Motor assembly for twist actuation of toy and educational systems

Abstract

The invention particularly relates to a motor assembly for toys and educational systems. The motor assembly includes a main body, a control circuit, a first shaft, and a first electric motor. The control circuit is configured to control the first electric motor to drive the first shaft by reciprocating rotation in a first motor drive manner.

Description

TECHNICAL FIELD

[0001] The present invention relates to a motor assembly for a toy and educational system. The motor assembly comprises a main body, a control circuit, a first shaft, and a first electric motor. The control circuit is configured to control the first electric motor to reciprocally rotate in a first motor drive mode to drive the first shaft. BACKGROUND

[0002] It is well known that electric vehicles such as toy cars and trains stimulate the imagination of all people. Typically, such toy cars or trains comprise an electric motor that is activated by a user-controllable on / off switch or, alternatively, by a user exerting force on the car body. SUMMARY

[0003] The present motor assembly comprises at least one electric motor that is suitable to be flexibly integrated into different types of toys, educational systems and devices, such as lifting and moving mechanisms, robots and vehicles. The motor assembly can support mechanical coupling with different types of modular construction elements, such as toy elements, to allow flexible and creative utilization of the motor assembly.

[0004] The present motor assembly can also be integrated into various toys and educational systems or devices. The motor assembly can be used in toys that are intended for educational purposes. For example, a child can learn physics, such as laws of motion, by experimenting with parameter settings of a first reciprocating rotation, e.g. twisting a first shaft of the present motor assembly. By observing the motion response of the motor assembly, the child can intuitively understand such laws of motion by a second reciprocating rotation. Various examples of such educational toys are described in detail below.

[0005] It is also desirable that the motor assembly can be configured to flexibly actuate various modular construction elements, such as toy elements and building blocks, in an intuitive manner to support educational and entertaining user interaction with the toy or educational system.

[0006] The modular construction elements can comprise coupling members that are adapted to detachably connect the modular construction elements to each other. The detachable connections between the modular construction elements support the building of a toy or educational construction model. The coupling members of the modular construction elements can comprise coupling members that use frictional engagement, snap engagement or a combination of both to provide detachable connections between the modular construction elements. Alternatively or in addition thereto, detachable connections that provide detachable form-locking positive connections can also be formed between the modular construction elements. Alternatively or in addition thereto, detachable mechanical connections using magnetic coupling members, i.e. cooperating coupling members that rely on magnetic forces, can also be formed between the modular construction elements.

[0007] A first aspect of the technology or invention relates to a motor assembly for a toy or educational system, such as an educational toy, or an educational device. The motor assembly comprises:

[0008] - a body, a first shaft, a first electric motor, and a control circuit, wherein the first electric motor is configured to drive the first shaft,

[0009] - a first sensor configured to detect a rotational movement of the first shaft and to generate a first sensor signal to the control circuit in response to the detected rotational movement of the first shaft. The control circuit comprises:

[0010] a first motor drive mode, wherein the first electric motor is configured to drive and rotate the first shaft.

[0011] The control circuit further comprises a first external drive mode, wherein the first shaft is drivable by a first external force.

[0012] The control circuit is further configured to:

[0013] - detect a first reciprocating rotation of the first shaft in the first external drive mode,

[0014] - in response to the detection of the first reciprocating rotation or based on the detection of the first reciprocating rotation, control the first electric motor to drive the first shaft by a second reciprocating rotation in the first motor drive mode.

[0015] The control circuit can accordingly be configured to initiate the second reciprocating rotation in response to the user turning and rotating the first shaft clockwise and counter-clockwise in the external drive mode, or vice versa. The actuation scheme of such a motor assembly provides a multi-functional and intuitive interface for the user and can be used to impart different types of derived motion in a toy or educational device, such as an educational toy comprising the motor assembly.

