Direction changing device

Abstract

This invention discloses an electronic component conveying device and an electronic component sorting machine for testing. According to the present invention, by means of an additional electronic component conveying device that conveys the electronic components from the supply hand to the connecting hand, compensation is provided for the height at which the supply hand or the connecting hand holds or releases the electronic components. In this way, the weight of the supply hand and the connecting hand can be significantly reduced, allowing for more precise control of the supply hand and the connecting hand, and correspondingly ensuring the reliability of the sorting machine.

Description

Technical Field

[0001] The present invention discloses a technology for moving electronic components inside a sorting machine for electronic component testing. Prior Art

[0002] The electronic components produced go through numerous manufacturing processes before being shipped. During this process, a sorting machine (hereinafter referred to as the "sorting machine") is used to process the electronic components.

[0003] The sorting machine can have various structures depending on factors such as the type of electronic components or the purpose of processing.

[0004] Sorting machines can be categorized as those that electrically connect large numbers of electronic components to testers and those that electrically connect small numbers of electronic components to testers. The former requires an additional test tray to electrically connect a large number of electronic components to the tester at once. However, the latter, which allows for direct electrical connection of a small number of electronic components to the tester, eliminates the need for a test tray. Of course, some sorting machines simply sort electronic components. This invention primarily concerns the latter, so the following description will focus on the latter. Of course, some sorting machines simply sort electronic components.

[0005] Typically, the terminals of larger electronic components, such as solid-state drives (SSDs), are concentrated on one edge. This edge is inserted into a test socket, establishing an electrical connection between the component and the tester. Therefore, the test socket has a test slot for inserting this edge of the electronic component.

[0006] However, the configuration of the test sockets and the number of test sockets based on the same area vary depending on the structure of the sorting machine or the type and form of the electronic components, and there are many types.

[0007] For example, because the spacing between test sockets varies, the spacing between test slots may be relatively narrow or wide. More specifically, the spacing between test sockets is not simply divided into wide and narrow, but rather exhibits a variety of spacings with subtle differences, which in turn diversifies the spacing between test slots. Therefore, it is necessary to adjust the spacing between electronic components in a variety of ways.

[0008] For example, electronic components can have varying widths, so test slots can have varying lengths, some relatively long and some relatively short. Consequently, the gripping actions for holding electronic components (such as those for adjusting the grip width or the teach point) also need to be diverse.

[0009] For example, a test socket's test slots may open upward or forward. Therefore, vertical electronic components are inserted into upward-opening test slots by descending, while horizontal electronic components are inserted into forward-opening test slots by retreating. Furthermore, even forward-opening test slots can be elongated horizontally or vertically. Therefore, it's necessary to be able to change the position of the electronic components from a vertical position (standing upright) to a horizontal position (lying down), or vice versa.

[0010] For example, even if the test slot opens upward, the length of the test slot can be formed longer in the left-right direction or in the front-back direction. Therefore, it is also necessary to change the direction of the electronic component.

[0011] As mentioned earlier, factors such as the number of test sockets, the spacing between test sockets, the orientation of the test sockets, and the direction of electrical contact between electronic components and the test sockets will vary, and the sorting machine needs to be implemented in a way that can cope with all these variables.

[0012] Generally, a sorting machine has a moving arm for moving electronic components. This arm can be used to hold and release electronic components by vacuum suction, or it can be used to hold and release electronic components by applying pressure at both ends. In particular, the moving arm used to insert electronic components into test slots must be able to hold electronic components by applying pressure at both ends. Of course, the sorting machine also requires a horizontal moving mechanism to move the moving arm horizontally, or a vertical moving mechanism to move the moving arm vertically.

[0013] On the other hand, in addition to the lifting member, the moving hand needs to further have a member for adjusting various intervals between electronic components or for adjusting the direction and posture, as mentioned above.

[0014] However, as the number of components making up the moving hand increases, the weight of the parts used to move the electronic components increases, leading to increased inertia and frequent impacts caused by the movement of the components. Furthermore, the greater the range of movement of each component, the greater the impact. Consequently, this can lead to scattered teaching points, changes in the grip of the electronic component, and malfunctions when grasping or releasing the component. This problem is becoming increasingly urgent, especially given the current trend of increasing integration, which is leading to smaller terminal sizes and spacing in electronic components, and the demand for greater precision.

