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 body, a control circuit, a first electric motor, a second electric motor, a first shaft, and a second shaft. A first electric motor is configured to drive the first shaft by rotational motion and a second electric motor is configured to drive the second shaft by rotational motion. A control circuit is configured to independently control driving of the first electric motor and the second electric motor to provide independent rotational motion of the first shaft and the second shaft. In addition, the utility model further relates to various toys or education systems.

Description

TECHNICAL FIELD

[0001] The utility model relates to a motor assembly for toys and educational systems. The motor assembly comprises a main body, a control circuit, a first electric motor, a second electric motor, a first shaft and a second shaft. The first electric motor is configured to drive the first shaft by rotational motion, and the second electric motor is configured to drive the second shaft by rotational motion. The control circuit is configured to independently control the first electric motor and the second electric motor to provide independent rotational motion of the first shaft and the second shaft. BACKGROUND

[0002] It is well known that electric vehicles such as toy cars and toy trains can capture the imagination of all. Typically, such toy cars or trains comprise an electric motor that is activated by a user-controllable on / off switching device or by the user applying force to the vehicle. SUMMARY

[0003] The utility model provides an improved motor assembly that can be integrated into toys, detached from toys and generally reconfigured while operating in a more intuitive and more instructive manner.

[0004] The motor assembly comprises two or more electric motors that are suitable for flexible integration into different types of toys and educational systems such as lifting mechanisms and moving mechanisms, robots and vehicles. The motor assembly can comprise mechanical coupling members / elements for connection to different types of modular construction elements and building blocks for flexible and creative utilization of the motor assembly. The educational system can comprise an educational toy system or other types of educational systems for classroom use or other systems.

[0005] The motor assembly can be configured to flexibly actuate various modular construction elements and building blocks of a toy or educational construction model in an intuitive manner to support the interaction of educational and entertainment users with the toy or educational system.

[0006] The modular construction elements can comprise coupling members adapted to connect the modular construction elements to each other in a detachable manner. The detachable connection between the modular construction elements supports the construction of a toy or educational construction model. The coupling members of the modular construction elements can comprise coupling members using frictional engagement, snap engagement, or a combination of both to provide the detachable connection between the modular construction elements. Alternatively or in addition, the coupling members can be used to provide a detachable form-locking positive connection forming the detachable connection between the modular construction elements. Alternatively or in addition, magnetic coupling members, i.e. cooperating coupling members relying on attractive magnetic forces, can be used to form a detachable mechanical connection between the modular construction elements.

[0007] A first aspect of the technology or utility relates to a motor assembly for a toy, e.g. an educational toy, or for an educational system. The motor assembly comprises a main body, a control circuit, a first shaft and a second shaft, a first electric motor configured to drive the first shaft, and a second electric motor configured to drive the second shaft. The motor assembly can comprise a first sensor configured to detect rotational movement of the first shaft, and a second sensor configured to detect rotational movement of the second shaft. The motor assembly can comprise a control circuit configured to control driving of the first electric motor and to control driving of the second electric motor. The control circuit is configured to independently control the respective driving of the first shaft and the second shaft, e.g. to provide independent rotational movement of the first shaft and the second shaft by independently controlling the first electric motor and the second electric motor.

[0008] The independent driving, e.g. actuation, of the first shaft and the second shaft provided by the control circuit supports flexible actuation of various modular construction elements, e.g. wheels, technical beams, etc. For example, the first shaft and the second shaft can use different rotational movement schemes to drive different types of modular construction elements attached to the first shaft and / or the second shaft.

[0009] According to one embodiment of the motor assembly, the first sensor is configured to generate a first sensor signal indicative of rotational movement of the first shaft, and the second sensor is configured to generate a second sensor signal indicative of rotational movement of the second shaft. The control circuit can be configured to control the respective driving of the first electric motor and the second electric motor based on the first sensor signal and the second sensor signal. The first sensor and the second sensor can be configured to utilize a plurality of types of physical sensing schemes, e.g. each of the first sensor and the second sensor can comprise one or more of:

[0010] - a magnetic field sensor,

[0011] - an optical sensor, and

[0012] - a capacitive sensor.

[0013] In one embodiment of the motor assembly, the first sensor and / or the control circuit comprise a first encoder configured to receive the first sensor signal and to convert the first sensor signal into a corresponding first digital sensor signal. The second sensor and / or the control circuit comprise a second encoder configured to receive the second sensor signal and to convert the second sensor signal into a corresponding second digital sensor signal. If the control circuit comprises a digital processor (e.g. a microprocessor), it can be helpful to convert into digital sensor signals (e.g. digital codes representing the respective rotational angles of the first and second shafts). The person skilled in the art will understand that the first encoder can be integrated in the first sensor, so that the latter outputs a digital sensor signal. The second encoder can be integrated in the second sensor in a corresponding manner.

[0014] In one embodiment of the motor assembly, the control circuit comprises:

[0015] - a first motor drive mode, in which the first electric motor drives the first electric motor,

[0016] - a first external drive mode, in which the first shaft is driven by a first external force,

[0017] - in the first external drive mode, a first physical parameter related to the first rotational movement of the first shaft is detected,

[0018] - in response to the detected first physical parameter, the first electric motor is controlled to drive the first shaft in the first motor drive mode by a second rotational movement.

[0019] The control circuit further comprises:

[0020] - a second motor drive mode, in which the second electric motor drives the second electric motor,

[0021] - a second external drive mode, in which the second shaft is driven by a second external force,

[0022] - in the second external drive mode, a second physical parameter related to the second rotational movement of the second shaft is detected,

[0023] - in response to the detected second physical parameter, the second electric motor is controlled to drive the second shaft in the second motor drive mode by a third rotational movement.