[0016] In one embodiment of the motor assembly, the control circuit is configured to detect a first rotation angle a1 and a second rotation angle a2 of the first shaft in the external drive mode, i.e. during the first reciprocating rotation. The first rotation angle and the second rotation angle are located at opposite rotation endpoints, such as clockwise rotation and counter-clockwise rotation. The control circuit is further configured to control the first electric motor to drive the first shaft between a third rotation angle a3 and a fourth rotation angle a4 in the second reciprocating rotation in the first motor drive mode. The skilled person can understand that the control circuit can be configured in different schemes for defining the physical parameters of the rotational response in the second reciprocating rotation. According to one embodiment, the third rotation angle a3 and the fourth rotation angle a4 are proportional or equal to the first angle a1 and the second angle a2, respectively, such as discussed in more detail below with reference to the accompanying drawings.

[0017] The control circuit can alternatively or additionally be configured to:

[0018] - in the first external drive mode, detect an angular velocity of the first shaft during the first reciprocating rotation,

[0019] - in the motor drive mode, drive the first shaft at an angular velocity that is proportional to or equal to the detected angular velocity of the first shaft during the first reciprocating rotation.

[0020] The sensor comprises one or more of:

[0021] - a magnetic field sensor, such as a Hall effect sensor,

[0022] - an optical sensor,

[0023] - a capacitive sensor.

[0024] In one embodiment of the motor assembly, a carrier substrate, such as a printed circuit board (PCB), is arranged inside the main body, such as inside the compartment. The carrier substrate can comprise a first surface facing the first shaft and an opposite second surface facing away from the first shaft. At least one component of the sensor, such as a magnetic field sensing circuit, such as a Hall effect circuit, is fixed to the second surface of the carrier substrate, such as discussed in more detail below with reference to the drawings.

[0025] The magnetic field sensor can comprise:

[0026] - a Hall effect circuit mounted on and electrically connected to the second surface of the carrier substrate,

[0027] - a permanent magnet attached to the first shaft such that the permanent magnet follows the rotational movement of the first shaft.

[0028] One embodiment of the motor assembly comprises a gearbox coupled between the proximal end of the first shaft and the distal end of the first shaft to provide one or more angular velocity ratios between the proximal end and the distal end of the first shaft. The sensor can be configured to detect the rotational movement, such as the angular velocity, of the distal end of the first shaft and thus the rotational movement at the output of the gearbox, as will be discussed in more detail below with reference to the drawings.

[0029] One embodiment of the motor assembly comprises a second shaft, a second sensor, and a second electric motor configured to drive the second shaft. The motor assembly further comprises a second sensor configured to detect a rotational movement of the second shaft and to generate a second sensor signal to the control circuit, the second sensor signal being indicative of the detected rotational movement of the second shaft. The control circuit comprises:

[0030] a second motor drive mode, wherein the second electric motor is configured to drive and rotate the second shaft, and

[0031] a second external drive mode in which the second shaft is driven by a second external force. The control circuit is further configured to:

[0032] - detect a first reciprocating rotation of the second shaft in the second external drive mode, and

[0033] - control the second electric motor to drive the second shaft by a second reciprocating rotation in the second motor drive mode.

[0034] The control circuit can comprise a first motor driver configured to apply a first motor drive voltage, e.g. a pulse-modulated motor drive voltage, to the first electric motor. Exemplary properties of the first motor driver will be discussed in more detail below with reference to the drawings.

[0035] A second aspect of the invention or technology relates to a toy, educational system or educational device comprising a motor assembly according to any of the above-described embodiments of the motor assembly and one or more modular construction elements, e.g. toy building elements, such as wheels, levers, etc. The modular construction elements can be detachably fixed to the first shaft, e.g. by one or more technical snaps of the first shaft, e.g. technical snaps arranged on the disc-shaped coupling member.

[0036] A third aspect of the invention relates to a computer-implemented method of controlling a rotational movement of a first shaft of a motor assembly for a toy.

[0037] The method comprises:

[0038] - monitoring a first rotational movement of the first shaft by a first sensor,

[0039] - generating a first sensor signal indicative of the detected rotational movement by the first sensor,

[0040] - detecting a first reciprocating rotation of the first shaft based on the first sensor signal,

[0041] - actuating the first electric motor by applying an appropriate motor drive voltage, e.g. a pulse-modulated motor drive voltage, to the first electric motor to cause a second reciprocating rotation of the first shaft in response to the detection of the first reciprocating rotation.