[0015] Prior Art Literature Patent Literature Patent Document 1: Korean Patent Publication No. 10-2016-0079499 Summary of the Invention

[0016] The purpose of the present invention is to realize a technology that significantly reduces the weight, movement and movement amount of a moving hand (for example, the lifting amount of a picking piece on the moving hand).

[0017] The electronic component conveying device of the present invention includes: a carrier plate that can be loaded with electronic components and is movably constructed; an elevator that drives the carrier plate to rise and fall; and a mover that allows the carrier plate to move between a loading area and an unloading area; the elevator places the carrier plate at a first height when electronic components are loaded onto the carrier plate in the loading area, and places the carrier plate at a second height when electronic components are unloaded from the carrier plate in the unloading area, and the first height and the second height are different from each other.

[0018] When the carrying plate is driven to move by the moving machine, the elevator allows the carrying plate to be located at a third height different from the first height and the second height.

[0019] The electronic component conveying device further includes a posture changer, which changes the posture of the electronic components after the electronic components are unloaded from the carrier plate at the second height of the unloading area.

[0020] The posture changing machine may include: a holding member that holds the electronic components from the carrier plate located at the second height of the unloading area; and a changing member that allows the holding member to rotate with a horizontal direction as a rotation axis to change the posture of the electronic components while unloading the electronic components from the carrier plate located in the unloading area.

[0021] The number of the holding members is plural, and the posture changer may further include an adjusting member for adjusting the intervals between the plural holding members and thus adjusting the intervals between the electronic components held by the plural holding members.

[0022] The posture changing machine may further include a conversion member that drives the holding member to rotate in a rotation direction that is 90 degrees to the rotation direction of the holding member caused by the conversion member to change the direction of the electronic component.

[0023] The electronic component conveying device may further include an interval adjuster for adjusting the intervals between the electronic components after the electronic components are unloaded from the carrier plate at the second height of the unloading area.

[0024] The electronic component conveying device may further include a direction converter for converting the direction of the electronic components after unloading the electronic components from the carrier plate at the second height of the unloading area.

[0025] Moreover, the sorting machine for processing electronic components of the present invention includes: the aforementioned electronic component conveying device; a supplying hand that supplies electronic components to the electronic component conveying device; and a connecting hand that receives electronic components from the electronic component conveying device and inserts the electronic components into the test slot to electrically connect the electronic components to the test machine.

[0026] The supplying hand and the connecting hand may hold the electronic component in different ways.

[0027] According to the present invention, the additional electronic component conveying device compensates for the height of holding or releasing the electronic components, and performs posture change, interval adjustment and steering operations of the electronic components, thereby greatly simplifying the structure of the supply hand or the connecting hand, thereby enabling the supply hand or the connecting hand to be finely controlled, and the reliability of the sorting machine is also improved accordingly. Simple diagram description

[0028] FIG1 is a conceptual plan view of a sorting machine for processing electronic components according to an embodiment of the present invention.

[0029] FIG2 is a schematic perspective view of a supply hand applicable to the sorting machine for processing electronic components shown in FIG1.

[0030] FIG3 is a schematic perspective view of a connecting handle applicable to the sorting machine for processing electronic components shown in FIG1.

[0031] FIG4 is a schematic perspective view of an electronic component conveying device suitable for the sorting machine for processing electronic components shown in FIG1.

[0032] FIG5 and FIG6 are schematic perspective views of a carrier plate suitable for the electronic component conveying device shown in FIG5.

[0033] FIG. 7 is a schematic perspective view of an elevator suitable for the electronic component conveying device shown in FIG. 4 .

[0034] FIG8 is a schematic perspective view of a moving machine suitable for the electronic component conveying device shown in FIG4.

[0035] FIG9 is a schematic perspective view of a posture changing device applicable to the electronic component conveying device shown in FIG5.

[0036] FIG10 is a schematic perspective view of a conversion member applicable to the posture conversion device shown in FIG9.

[0037] FIG11 is a schematic perspective view of an adjustment member applicable to the posture changing machine shown in FIG9.

[0038] FIG. 12 is a conceptual plan view of a sorting machine for processing electronic components according to another embodiment of the present invention. Implementation Method

[0039] The following describes preferred embodiments of the present invention with reference to the drawings. For the sake of simplicity, descriptions of repeated structures are avoided as much as possible or are briefly described. <Brief Description of the Sorting Machine>

[0040] FIG1 is a conceptual plan view of a sorting machine TH according to an embodiment of the present invention.

