Motor assembly and toy or educational system

Abstract

The utility model relates to a motor assembly which is used for toys and education 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. In addition, the utility model further relates to a toy or an education system.

Description

Technical Field

[0001] This invention relates particularly to a motor assembly for use in 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 reciprocate in a first motor drive mode to drive the first shaft. Background Technology

[0002] As we all know, electric vehicles such as toy cars and trains have sparked everyone's imagination. Typically, such toy cars or trains include an electric motor that is started by a user-controlled on / off switch, or alternatively by the user applying force to the vehicle body. Utility Model Content

[0003] This motor assembly includes at least one electric motor, which is suitable for flexible integration into different types of toys, educational systems, and devices, such as lifting and moving mechanisms, robots, and vehicles. The motor assembly can support mechanical connections with different types of modular structural elements (e.g., toy components) to allow for flexible and creative use of the motor assembly.

[0004] This motor assembly can also be integrated into a variety of toys and educational systems or devices. The motor assembly can be used in toys designed for educational purposes. For example, a child can learn physics, such as the laws of motion, by trying the parameter settings of a first reciprocating rotation (e.g., twisting the first axis of this motor assembly). By observing the motion response produced by the motor assembly, the child can intuitively understand this law of motion through a second reciprocating rotation. Various examples of such educational toys are described in detail below.

[0005] The motor assembly also needs to be configurable to flexibly actuate various modular building blocks (such as toy components and building blocks) in an intuitive way to support interaction between educational and recreational users and toys or educational systems.

[0006] Modular construction elements may include connecting members suitable for detachably connecting the modular construction elements to each other. Detachable connections between modular construction elements support the construction of toy or educational construction models. The connecting members of the modular construction elements may include connecting members using friction engagement, snap-fit ​​engagement, or a combination of both to provide a detachable connection between the modular construction elements. Alternatively or additionally, a detachable connection providing a detachable shape-locking positive connection may also be formed between the modular construction elements. Alternatively or additionally, a detachable mechanical connection using magnetic connecting members (i.e., cooperative connecting members relying on magnetic attraction) may also be formed between the modular construction elements.

[0007] The first aspect of this technology or utility model relates to a motor assembly for use in toys or educational systems (e.g., educational toys) or educational equipment. The motor assembly includes:

[0008] - 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.

[0009] - A first sensor, configured to detect rotational motion of a first axis, and generate a first sensor signal to a control circuit, the first sensor signal being in response to indicating detected rotational motion of the first axis. The control circuit includes:

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

[0011] The control circuit also includes a first external drive mode, wherein the first shaft can be driven by a first external force.

[0012] The control circuit is also configured as follows:

[0013] -Detect the first reciprocating rotation of the first axis in the first external drive mode.

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

[0015] The control circuit can be configured accordingly to initiate a second reciprocating rotation in response to the user rotating the first axis clockwise and counterclockwise in external drive mode, or vice versa. This actuation scheme for the motor assembly provides the user with a versatile and intuitive interface and can be used to impart different types of derivative movements in toys or educational devices, such as educational toys containing the motor assembly.

[0016] In one embodiment of the motor assembly, the control circuitry 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 a first reciprocating rotation. The first and second rotation angles are located at opposite rotation endpoints, such as clockwise and counterclockwise rotation. The control circuitry is also configured in a first motor drive mode to control the first electric motor to drive the first shaft between a third rotation angle α3 and a fourth rotation angle α4 during a second reciprocating rotation. Those skilled in the art will understand that the control circuitry can be configured in different ways to define the physical parameters of the rotational response during the second reciprocating rotation. According to one embodiment, the third rotation angle α3 and the fourth rotation angle α4 are proportional to or equal to the first angle α1 and the second angle α2, respectively, as discussed in more detail below with reference to the accompanying drawings.

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

[0018] - In the first external drive mode, the angular velocity of the first axis during the first reciprocating rotation is detected.

[0019] - In 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.

[0020] The sensor includes one or more of the following:

[0021] - Magnetic field sensors, such as Hall effect sensors

[0022] -Optical sensor,

[0023] - Capacitive sensor.