[0042] The computer-implemented method can be at least partially executed by software running on a programmable microprocessor and executing one or more software components, e.g. program routines. Each software component can comprise a set of executable program instructions configured to implement a particular feature of the method, e.g. the detection of the first reciprocating rotation, etc.

[0043] The computer-implemented method of controlling a rotational movement of the first shaft can further comprise:

[0044] - during detection of a first reciprocal rotation of the first axis, the first electric motor is disabled, for example by the control circuit,

[0045] - during detection of a second reciprocal rotation of the first axis, the first electric motor is enabled. BRIEF DESCRIPTION OF DRAWINGS

[0046] Other and further aspects and features of the present application will become apparent upon reading the following detailed description of embodiments of the application.

[0047] The accompanying drawings illustrate the design and utility of embodiments of the motor assembly, in which like reference numerals denote similar elements. These drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the application. In the drawings:

[0048] Figure 1 a perspective view of a motor assembly of a toy or educational system according to an embodiment of the application is shown,

[0049] Figure 2 a first side view of a motor assembly according to an embodiment of the application is shown,

[0050] Figure 3 an exploded view of a motor assembly according to an embodiment of the application is shown,

[0051] Figure 4 a first perspective view of a motor assembly according to an embodiment of the application is shown,

[0052] Figure 5 a vertical cross-sectional view of a first axis of the motor assembly according to an embodiment of the application is shown; and

[0053] Figure 6 is a schematic view of a control circuit and related components according to an embodiment of the application.

[0054] It should be understood that the techniques of the present application can be implemented and utilized in a variety of ways, including but not limited to application-specific circuitry, an application-specific integrated circuit, or combinations of these and other techniques. These and other novel aspects of the various systems disclosed herein will become apparent from the following descriptions and associated drawings. DETAILED DESCRIPTION

[0055] Those skilled in the art will understand that the drawings are schematic and simplified for clarity, and that they only show details considered to be essential for understanding the motor assembly, while other details have been omitted to avoid obscuring the concept.

[0056] Figure 1 A perspective view of a motor assembly 1 for a toy (e.g., an educational toy) according to an embodiment of the present invention is shown. The motor assembly 1 can serve as a motion-generating component of a toy or as a motion-generating component of an educational device (e.g., an educational toy).

[0057] Motor assembly 1 includes a body 10, which includes a cover 12, a first side surface 14, a rear member 8, and a bottom member 26. Motor assembly 1 includes a plurality of protrusions 15 or projections extending from the outer surface of the cover 12 for engagement with mating connecting members of various toy building blocks. Motor assembly 1 includes a first electric motor, such as... Figure 5 Item 30 as seen. The motor assembly 1 includes a first shaft 5 that extends horizontally through the internal volume or compartment 28 of the body 10. Figure 3 (middle). The distal end of the first shaft 5 protrudes outside the body 10. The first disc-shaped connecting member 7 can be detachably or permanently attached to the distal end of the first shaft 5. Therefore, the first disc-shaped connecting member 7 can be configured to rotate together with the first shaft 5.

[0058] The first electric motor 30 can be arranged inside the main body 10, for example, in the internal volume 28. The motor assembly 1 also includes a control circuit 31. Figure 6 ), which can be housed inside the main body 10, for example, as a printed circuit board 24 of an electronic component 22 disposed in the internal volume 28. Figure 3 The control circuitry may include a digital processor, such as a software-programmable microprocessor 33. Figure 6 The software-programmable microprocessor 33 can be configured to provide various monitoring, signal transmission, and control functions of the motor assembly 1 (such as those disclosed herein) by executing one or more software components (e.g., program routines). Each software component may include a set of executable program instructions, which may be stored in non-volatile memory 37. Figure 6 The functions provided by the control circuit 31 can be implemented by various hardware functional modules, such as a detection module for detecting rotation or a drive module for driving at least one component to rotate or move. These hardware functional modules can be implemented, for example, as circuits or as a combination of circuits and software.

[0059] Motor assembly 1 also includes an optional first gearbox 40 located within the internal volume 28 of the main body 10. Figure 5). The first electric motor 30 is configured to drive the first shaft 5, e.g. to apply a driving force to the first shaft 5, e.g. via a mechanical coupling device such as the first gearbox 40, to produce a rotational movement of the first shaft 5 in a first motor-driven mode of the motor assembly 1. In other words, in the first motor-driven mode, the control circuit 31 is configured to control the first electric motor to rotate the first shaft 5.

