the other nine bolt holes 56.

[0043] The assembly method of the robot 1 configured as described below will be explained.

[0044] When assembling the robot 1 according to this embodiment, firstly, as follows: Figure 6 As shown, the outer surface 46 of the housing portion 43 of the reducer 42 is fitted into the inner surface 62 of the first wrist element 7, and the flange 45 of the housing portion 43 is tightly fitted into the end face 7a of the first wrist element 7. In this state, the bolts 63 passing through the bolt holes 47 provided in the flange 45 of the housing portion 43 are tightened into the threaded holes 64 provided in the end face 7a of the first wrist element 7, thereby fixing the housing portion 43 of the reducer 42 to the first wrist element 7.

[0045] In addition, the two drive shafts 51 and 52 pass through the hollow hole 48 of the shaft portion 44, and the input gear 50 and the two driven gears 53 and 54 fixed to each drive shaft 51 and 52 are arranged at a position protruding from the mounting end face 44a of the shaft portion 44 in the direction of the fourth axis J4.

[0046] In this state, the assembly of the reducer 42, the first wrist element 7, and the drive shafts 51 and 52 is brought close to the second arm 5 from the reducer mounting surface 11 side, so that the cylindrical outer surface 44b of the shaft portion 44 is fitted to the fitted inner surface 57.

[0047] Then, the bolts 58 and 61, which pass through the twelve bolt holes 56 provided in the second arm 5, are tightened into the threaded holes 49 of the shaft portion 44, so that the mounting end face 44a of the shaft portion 44 is in close contact with the reducer mounting surface 11. At this time, nine of the twelve bolts 58 and 61 are tightened using a tool that is inserted into the internal space M through the openings 30, 31, and 32 that open the internal space M of the motor mounting surface 10 to the outside.

[0048] Subsequently, as Figure 7 As shown, the shafts 21, 22, and 23 of each motor 12, 13, and 14, equipped with drive gears 27, 28, and 29, are inserted into the internal space M through openings 30, 31, and 32 of the motor mounting surface 10, so that the drive gears 27, 28, and 29 mesh with the input gear 50 or the driven gears 53 and 54. Then, the fitting protrusions 18, 19, and 20 of the mounting flanges 15, 16, and 17 are fitted with the fitting inner surfaces 33, 34, and 35, so that the flange surfaces 15a, 16a, and 17a are tightly attached to the motor mounting surface 10. The motors 12, 13, and 14 are fixed to the second arm 5 using bolts 36, 37, and 38. This closes the internal space M.

[0049] Then, as Figure 8 As shown, motors 12, 13, and 14 are covered by a cover installed on the second arm 5.

[0050] Thus, according to the robot 1 and its assembly method of this embodiment, the reducer 42, which fixes the second arm 5 and the first wrist element 7, is fixed at the shaft portion 44. This allows the first wrist element 7 to be fixed to the flange 45 of the housing portion 43, which is located radially outward from the shaft portion 44, thereby increasing the outer diameter of the first wrist element 7 and ensuring higher rigidity.

[0051] With the reducer 42 fixing the second arm 5 and the first wrist element 7 at the shaft portion 44, the shaft portion 44 is positioned in a region closer to the fourth axis J4 than the housing portion 43, closer to the radially inward side. Figure 3As shown, when viewed along the direction of the fourth axis J4, the area near the fourth axis J4 is occupied by motors 12, 13, and 14. Therefore, the configuration space for bolts 58 and 61 that fasten the second arm 5 and the shaft 44 is limited by motors 12, 13, and 14.

[0052] In this embodiment, when disassembling motors 12, 13, and 14, bolt holes 56 are provided on the inner surface of the exposed internal space M within the openings 30, 31, and 32 of the motor mounting surface 10. Therefore, it is not necessary to tighten the bolts 58 radially outward from the sides of motors 12, 13, and 14 as in the past. That is, as... Figure 3 As shown, the shaft portion 44 of the reducer 42 for the first wrist element 7 can be configured at a position that is sufficiently close to the radially inner side than the sides of the motors 12, 13, and 14.