[0024] In one embodiment of the motor assembly, a carrier substrate (e.g., a printed circuit board (PCB)) is disposed within the body (e.g., a compartment). The carrier substrate may include a first surface facing the first axis and an opposing second surface facing away from the first axis. At least one component of a sensor, such as a magnetic field sensing circuit, or a Hall effect circuit, is attached to the second surface of the carrier substrate, as discussed in more detail below with reference to the accompanying drawings.

[0025] Magnetic field sensors may include:

[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 axis causes the permanent magnet to follow the rotational motion of the first axis.

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

[0029] One embodiment of the motor assembly includes a second shaft, a second sensor, and a second electric motor configured to drive the second shaft. The motor assembly also includes the second sensor configured to detect rotational movement of the second shaft and generate a second sensor signal to control circuitry indicating the detected rotational movement of the second shaft. The control circuitry includes:

[0030] The 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 axis is driven by a second external force. The control circuit is also configured to:

[0032] -Detect the first reciprocating rotation of the second axis in the second external drive mode, and

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

[0034] The control circuit may include a first motor driver configured to apply a first motor drive voltage, such as a pulse-modulated motor drive voltage, to a first electric motor. Exemplary characteristics of the first motor driver will now be discussed in more detail with reference to the accompanying drawings.

[0035] The second aspect of this invention or technology relates to toys, educational systems, or educational devices, comprising a motor assembly according to any of the above embodiments of the motor assembly and one or more modular construction elements, such as toy building elements, such as wheels, levers, etc. The modular construction elements can be detachably attached to a first shaft, for example via one or more process snaps on the first shaft, such as process snaps arranged on a disc-shaped connecting member. Attached Figure Description

[0036] Other and further aspects and features of the present invention will become apparent from the following detailed description of embodiments.

[0037] The accompanying drawings illustrate the design and practicality of embodiments of the motor assembly, wherein similar elements are indicated by common reference numerals. These drawings are not necessarily drawn to scale. To better understand how the above and other advantages and objectives are achieved, the embodiments shown in the drawings will be described in more detail. These drawings depict only typical embodiments and should therefore not be considered as limiting the scope of the appended patent claims.

[0038] Figure 1 A perspective view of a motor assembly of a toy or educational system according to an embodiment of the present invention is shown.

[0039] Figure 2 A first side view of a motor assembly according to an embodiment of the present invention is shown.

[0040] Figure 3 An exploded view of a motor assembly according to an embodiment of the present invention is shown.

[0041] Figure 4 A first perspective view of a motor assembly according to an embodiment of the present invention is shown.

[0042] Figure 5A vertical cross-sectional view centered through a first axis of the motor assembly according to an embodiment of the present invention is shown; and

[0043] Figure 6 This is a schematic diagram of the control circuit and related components according to an embodiment of the present invention.

[0044] It should be understood that the technology of this application can be implemented and used in various ways, including but not limited to processes, apparatuses, systems, devices, application methods now known and later developed, or computer-readable media. These and other unique features of the systems disclosed herein will become more apparent from the following description and accompanying drawings. Detailed Implementation

[0045] Those skilled in the art will understand that the accompanying drawings are schematic and simplified for clarity, and in some cases may show only details essential for understanding exemplary embodiments of the motor assembly, while other details have been omitted.

[0046] 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).

[0047] 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.

[0048] 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 6The 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.

[0049] 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, for example, by applying a driving force to the first shaft 5, for example via a mechanical coupling device (such as the first gearbox 40), to generate rotational motion of the first shaft 5 in a first motor drive mode of the motor assembly 1. In other words, in the first motor drive mode, the control circuit 31 is configured to control the first electric motor to rotate the first shaft 5.

[0050] Still for reference Figure 5 The motor assembly 1 includes a first sensor 62 configured to detect rotational motion of the first shaft 5. The sensor is configured to respond to the rotational motion by generating a first sensor signal indicating the detected rotational motion of the first shaft 5. The first sensor signal is supplied to control circuitry 31, for example, via wires or traces on the main PCB 24 of the motor assembly 1 or a similar carrier substrate. In one embodiment of the motor assembly 1, the first sensor 62 and / or control circuitry 31 include a first encoder configured to receive the first sensor signal and convert it into a corresponding first digital sensor signal.