[0060] Still referring to Figure 5 , the motor assembly 1 comprises a first sensor 62 configured to detect the rotational movement of the first shaft 5. The sensor is configured to respond to the rotational movement by generating a first sensor signal indicative of the detected rotational movement of the first shaft 5. The first sensor signal is supplied to the control circuit 31, e.g. via a wire or a trace of the main PCB 24 or a similar carrier substrate of the motor assembly 1. In one embodiment of the motor assembly 1, the first sensor 62 and / or the control circuit 31 comprises a first encoder configured to receive the first sensor signal and to convert the first sensor signal into a corresponding first digital sensor signal.

[0061] The skilled person will appreciate that various types of sensors and physical arrangements of sensors can be utilized to sense the rotational movement of the first shaft 5. The sensor 62 can comprise a magnetic field sensor or an optical sensor or a capacitive sensor or any combination thereof. In yet another embodiment, the sensor 62 can comprise the first electric motor 30 when the motor assembly 1 is operated in a first externally driven mode. In this first externally driven mode, the first shaft 5 is driven by an external force, rather than by the first electric motor 30 as in the first motor-driven mode. The external force can be applied to the first shaft 5 by a user who can directly or indirectly rotate (e.g. turn or twist) the first shaft 5 through an attached modular construction element such as the first disc-shaped coupling member 7 or another type of coupling member as described above.

[0062] The control circuit 31 is further configured to detect a first reciprocating rotation of the first shaft 5 in the first externally driven mode and to respond by controlling the first electric motor 30 to drive the first shaft 5 by a second reciprocating rotation in the first motor-driven mode. In other words, the control circuit 31 can eliminate the driving voltage supplied to the first motor, e.g. by disabling the first motor driver 35 Figure 6) while detecting reciprocating rotation of the first shaft 5 in the first external drive mode. The control circuit 31 can then switch to the first motor drive mode and supply a drive voltage to the first electric motor, e.g. by enabling the motor driver 37. The control circuit 31 thereby controls the first electric motor to actuate the first shaft 5 to perform a second reciprocating rotation. The drive voltage can comprise a pulse-modulated drive voltage, e.g. a pulse-width modulated drive voltage, or a pulse-density modulated drive voltage. The control circuit 31 can comprise a motor driver 37 configured to supply a pulse-modulated drive voltage to the first electric motor. The motor driver can comprise a full-bridge output stage connected to the motor windings of the first electric motor or a half-bridge output stage connected to the motor windings. The half-bridge output stage and the full-bridge output stage can each comprise a plurality of semiconductor switches, e.g. MOSFETs or IGBTs.

[0063] Figure 2 A first side view of the motor assembly 1 according to an embodiment of the present application is shown.

[0064] Figure 3 An exploded view of the exemplary motor assembly 1 is shown. The motor assembly 1 comprises a main body 10 which inter alia comprises a lid 12 and a bottom portion 26. The lid 12 and the bottom portion 26 jointly at least partially define an internal compartment 28 of the motor assembly 1. The motor assembly 1 comprises an electronics module 22 or electronics support structure which is arranged within the internal compartment 28 and is thus protected from contamination by the external environment. The electronics module 22 comprises a main printed circuit board 24 which can comprise and support various types of active and passive electronic components of a control circuit 31 as well as various peripheral electronic components. The active and passive electronic components of the control circuit 31 as well as the peripheral electronic components can be soldered and electrically connected to one or more surfaces of the main printed circuit board 24 in a known manner.