[0041] The sorting machine TH in FIG. 1 includes an electronic component conveying device 100 , a supply hand 200 , and a connecting hand 300 .

[0042] The electronic component conveying device 100 conveys electronic components from the supply hand 200 to the moving hand 300. The electronic component conveying device 100 performs posture change of electronic components, rotation of electronic components, and spacing adjustment between electronic components, which will be described later.

[0043] The supply hand 200 supplies the electronic components to be tested, carried on the customer tray CT, to the electronic component conveyor 100. To this end, as shown in the schematic perspective view of FIG. 2 , the supply hand 200 includes five pickers 211 to 215 . Each picker 211 , 212 , 213 , 214 , or 215 can vacuum-hold or release an electronic component.

[0044] The connecting hand 300 inserts the electronic components conveyed by the electronic component conveyor 100 into the test slit S of the test socket TS, thereby electrically connecting the electronic components to the tester. To this end, as shown in the schematic perspective view of FIG3 , the connecting hand 300 includes a pair of gripping rods 311a and 311b. These gripping rods 311a and 311b are provided with five gripping grooves. These gripping rods apply pressure to the ends of the five electronic components, gripping them, or release the pressure to release the grip as the spacing between them is adjusted (moving closer or farther apart). <Explanation of Electronic Component Conveying Device>

[0045] FIG. 4 is a schematic perspective view of an electronic component conveying device 100 according to an embodiment of the sorting machine TH shown in FIG. 1 .

[0046] The electronic component conveying device 100 includes a carrier plate 110 , an elevator 120 , a moving plate 130 , a mounting plate 140 , a moving machine 150 , and a posture changing machine 160 .

[0047] The carrier plate 110 can hold five electronic components D. To this end, as shown in the schematic diagram of Figure 5, it is provided with five loading slots LG. Furthermore, as shown in Figure 6, ledges B are formed within the loading slots LG to accommodate electronic components D1 to D5 of various specifications. Naturally, the ledges B are formed in a stepped configuration, with the spacing between corresponding ledges B becoming narrower as they go downward. The stepped configuration of the carrier plate 110 may result in varying heights on the upper surface for holding the electronic components. Various approaches can be used to address this issue.

[0048] For example, the problem can be solved by adjusting the height of the carrier plate 110 so that the upper surfaces of the electronic components are at the same height.

[0049] For example, adjusting the lifting height of a picker for loading or unloading electronic components D onto the carrier plate 110 can also solve the problem.

[0050] For example, the problem can be solved by forming steps so that the top surfaces of all mounted electronic components have the same height, taking into account the thickness of the mounted electronic components.

[0051] The elevator 120 raises and lowers the carrier plate 110. Therefore, the elevator 120 places the carrier plate 110 at a first height in the loading area LS, where the carrier plate 110 receives electronic components D from the supply hand 200. Furthermore, the elevator 120 places the carrier plate 110 at a second height, lower than the first height, in the unloading area US, where the electronic components D are unloaded from the carrier plate 110. Furthermore, the elevator 120 places the carrier plate 110 at a third height, lower than the second height, when the carrier plate is driven by the moving machine 150 and moves between the loading area LS and the unloading area US. The third height is kept at the lowest level to prevent the carrier plate 110 from interfering with other elements during movement. To this end, as shown in the schematic diagram of FIG7 , the elevator 120 includes a lift motor 121, a lift shaft 122, and lift rails 123a and 123b.

[0052] The lift motor 121 generates a lifting force. The lifting force in this embodiment is the rotational force used to rotate the lift shaft 122. Of course, a lift cylinder can also be used in place of the lift motor 121. However, the carrier plate 110 needs to be positioned at different first, second, and third heights. As previously mentioned, the loading height of the electronic components D varies slightly depending on the size of the electronic components D, necessitating fine-tuning of the lift height of the carrier plate 110. Therefore, it is preferable to use a lift motor 121, as in this embodiment. For example, the gripping members 161a to 161e, described later, are designed to grip electronic components using vacuum suction. Because the gripping members 161a to 161e protrude downward, they allow the carrier plate 110 to move downward, preventing interference between the carrier plate 110 and the gripping members 161a to 161e.