[0051] Those skilled in the art will understand that various types of sensors and their physical arrangements can be used to sense the rotational motion of the first shaft 5. Sensor 62 may include a magnetic field sensor, an optical sensor, a capacitive sensor, or any combination thereof. In another embodiment, when the motor assembly 1 operates in a first external drive mode, sensor 62 may include a first electric motor 30. In this first external drive mode, the first shaft 5 is driven by an external force, rather than by the first electric motor 30 as in the first motor drive mode. The external force may be applied to the first shaft 5 by a user who may directly or indirectly rotate (e.g., turn or twist) the first shaft 5 via attached modular construction elements (e.g., the first disc-shaped connecting member 7 or other connecting members of the aforementioned types).

[0052] The control circuit 31 is also configured to detect a first reciprocating rotation of the first shaft 5 in the first external drive mode and respond by controlling the first electric motor 30 to drive the first shaft 5 by a second reciprocating rotation in the first motor drive mode. In other words, the control circuit 31 can eliminate the drive voltage supplied to the first motor, for example by disabling the first motor driver 35. Figure 6 Simultaneously, the control circuit 31 detects the 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 drive voltage to the first electric motor, for example, by enabling the motor driver 37. The control circuit 31 thereby controls the first electric motor to actuate the first shaft 5 for a second reciprocating rotation. The drive voltage can include a pulse-modulated drive voltage, such as a pulse width modulated drive voltage or a pulse density modulated drive voltage. The control circuit 31 can include a motor driver 37 configured to supply a pulse-modulated drive voltage to the first electric motor. The motor driver can include 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. Each of the half-bridge and full-bridge output stages can include multiple semiconductor switches, such as MOSFETs or IGBTs.

[0053] Figure 2 A first side view of a motor assembly 1 according to an embodiment of the present invention is shown.

[0054] Figure 3 An exploded view of an exemplary motor assembly 1 is shown. The motor assembly 1 includes a body 10, which in particular includes a cover 12 and a bottom portion 26. The cover 12 and the bottom portion 26 together at least partially define an internal compartment 28 of the motor assembly 1. The motor assembly 1 includes an electronic module 22 or electronic support structure disposed within the internal compartment 28 and thus protected from contamination by the external environment. The electronic module 22 includes a main printed circuit board 24, which may include 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, may be soldered and electrically connected to one or more surfaces of the main printed circuit board 24 using known techniques.

[0055] The electronic module 22 also includes a first carrier substrate 55, which is arranged vertically approximately below the first axis 5 and closer to the distal end of the first axis 5 than to the proximal end. The first carrier substrate 55 may include a printed circuit board or a ceramic substrate, etc. The first carrier substrate 55 includes a first surface 56 facing the first axis 5 and an opposing second surface (not shown) facing away from the first axis 5. At least one component 62 of the aforementioned first sensor 62 ( Figure 6For example, a magnetic field sensing circuit (such as a Hall effect circuit) is fixed to the second surface of the first carrier substrate 55. The first magnetic field sensing circuit 62 will be discussed further below.

[0056] Still for reference Figure 3 The motor assembly 1 includes a rechargeable battery 25 or a similar power source and a supporting frame 21 for supporting 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 may include a data communication interface 23, such as a USB port, for data communication between the control circuit 31 and an external programming device 29. Figure 6 The motor assembly 1 may include an optical sensor and / or an optical detector (not shown).

[0057] A first gearbox 40 is coupled between the proximal end and the distal end of the first shaft 5 to provide one or more angular velocity ratios between the proximal and distal ends of the first shaft 5. A first electric motor 30 is coupled to the input end of the first gearbox 40, and the output end of the first gearbox 40 is coupled to the distal end of the first shaft 5. The first gearbox 40 includes components mechanically coupled to the first electric motor 30. Figure 5 The first input axis (not shown).