[0065] The electronics module 22 further comprises a first carrier substrate 55 which is arranged vertically substantially below the first shaft 5 and closer to the distal end of the first shaft 5 than to the proximal end of the first shaft 5. The first carrier substrate 55 can comprise a printed circuit board or a ceramic substrate or the like. The first carrier substrate 55 comprises a first surface 56 facing the first shaft 5 and an opposite second surface (not shown) facing away from the first shaft 5. At least one component 62 of the aforementioned first sensor 62 is fixed to the second surface of the first carrier substrate 55. The first magnetic field sensing circuit 62 is further discussed below. Figure 6

[0066] Still referring to Figure 3 ​The motor assembly 1 comprises a rechargeable battery 25 or similar power source and a matching frame 21 that can support the rechargeable battery 25. The rechargeable battery 25 can be configured to power the control circuit 31, the first electric motor 30, the first sensor 62, etc. The motor assembly 1 can comprise a data communication interface 23, e.g. a USB port, for data communication between the control circuit 31 and an external programming device 29 Figure 6 The motor assembly 1 can comprise an optical sensor and / or optical detector (not shown).

[0067] The first gearbox 40 is coupled between the proximal end of the first shaft 5 and the distal end of the first shaft 5 to provide one or more angular speed ratios between the proximal end and the distal end of the first shaft 5. The first electric motor 30 is coupled to an input of the first gearbox 40 and an output of the first gearbox 40 is coupled to the distal end of the first shaft 5. The first gearbox 40 comprises a first input shaft (not shown) that is mechanically coupled to the first electric motor 30 Figure 5

[0068] Figure 4 A first perspective view of the motor assembly 1 is shown. The control circuit 31 can be configured to detect various physical parameters related to a first reciprocating rotation of the first shaft 5 in the externally driven mode. The first reciprocating rotation of the first shaft 5 is schematically illustrated by the dashed arrows 45, 47 and the associated rotation angles a1, a2 with respect to a starting position of the first shaft 5. It will be appreciated by the skilled person that the first reciprocating rotation of the first shaft 5 in the externally driven mode can be caused by a manipulation of the first shaft 5 by a user. Various modular construction elements, e.g. process beams or shafts, can be coupled to the first shaft 5 by attaching them to the process snaps 20 of the first disc-shaped coupling member 7. The user can manipulate the construction elements to impart the first reciprocating rotation of the first shaft 5 of the externally driven mode.

[0069] The motor assembly 1 can for example be integrated into a toy vehicle, wherein the wheels or tires are fixed to the first disc-shaped coupling member 7 of the motor assembly 1.

[0070] ​In one embodiment, the control circuit 31 is configured to detect a first rotation angle a1 and a second rotation angle a2 of the first shaft 5, wherein the first and second rotation angles are located at opposite rotation endpoints of the reciprocating rotation, e.g. the clockwise and counter-clockwise endpoints. Thus, the first rotation angle a1 and the second rotation angle a2 are respective rotation endpoints of a reciprocating rotation of the first shaft 5 caused by a user manipulating the first shaft 5 from a starting position of the first shaft 5. The control circuit 31 can be configured to respond to the first reciprocating rotation by switching to, e.g. entering, the motor-driven mode discussed previously, and control the electric motor to impart a second reciprocating rotation to the first shaft 5, and possibly to the first disc-shaped coupling 7 and / or to an alternative or additional modular construction element mechanically coupled to the first shaft 5, e.g. a toy element as discussed above. The control circuit 31 can control the first electric motor 30 so as to manipulate the second reciprocating rotation in the motor-driven mode between a third rotation angle a3 and a fourth rotation angle a4. The control circuit 31 can be configured to impart only a single second reciprocating rotation of the first shaft 5, or alternatively to continue the second reciprocating rotation so that the first shaft 5 performs multiple successive reciprocating rotations. In the latter embodiment, the control circuit can be configured to continue the second reciprocating rotation until the first shaft is blocked, e.g. due to user intervention.

[0071] The third and fourth rotation angles a3 and a4 in the motor-driven mode can be proportional to or equal to the first and second rotation angles a1 and a2, respectively. The third and fourth rotation angles a3 and a4 can be pre-set in the control circuit 31 and used independently of the actually detected first and second rotation angles a1 and a2. The control circuit 31 can respond to detecting a reciprocating rotation of the first shaft 5 in the first external drive mode that exceeds a certain threshold, and responsively control the first electric motor 30 to drive the first shaft in the motor-driven mode between the predetermined third and fourth rotation angles a3 and a4. Thus, if the user turns the first shaft 5, e.g. twists, between e.g. +90 degrees and -90 degrees in the first external drive mode, the control circuit 31 can respond by controlling the first electric motor to drive the first shaft 5 in a second reciprocating rotation of +90 degrees and -90 degrees. Alternatively, when the user turns the first shaft 5 between e.g. +90 degrees and -90 degrees, the control circuit 31 can respond by controlling the electric motor so as to drive the first shaft 5 in a second reciprocating rotation that is proportional to the first reciprocating rotation, e.g. +45 degrees and -45 degrees or +120 degrees and -120 degrees, etc.