[0053] Therefore, the advantage is that it can prevent the reducer 42 from becoming too large and can make the wrist unit 6 located on the front end of the second arm 5 more compact.

[0054] Furthermore, according to this embodiment, such as Figure 3 As shown, the housing portion 43, which is larger than the shaft portion 44, can be positioned at the same radial position as the motor mounting surface 10. This allows for further compactness.

[0055] Furthermore, in this embodiment, the outer diameters of the coaxially arranged input gear 50 and driven gears 53 and 54 are configured to gradually decrease as they move away from the mounting end face 44a of the shaft portion 44 along the fourth axis J4 away from the reducer 42. This reduces interference between the drive gears 27, 28, and 29 and the input gear 50 or driven gears 53 and 54 when the three motors 12, 13, and 14 are mounted along the fourth axis J4 at the respective openings 30, 31, and 32, and improves assembly convenience.

[0056] Furthermore, in this embodiment, within the area where the bolt 58 protrudes from each of the openings 30, 31, and 32, at least one of the distances from the three openings 30, 31, and 32 of the three motors 12, 13, and 14 mounted in a positioning state to the fourth axis J4 is different. As described above, the outer diameters of the coaxially configured input gear 50 and driven gears 53 and 54 are different; therefore, it is necessary to fix drive gears 27, 28, and 29 with different outer diameters to the three motors 12, 13, and 14.

[0057] In this case, if the distances of the three motors 12, 13, and 14 from the fourth axis J4 are set to be the same, the design of the drive gears 27, 28, and 29, the input gear 50, and the driven gears 53 and 54 will be significantly limited. By making the distances of the three motors 12, 13, and 14 from the fourth axis J4 different, the design freedom of the drive gears 27, 28, and 29, the input gear 50, and the driven gears 53 and 54 can be greatly increased, and there is the advantage of being able to easily construct appropriate gears.

[0058] Furthermore, in this embodiment, an example is given of three motors 12, 13, and 14 for all wrist elements 7, 8, and 9 of the wrist unit 6 used to drive the three axes, arranged side-by-side on the motor mounting surface 10 of the second arm 5, but this is not a limitation. Alternatively, only two of the three motors 12, 13, and 14 of the wrist unit 6, for example, motors 12 and 13, may be arranged side-by-side on the motor mounting surface 10 of the second arm 5, while the remaining motor 14 is positioned closer to the front end.

[0059] In this case, two openings 30 and 31 are formed on the motor mounting surface 10. Even when there are two openings 30 and 31, it is preferable that the distance from each opening 30 and 31 to the fourth axis J4 is different within the range where the bolt 58 protrudes from each opening 30 and 31. In this case, the design freedom of the drive gears 27, 28, 29, the input gear 50, and the driven gears 53 and 54 can be greatly increased, and suitable gears can be easily constructed.

[0060] Alternatively, other joint structures can be used to replace wrist unit 6.

[0061] In addition, although the distances of the multiple openings 30, 31, and 32 from the fourth axis J4 are different, they can also be made the same.

[0062] Although the various embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments. Various additions, substitutions, modifications, and partial deletions can be made to these embodiments without departing from the spirit and scope of the invention, or without departing from the content of the claims and their equivalents. For example, in the above embodiments, the order of each action and the order of each process are merely examples and are not limited thereto.

[0063] The following notes are also disclosed regarding the above-described embodiments and variations.

[0064] Postscript 1

[0065] A robot, characterized by having:

[0066] Multiple motors;

[0067] A speed reducer, which reduces the rotational speed of any one of the motors;

[0068] The first component secures each of the motors and the reducer;

[0069] The second component is fixed to the reducer.

[0070] The reducer includes an annular housing portion and a shaft portion, the shaft portion being supported radially inside the housing portion in a manner that allows it to rotate about the central axis of the housing portion.

[0071] The first component has an internal space for accommodating the drive gears of each of the motors, and two or more openings that open the internal space to the outside and are closed by each of the motors.

[0072] The outer casing is fixed to the second component.

[0073] The shaft is fixed to the first component by fasteners, which are tightened within the internal space through the openings that are open after the motors are disassembled.