[0058] Figure 4 A first perspective view of the motor assembly 1 is shown. Control circuitry 31 can be configured to detect various physical parameters related to the first reciprocating rotation of the first shaft 5 in external drive mode. The first reciprocating rotation of the first shaft 5 is schematically illustrated by dashed arrows 45, 47 and the associated rotation angles α1, α2 relative to the starting position of the first shaft 5. Those skilled in the art will understand that the first reciprocating rotation of the first shaft 5 in external drive mode may be caused by user manipulation of the first shaft 5. Various modular construction elements (e.g., process beams or shafts) can be attached to the first shaft 5 by attaching them to process snaps 20 of the first disc-shaped connecting member 7. The user can manipulate the construction elements to impart the first reciprocating rotation of the first shaft 5 with external drive.

[0059] The motor assembly 1 can be integrated, for example, into a toy car, wherein the wheels or tires are fixed to the first disc-shaped connecting member 7 of the motor assembly 1.

[0060] In one embodiment, control circuit 31 is configured to detect a first rotation angle α1 and a second rotation angle α2 of the first shaft 5, wherein the first and second rotation angles are located at opposite rotation endpoints of the reciprocating rotation, such as clockwise and counterclockwise endpoints. Therefore, the first rotation angle α1 and the second rotation angle α2 are the corresponding rotation endpoints of the reciprocating rotation of the first shaft 5 caused by the user manipulating the first shaft 5 from its starting position. Control circuit 31 can be configured to respond to the first reciprocating rotation by switching, for example, into a motor drive mode as discussed previously, and to control an electric motor to impart a second reciprocating rotation to the first shaft 5, and may impart the second reciprocating rotation to the first disc-shaped coupling 7 and / or alternative or additional modular construction elements mechanically coupled to the first shaft 5, such as toy elements as described above. Control circuit 31 can control the first electric motor 30 to manipulate the second reciprocating rotation between a third rotation angle α3 and a fourth rotation angle α4 in motor drive mode. The control circuit 31 can be configured to impart only a single second reciprocating rotation to the first axis 5, or alternatively to continue the second reciprocating rotation, causing the first axis 5 to perform multiple consecutive reciprocating rotations. In a later embodiment, the control circuit can be configured to continue the second reciprocating rotation until the first axis is blocked (e.g., due to user intervention).

[0061] In motor-driven mode, the third rotation angle α3 and the fourth rotation angle α4 can be proportional to or equal to the first rotation angle α1 and the second rotation angle α2, respectively. The third rotation angle α3 and the fourth rotation angle α4 can be preset in the control circuit 31 and used independently of the actually detected first rotation angle α1 and second rotation angle α2. The control circuit 31 can respond to the detection that the reciprocating rotation of the first shaft 5 exceeds a certain threshold in external drive mode, and responsively control the first electric motor 30 to drive the first shaft between the predetermined third rotation angle α3 and fourth rotation angle α4 in motor-driven mode. Therefore, if the user rotates (e.g., twists) the first shaft 5 between, for example, +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 with a second reciprocating rotation of +90 degrees and -90 degrees. Alternatively, when the user rotates the first axis 5 between, for example, +90 degrees and -90 degrees, the control circuit 31 can respond by controlling the electric motor to drive the first axis 5 to perform a second reciprocating rotation proportional to the first reciprocating rotation (e.g., +45 degrees and -45 degrees or +120 degrees and -120 degrees, etc.).

[0062] According to another embodiment of the motor assembly 1, the control circuit 31 is configured to additionally or alternatively detect the rotational speed of the first shaft 5 during the first reciprocating rotation in the first external drive mode, for example, rotational motion caused by an external force induced by user manipulation of the first shaft 5. The control circuit 31 is also configured to drive the first shaft 5 in 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. Those skilled in the art 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 motion.

[0063] The control circuit can be adapted to detect a first reciprocating rotation of the first shaft 5 exceeding a certain angle threshold in an external drive mode, and in response to exceeding the angle threshold, control the first electric motor 30 in a predetermined manner.