[0072] According to another embodiment of the motor assembly 1, the control circuit 31 is configured to additionally or alternatively detect a rotational speed of the first shaft 5 during a first reciprocating rotation in the first external drive mode, e.g. a rotational movement caused by an external force caused by a user manipulating the first shaft 5. The control circuit 31 is further configured to drive the first shaft 5 in the motor drive mode at a rotational speed proportional to or equal to the rotational speed of the first shaft 5 detected during the first reciprocating rotation. The skilled person will understand that the control circuit 31 can be configured to respond by controlling the first electric motor 30 to drive the first motor shaft 5 with a corresponding second reciprocating movement.

[0073] The control circuit can be adapted to detect a first reciprocating rotation of the first shaft 5 exceeding a certain angular threshold in the external drive mode, and in response to the exceeding of the angular threshold, control the first electric motor 30 in a predetermined manner.

[0074] Figure 5 A rearwardly inclined perspective view is shown of certain previously discussed features and components arranged within the interior compartment 28 of the main body 10 of the motor assembly 1. The first gearbox 40 is visible and has the previously discussed generally L-shaped profile. At least one component of the first magnetic field sensor previously discussed can comprise a Hall effect circuit 62 mounted on and electrically connected with the second surface 60 of the first carrier substrate 55. The first magnetic field sensor can further comprise a first permanent magnet (not shown) attached to the first shaft 5 such that the first permanent magnet follows the rotational movement of the first shaft 5. The second surface 60 of the first carrier substrate 55 faces away from the first shaft 5 and its permanent magnet. This arrangement of the first Hall effect circuit 62 (of the first magnetic field sensor) enables a smaller distance between the first carrier substrate 55 and the first shaft 5 compared to placing the first Hall effect circuit 62 on the first surface of the first carrier substrate 55. This rear-facing surface arrangement of the Hall effect circuit 62 can for example eliminate mechanical tolerances related to the Hall effect circuit 62.

[0075] The skilled person will recognize that the rotational movement of the first permanent magnet relative to the fixed Hall effect circuit 62 will induce a time-varying magnetic field in the Hall effect circuit 62 that is indicative of the movement (e.g. rotation) of the first shaft 5.

[0076] The first sensor comprising the first Hall effect circuit 62 and the first permanent magnet is preferably arranged at a distal end of the first shaft 5, rather than at a proximal end of the first shaft 5. The distal end is located at the output of the first gearbox 40. This arrangement enables an accurate sensing of the first rotational movement and the second rotational movement of the first shaft 5 due to the elimination of possible transmission play in the first gearbox.

[0077] An exemplary educational toy including the motor assembly can be equipped with toy golf clubs attached to one or more of the process snaps discussed above. By twisting or reciprocating the golf clubs different distances in the external drive mode, a child can set the reciprocation of the toy clubs in the motor drive mode. By varying the rotational speed and / or the first and second rotational angles a1 and a2 of the toy clubs and the toy clubs themselves, a child can learn about dynamics, speed, angles, and other parameters that affect performance, such as the height and distance a golf ball is hit by the club. Thus, Newton's laws of motion can be used to predict and / or explain performance results.

Claims

1. A motor assembly for use in toys or educational systems, the motor assembly comprising: - A main body, a first shaft, a first electric motor, and a control circuit, wherein the first electric motor is configured to drive the first shaft. - A first sensor is configured to detect rotational motion of the first axis and generate a first sensor signal to the control circuit, the first sensor signal being responsive to indicating the detected rotational motion of the first axis; -The control circuit includes: A first motor drive mode, wherein the first electric motor is configured to drive and rotate the first shaft, and A first external drive mode, wherein the first shaft is driven by a first external force; The control circuit is further configured as follows: - Detect the first reciprocating rotation of the first axis in the first external drive mode. - In response to detecting the first reciprocating rotation, control the first electric motor to drive the first shaft through a second reciprocating rotation in the first motor drive mode.