[0074] Appendix 2

[0075] According to the robot described in Appendix 1,

[0076] The shaft portion has a central hole extending along the central axis at a position including the central axis.

[0077] The robot has one or more drive axes that are inserted through the central hole and supported in a manner that allows it to rotate about the central axis.

[0078] The drive gear meshes with the input gear of the reducer and one or more driven gears located at the base end of the drive shaft in the internal space.

[0079] Appendix 3

[0080] According to Appendix 1 or Appendix 2, the robot

[0081] Each of the openings has a cylindrical inner surface that fits into the motor in a positioning state, and at least one of the inner surfaces is at a different distance from the central axis than the other inner surfaces.

[0082] Appendix 4

[0083] The robot according to any one of Annexes 1 to 3,

[0084] Each of the openings is configured such that the position of the fastener within the internal space is visible when viewed from the outside of the first component along the direction of the central axis.

[0085] Appendix 5

[0086] A method for assembling a robot, characterized in that,

[0087] The second component is fixed to the annular outer casing of the reducer.

[0088] The input gear of the reducer is disposed within the internal space of the first component, and the shaft of the reducer, which is supported radially inward of the housing portion and capable of rotating about the central axis of the housing portion, is secured by fasteners within the internal space through an opening that opens to the outside.

[0089] The motor's drive gear is inserted into the internal space through the opening and engaged with the input gear. The motor is then fixed to the first component in the position where the opening is closed.

[0090] Explanation of reference numerals in the attached figures

[0091] 1: Robot

[0092] 5: Second arm (first component)

[0093] 7: First wrist component (second part)

[0094] 12, 13, 14: Motor

[0095] 27, 28, 29: Drive gears

[0096] 30, 31, 32: Opening

[0097] 33, 34, 35: Fitting inner surface

[0098] 42: Reducer

[0099] 43: Outer shell

[0100] 44: Shaft

[0101] 48: Hollow hole (central hole)

[0102] 50: Input gear

[0103] 51, 52: Drive shaft

[0104] 53, 54: Driven gear

[0105] 58, 61: Bolts (fasteners)

[0106] M: Interior space

[0107] J4: Fourth axis (central axis)

Claims

1. A robot, characterized in that, have: Multiple motors; A speed reducer, which reduces the rotational speed of any one of the motors; A first component, which secures each of the motors and the reducer; and The second component is fixed to the reducer. The reducer includes an annular housing portion and a shaft portion, the shaft portion being supported radially inside the housing portion in a manner that allows it to rotate about the central axis of the housing portion. The first component has an internal space for accommodating the drive gears of each of the motors, and two or more openings that open the internal space to the outside and are closed by each of the motors. The outer casing is fixed to the second component. The shaft is fixed to the first component by fasteners, which are tightened within the internal space through the openings that are open after the motors are disassembled.

2. The robot according to claim 1, characterized in that, The shaft portion has a central hole extending along the central axis at a position including the central axis. The robot has one or more drive axes that are inserted through the central hole and supported in a manner that allows it to rotate about the central axis. The drive gear meshes with the input gear of the reducer and one or more driven gears located at the base end of the drive shaft in the internal space.

3. The robot according to claim 1 or 2, characterized in that, Each of the openings has a cylindrical inner surface that fits into the motor in a positioning state, and at least one of the inner surfaces is at a different distance from the central axis than the other inner surfaces.

4. The robot according to any one of claims 1 to 3, characterized in that, Each of the openings is configured such that the position of the fastener within the internal space is visible when viewed from the outside of the first component along the direction of the central axis.

5. A method for assembling a robot, characterized in that, The second component is fixed to the annular outer casing of the reducer. The input gear of the reducer is disposed within the internal space of the first component, and the shaft of the reducer, which is supported radially inward of the housing portion and capable of rotating about the central axis of the housing portion, is secured by fasteners in the internal space through an opening that opens to the outside. The motor's drive gear is inserted into the internal space through the opening and engaged with the input gear. The motor is then fixed to the first component in the position where the opening is closed.

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