[0064] Figure 5 A rearward tilted perspective view is shown of some of the previously discussed features and components arranged within the internal compartment 28 of the main body 10 of the motor assembly 1. The first gearbox 40 is visible and has the generally L-shaped profile discussed earlier. At least one component of the previously discussed first magnetic field sensor may include a Hall effect circuit 62 mounted on and electrically connected to a second surface 60 of the first carrier substrate 55. The first magnetic field sensor may also include a first permanent magnet (not shown) attached to a 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) allows for a smaller distance between the first carrier substrate 55 and the first shaft 5 compared to placing the first Hall effect circuit 62 on a first surface of the first carrier substrate 55. This surface-facing arrangement of the Hall effect circuit 62 can, for example, eliminate mechanical tolerances associated with the Hall effect circuit 62.

[0065] Those skilled in the art will recognize that the rotational motion 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, which indicates the motion (e.g., rotation) of the first axis 5.

[0066] The first sensor, comprising a first Hall effect circuit 62 and a first permanent magnet, is preferably positioned at the distal end of the first shaft 5, rather than at the proximal end. The distal end is located at the output of the first gearbox 40. This arrangement eliminates potential transmission backlash in the first gearbox, enabling precise sensing of the first and second rotational movements of the first shaft 5.

[0067] An exemplary educational toy including this motor assembly may be equipped with a toy golf club attached to one or more of the process clips discussed above. By twisting or reciprocating the golf club at different distances in external drive mode, a child can set the reciprocating motion of the toy club in motor drive mode. By changing the rotational speed of the toy club and / or the first rotation angle α1 and the second rotation angle α2, as well as the toy club itself, the child can learn about dynamics, speed, angles, and other parameters affecting performance, such as the height and distance the golf ball is hit by the club. Therefore, Newton's laws of motion can be used to predict and / or explain performance outcomes.

Claims

1. A motor assembly for use in a toy or educational system, the motor assembly comprising: - a body, - a first shaft, - a first electric motor configured to drive the first shaft, - a control circuit, - 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 indicating a detected rotational movement of the first shaft; wherein, - the first electric motor is configured to drive and rotate the first shaft in a first motor drive mode of the control circuit, and - the first shaft is driven by a first external force in a first external drive mode of the control circuit; and wherein the control circuit is further configured to: - detect a first reciprocating rotation of the first shaft in the first external drive mode, - in response to detecting 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.

2. The motor assembly according to claim 1, wherein the control circuit is configured to detect a first rotation angle (al) and a second rotation angle (a2) of the first shaft in the 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, e.g. clockwise and counter clockwise rotation; and wherein 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.

3. The motor assembly according to claim 2, wherein the third rotation angle (a3) and the fourth rotation angle (a4) are proportional or equal to the first rotation angle (al) and the second rotation angle (a2), respectively.

4. The motor assembly according to any one of claims 2 to 3, wherein the control circuit is configured to: - detect an angular velocity of the first shaft during the first reciprocating rotation in the first external drive mode, - drive the first shaft in the motor drive mode with an angular velocity that is proportional or equal to the angular velocity of the first shaft 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: - a magnetic field sensor, - an optical sensor, - a capacitive sensor.

6. The motor assembly of claim 5, comprising a carrier substrate arranged inside the main body, wherein, the carrier substrate comprises a first surface facing the first shaft and an opposite second surface facing away from the first shaft, wherein at least one component of the sensor, e.g. a magnetic field sensing circuit, is fixed to the second surface of the carrier substrate.

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

8. The motor assembly of any one of the preceding claims, comprising: 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 and distal ends of the first shaft.

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

10. The motor assembly according to any one of the preceding claims, comprising: a second shaft, a second electric motor configured to drive the second shaft, a second sensor configured to detect rotational motion of the second shaft and generate a second sensor signal to the control circuit, the second sensor signal being indicative of the detected rotational motion of the second shaft; wherein the second electric motor is configured to drive and rotate the second shaft in a second motor drive mode of the control circuit, and the second shaft is driven by a second external force in a second external drive mode of the control circuit; and wherein the control circuit is further configured to: - detect a first reciprocating rotation of the second shaft 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 of any one of the preceding claims, wherein, the control circuit comprises 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 removably secured to one or more process clips of the first shaft.

13. A toy or educational system according to claim 12, wherein, The toy building elements comprise at least one of a wheel and a lever. the toy building elements comprise at least one of a wheel and a lever.

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