2. The motor assembly of claim 1, wherein the control circuit is configured to detect a first rotation angle (α1) and a second rotation angle (α2) of the first shaft in an external drive mode, i.e., during the first reciprocating rotation, wherein the first rotation angle and the second rotation angle are at opposite rotation endpoints, such as clockwise rotation and counterclockwise rotation; and wherein the control circuit is further configured to control the first electric motor in a first motor drive mode to drive the first shaft between a third rotation angle (α3) and a fourth rotation angle (α4) in a second reciprocating rotation.

3. The motor assembly according to claim 2, wherein the third rotation angle (α3) and the fourth rotation angle (α4) are proportional to or equal to the first rotation angle (α1) and the second rotation angle (α2), respectively.

4. The motor assembly according to any one of claims 2 to 3, wherein the control circuit is configured to: - In the first external drive mode, the angular velocity of the first axis during the first reciprocating rotation is detected. - In the motor drive mode, the first shaft is driven at an angular velocity that is proportional to or equal to the angular velocity detected during the first reciprocating rotation.

5. The motor assembly according to any one of the preceding claims, wherein the sensor comprises one or more of the following: -Magnetic field sensor, -Optical sensor, - Capacitive sensor.

6. The motor assembly of claim 5, comprising a carrier substrate disposed within the main body, wherein, The carrier substrate includes a first surface facing the first axis and a opposing second surface facing away from the first axis, wherein at least one component of the sensor is fixed to the second surface of the carrier substrate, the at least one component being, for example, a magnetic field sensing circuit.

7. The motor assembly according to claim 5 or 6, wherein the magnetic field sensor comprises: - A Hall effect circuit, which is mounted on and electrically connected to the second surface of the carrier substrate. - A permanent magnet, which is attached to the first axis, such that the permanent magnet follows the rotational movement of the first axis.

8. The motor assembly according to any one of the preceding claims, comprising: A gearbox is coupled between the proximal end and the distal end of the first shaft to provide one or more angular velocity ratios between the proximal and distal ends of the first shaft.

9. The motor assembly of claim 8, wherein the sensor is configured to detect rotational motion, such as angular velocity, at the distal end of the first shaft.

10. The motor assembly according to any one of the preceding claims, comprising: Second axis, A second electric motor is configured to drive the second shaft. A second sensor is configured to detect rotational motion of the second axis and generate a second sensor signal to the control circuit, the second sensor signal indicating the detected rotational motion of the second axis. The control circuit includes: A second motor drive mode, wherein the second electric motor is configured to drive and rotate the second shaft, and The second external drive mode, wherein the second shaft is driven by a second external force. The control circuit is further configured to: -Detect the first reciprocating rotation of the second axis in the second external drive mode, and - Control the second electric motor to drive the second shaft by a second reciprocating rotation in the second motor drive mode.

11. The motor assembly according to any one of the preceding claims, wherein, The control circuit includes a first motor driver configured to apply a first motor drive voltage, such as a pulse-modulated motor drive voltage, to the first electric motor.

12. A toy or educational system comprising: -A motor assembly according to any one of the preceding claims One or more toy building elements, such as wheels, levers, etc., are detachably attached to one or more process clips on the first axis.

13. A computer-implemented method for controlling the rotational motion of a first axis of a motor assembly in a toy or educational system, the method comprising: - The first rotational motion of the first axis is monitored by the first sensor. - A sensor signal indicating the detected first rotational motion is generated by the first sensor. - Detect the first reciprocating rotation of the first shaft based on the signal from the first sensor. - The first electric motor is actuated by applying an appropriate motor drive voltage to the first electric motor to cause the first shaft to produce a second reciprocating rotation in response to the detected first reciprocating rotation, the motor drive voltage being, for example, a pulse-modulated motor drive voltage.

14. The computer-implemented method for controlling the rotational motion of a first axis according to claim 13, comprising: - During the detection of the first reciprocating rotation of the first shaft, for example, the first electric motor is disabled via control circuitry. - During the second reciprocating rotation of the first axis, the electric motor is activated to drive the second axis.

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