[0053] The lifting shaft 122 is driven to rotate by the lifting motor 121 and is bolted to the carrier plate 110. Therefore, the carrier plate 110 and the lifting shaft 122 are lifted and lowered in conjunction with each other.

[0054] The lifting rails 123a and 123b are mounted on the moving plate 130 in a vertically long form, and guide the lifting movement of the carrier plate 110 coupled in the rail manner.

[0055] The movable plate 130 is configured to be movable in the front-rear direction, and the lifter 120 and the carrier plate 110 are coupled to the movable plate 130. Therefore, when the movable plate 130 moves in the front-rear direction, the lifter 120 and the carrier plate 110 also move in the front-rear direction together.

[0056] The mounting plate 140 is used to mount the moving machine 150 .

[0057] As shown in the schematic diagram of FIG8 , the moving machine 150 includes a moving motor 151 , a moving belt 152 , and moving rails 153 a and 153 b .

[0058] The moving motor 151 generates a moving force that drives the moving plate 130 to move in the front-rear direction.

[0059] The moving belt 152 rotates with the driving roller DP and the driven roller PP as turning points. The moving plate 130 is coupled to one side of the moving belt 152. Therefore, as the moving belt 152 rotates, the moving plate 130 moves forward and backward. Naturally, in conjunction with the forward and backward movement of the moving plate 130, the carrier plate 110 and the elevator 120 coupled to the moving plate 130 also move forward and backward. This allows the carrier plate 110 to be positioned in either the loading area LS or the unloading area US.

[0060] The movable rails 153a and 153b are mounted on the mounting plate 140 in a manner that they are longer in the front-rear direction, and guide the movable plate 130 that moves in the front-rear direction to move. Of course, the movable plate 130 is coupled to the movable rails 153a and 153b in a track manner.

[0061] Next, the posture changing device 160 will be described with reference to the schematic diagram of FIG. 9 .

[0062] As shown in FIG. 9 , the posture changing mechanism 160 includes five holding members 161 a to 161 e , a changing member 162 , a changing plate 163 , five conversion members 164 a to 164 e and an adjusting member 165 .

[0063] The five gripping members 161a to 161e can absorb and grip the electronic component D or release the gripping state by vacuum pressure.

[0064] The conversion element 162 rotates the conversion plate 163 90 degrees about its axis of rotation, rotating the grippers 161a to 161e attached to the conversion plate 163. This causes the grippers 161a to 161e to rotate, thereby changing the position of the electronic components D held by the grippers 161a to 161e. Specifically, when the grippers 161a to 161e are sucking and gripping the electronic components D placed in a horizontal position on the carrier plate 110, the conversion element 162 rotates the conversion plate 163 90 degrees, thereby rotating the grippers 161a to 161e in conjunction with the rotation. This causes the electronic components D held by the grippers 161a to 161e to change to an upright position. To this end, as shown schematically in FIG10 , the conversion element 162 includes a conversion motor 162a and a conversion shaft 162b.

[0065] The conversion motor 162a generates a rotational force to drive the conversion shaft 162b to rotate in the forward and backward directions. Here, the conversion motor 162a only needs to drive the conversion shaft 1623b to rotate 90 degrees in both directions, so a pneumatic cylinder can also be considered as an alternative.

[0066] The conversion shaft 162b is driven to rotate by the conversion motor 162a. Furthermore, the conversion plate 163 is coupled to the conversion shaft 162b and rotates in conjunction with the rotation of the conversion shaft 162b.

[0067] The conversion plate 163 is driven to rotate by the conversion member 162. The adjustment member 165 is coupled to the conversion plate 163. Since the five holding members 161a to 161e and the five conversion members 164a to 164e are coupled to the adjustment member 165, the five holding members 161a to 161e, the five conversion members 164a to 164e, and the adjustment member 165 are coupled to the conversion plate 163. For reference, FIG10 (a) and (b) compare and illustrate the rotational state of the conversion plate 163.

[0068] The five conversion elements 164a through 164e rotate their respective gripping elements 161a through 161e in a direction (perpendicular to the forward and backward direction) 90 degrees relative to the rotational direction of the conversion axis 162b (using the forward and backward direction as the rotational axis). This rotates the electronic components D held by the gripping elements 161a through 161e, changing their orientation. These conversion elements 164a through 164e, which rotate the gripping elements 161a through 161e 90 degrees, can be implemented using pneumatic cylinders. However, due to limited installation space, a motor, as in this embodiment, is preferred.

[0069] The adjustment member 165 adjusts the intervals between the five gripping members 161a to 161e. To this end, as shown in the schematic diagram of FIG11, the adjustment member 165 includes an adjustment motor 165a, an adjustment shaft 165b, five protrusions 165c-1 to 165c-5, and a guide rail 165d.

[0070] The adjustment motor 165a generates a rotational force to drive the adjustment shaft 165b to rotate with the front-rear direction as the rotation axis.

[0071] The adjustment shaft 165b is configured as a cam shaft having five cam grooves CG, and the cam grooves CG are formed so as to approach or move away from each other according to the rotation direction of the adjustment shaft 165b.

[0072] The five protruding members 165c-1 to 165c-5 have cam protrusions CP that fit into the cam grooves CG. Furthermore, the five gripping members 161a to 161e and the five switching members 164a to 164e are coupled to the protruding members 165c-1 to 165c-5. Therefore, when the adjustment shaft 165b rotates, the protruding members 165c-1 to 165c-5 are guided by the cam grooves CG and move forward and backward. Consequently, the gripping members 161a to 161e and the switching members 164a to 164e coupled to the protruding members 165c-1 to 165c-5 are adjusted to the same spacing as the spacing between the cam grooves CG. This also adjusts the spacing between the electronic components D gripped by the gripping members 161a to 161e.

[0073] The guide rail 165d is coupled to the conversion plate 163 in a longitudinal direction, guiding the forward and backward movement of the protrusions 165c-1 to 165c-5 coupled to each other by the rails.

[0074] For reference, the symbol "R" in Figure 4 represents an identifier for electronic components. When the conversion element 162 rotates the grippers 161a to 161e, causing the electronic component D to be positioned upright, the identifier R, when facing the electronic component, can recognize the identifier (e.g., a barcode) printed on one side of the electronic component D. This allows for individual electronic component management. Of course, the identifier R can be implemented as a barcode reader or camera. Regarding the placement of the identifier R, it is most effective when the identification code is printed on the bottom surface of the electronic component when it is positioned horizontally.

[0075] Next, the operation of the electronic component conveying device 100 will be described mainly with reference to the movement of the electronic component D to be tested.

[0076] The supply hand 200 loads five horizontal electronic components D onto the carrier plate 110 located in the loading area LS. At this time, the carrier plate 110 receives the electronic components D from the supply hand 200 while being at the highest first height by the lifter 120.

[0077] When electronic components D are loaded onto carrier plate 110, elevator 120 lowers carrier plate 110 to the lowest third height. In this state, moving mechanism 150 operates to move carrier plate 110 to unloading area US. Elevator 120 then raises carrier plate 110 to the second height. In this manner, five grippers 161a to 161e suction-hold the five electronic components D.

[0078] Then, the conversion member 162 operates to change the position of the electronic component D from the horizontal position to the vertical position. Then, the conversion members 164a to 164e operate to change the orientation of the electronic component D, and the adjustment member 165 operates to adjust the spacing between the electronic components D. This ensures that the electronic components D have the desired position, orientation, and spacing for insertion into the test slit S.

[0079] Meanwhile, when connecting hand 300 applies pressure to both ends of electronic component D held by grippers 161a to 161e, the grippers 161a to 161e release their vacuum suction force. Consequently, connecting hand 300 moves the held electronic component D and lowers it, inserting it into test slit S. With electronic component D inserted into test slit S as described above, testing is performed on electronic component D. Upon completion of the test, electronic component D is returned to customer tray CT in the reverse order. <References> 1. Regarding the expansion of processing capacity

[0080] As previously mentioned, to expand the processing capacity of the sorter TH, the number of electronic component conveying devices 100 can be increased. For example, the sorter TH shown in FIG12 includes two electronic component conveying devices 100A and 100B, each equipped with a supply hand 200 and a connection hand 300. In an embodiment such as FIG12 , one electronic component conveying device 100A can be positioned on the path that electrically connects the electronic components D to be tested to the tester, while the remaining electronic component conveying device 100B can be positioned on the path where the tested electronic components D are returned to the customer tray CT.

[0081] Of course, considering the processing speed of various factors, the number of electronic component conveying devices 100A and 100B can be higher than that illustrated in Figure 12, and of course the number of supply hands 200 or connection hands 300 can also be increased. 2. About the naming of the posture changing machine

[0082] In the aforementioned embodiment, the electronic component conveying device 100 not only performs height compensation operations for gripping and releasing electronic components D, but also performs operations such as posture change, direction conversion, and spacing adjustment of the electronic components D. Since the present invention is particularly useful in a sorting machine TH that requires posture change of electronic components D, the element indicated by the graphical symbol 160 is named a posture changer, with a particular emphasis on posture change of electronic components D.

[0083] However, depending on the structure of the sorter TH or the type of test socket TS, one or both of the posture change, direction conversion, and spacing adjustment functions may be omitted. Therefore, when the focus is on direction conversion of the electronic components D, the element designated by the graphic symbol 160 may be designated as a direction converter, and when the focus is on spacing adjustment between the electronic components D, the element designated by the graphic symbol 160 may be designated as a spacing adjuster.

[0084] Furthermore, it is also possible to implement the following method: omit the posture changing function, the direction changing function, and the interval adjusting function and allow the electronic component conveying device 100 to perform only height compensation to grasp or release the electronic component D. 3. About the height of the carrier plate

[0085] In the previous embodiment, the first height is the highest and the third height is the lowest. However, the relative heights of the first, second, and third heights can be made different depending on the structure of the sorting machine TH. In other words, if the first, second, and third heights are different from each other, the characteristics of the present invention can be met. 4. Application of electronic component conveying equipment

[0086] The preceding description illustrates the application of the electronic component conveyor device 100 to an electronic component test sorter TH supporting electronic component testing. However, even non-test support sorters can appropriately utilize the electronic component conveyor device 100 in the electronic component transport path, provided that a transport path for the electronic components D is required. 5. Additional Notes

[0087] The height compensation performed by the lifter 120 can reduce the lifting amount of the supply hand 200 or the connecting hand 300, thereby alleviating the impact of their movements, and can also reduce the time for holding or releasing the electronic component D.

[0088] Furthermore, the posture change, direction conversion, and distance adjustment performed by the posture changer 160 eliminates the configuration required for posture change, direction conversion, and distance adjustment from the supply hand 200 or the connecting hand 300. This significantly reduces the weight and inertia of the supply hand 200 or the connecting hand 300, making it easier to control. Furthermore, the elimination of the need for compensation for motion errors increases design freedom, making design smoother and easier.

[0089] On the other hand, the aforementioned embodiment describes a sorter for testing electronic components. However, as described in the previous technical section, the electronic component conveyor device 100 can also be applied to a sorter that simply sorts electronic components or performs mobile processing. Similarly, while this embodiment describes SSDs as electronic components, the electronic component conveyor device 100 of the present invention can also be applied to a sorter that processes memory devices or other electronic components of various other forms.

[0090] As mentioned above, the above text specifically illustrates the present invention with reference to the embodiments in combination with the drawings. The embodiments merely illustrate preferred examples of the present invention and should not be construed as limiting the present invention to the embodiments. The scope of rights of the present invention should be interpreted as the scope of the patent application and its equivalent scope.

[0091] TH: Sorting machine for electronic component testing 100: Electronic component conveying device 110:Carrier board 120: Elevator 150: Mobile 160: Posture Changing Machine 161a~161e: handle 162: Transformation 164a~164e: conversion parts 165:Adjustment 200: Supply by hand 300: Connect by hand

[0092] Domestic storage information (please note the order of storage institution, date, and number) none Overseas deposit information (please note the order of deposit country, institution, date, and number) none

Claims

1. A direction-changing device, comprising: Multiple pickups can be used to adsorb and hold multiple electronic components or release the holding state by vacuum pressure; And a plurality of conversion elements, rotating the plurality of pickup elements to change the orientation of the plurality of electronic components held by the plurality of pickup elements, wherein the plurality of conversion elements respectively cause the plurality of pickup elements to rotate to change the orientation of each electronic component, wherein one of the plurality of conversion elements is responsible for picking up one of the plurality of pickup elements.

2. The direction changing device as claimed in claim 1, wherein the changing element is a motor.

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