[0024] The control circuit can be configured to detect a plurality of types of first physical parameters and likewise a plurality of types of second physical parameters. The skilled person will appreciate that the first physical parameters can be different or the same as the second physical parameters. Thus, the control circuit is able to support flexible actuation possibilities of the motor assembly, e.g. where the first rotational movement can be controlled independently of the second rotational movement to provide flexible control of the respective movements of the first and second shafts.

[0025] For example, the first physical parameters related to the first rotational movement of the first shaft can comprise a first rotational angle of the first shaft and / or an angular velocity of the first shaft. For example, the second physical parameters related to the second rotational movement of the second shaft can comprise a second rotational angle of the second shaft and / or an angular velocity of the second shaft. The control circuit can be configured to, in the first motor drive mode, rotate the first shaft in the same direction (i.e. clockwise or counter-clockwise) as the rotational direction detected in the first external drive mode. Additionally or alternatively, the control circuit can be configured to, in the second motor drive mode, rotate the second shaft in the same direction (i.e. clockwise or counter-clockwise) as the rotational direction detected in the second external drive mode.

[0026] For example, the second rotational movement in the first motor drive mode can comprise one or more turns of rotation of the first shaft. The control circuit can detect that the first angular rotation exceeds a certain angular threshold in the first external drive mode and, in response, continuously rotate the first shaft, e.g. until the first shaft is blocked by an external driving force (e.g. due to user intervention). For example, the second rotational movement in the second motor drive mode can comprise one or more turns of rotation of the second shaft. The control circuit can detect that the second angular rotation exceeds a certain angular threshold in the second external drive mode and, in response, continuously rotate the second shaft, e.g. until the second shaft is blocked by an external driving force (e.g. due to user intervention).

[0027] One embodiment of the control circuit can be configured to detect a reciprocating rotation of the first shaft and / or the second shaft, e.g. using the schemes discussed further below with reference to the accompanying drawings. For example, the control circuit can be configured to:

[0028] - detect a first reciprocating rotation of the first shaft in the first external drive mode,

[0029] - control the first electric motor in the first motor drive mode to drive the first shaft by a second reciprocating rotation; and / or

[0030] - detect a second reciprocating rotation of the second shaft in the second external drive mode,

[0031] - control the second electric motor in the second motor drive mode to drive the second shaft by a second reciprocating rotation.

[0032] The control circuit can further be configured to:

[0033] - detect, in a first external drive mode, i.e. during a first reciprocating rotation, a first rotation angle a1 and a second rotation angle a2 of the first shaft, wherein the first rotation angle a1 and the second rotation angle a2 are at opposite rotation end points, e.g. a clockwise rotation end point and a counter clockwise rotation end point,

[0034] - control, in a first motor drive mode, the first electric motor to drive the first shaft between a third rotation angle a3 and a fourth rotation angle a4 during a second reciprocating rotation. Additionally or alternatively, the control circuit can further be configured to:

[0035] - detect, in a second external drive mode, i.e. during a second reciprocating rotation, a first rotation angle a1 and a second rotation angle a2 of the second shaft, wherein the first rotation angle a1 and the second rotation angle a2 of the second shaft are at opposite rotation end points, e.g. a clockwise rotation end point and a counter clockwise rotation end point,

[0036] - control, in a second motor drive mode, the second electric motor to drive the second shaft between a third rotation angle a3 and a fourth rotation angle a4 during a second reciprocating rotation of the second shaft.

[0037] The motor assembly can comprise a first carrier substrate and a second carrier substrate, both of which are arranged in an inner compartment of the main body of the motor assembly. The first carrier substrate comprises a first surface facing the first shaft and an opposite second surface facing away from the first shaft. At least one component of the first sensor, e.g. a magnetic field sensing circuit, is preferably fixed to the second surface of the first carrier substrate. Likewise, the second carrier substrate can comprise a first surface facing the second shaft and an opposite second surface facing away from the second shaft. At least one component of the second sensor, e.g. a magnetic field sensing circuit, is preferably fixed to the second surface of the second carrier substrate.

[0038] The first magnetic field sensor can comprise:

[0039] - a first Hall effect circuit mounted on and electrically connected to the second surface of the first carrier substrate,

[0040] - a first permanent magnet attached to the first shaft such that the first permanent magnet follows the rotational movement of the first shaft. The second magnetic field sensor can comprise a second Hall effect circuit mounted on and electrically connected to the second surface of the second carrier substrate.

[0041] In one embodiment, the control circuit can include 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, and the control circuit can include a second motor driver configured to apply a second motor drive voltage (e.g., a pulse-modulated motor drive voltage) to the second electric motor, e.g., as discussed further below with reference to the accompanying drawings. In a first external drive mode of the control circuit, the first motor driver can be disabled by the control circuit, and in a second external drive mode of the control circuit, the second motor driver can be disabled by the control circuit.

[0042] The motor assembly can include a first gearbox coupled between the proximal end of the first shaft and the distal end segment of the second shaft to provide one or more angular velocity ratios between the proximal end of the first shaft and the distal end segment of the second shaft.

[0043] a second gearbox coupled between the proximal end of the second shaft and the distal end segment of the second shaft to provide one or more angular velocity ratios between the proximal end of the second shaft and the distal end segment of the second shaft.

[0044] A further aspect of the utility model relates to a toy or educational system comprising a motor assembly according to any of the above embodiments. Preferably, the toy or educational system further comprises one or more modular construction elements, such as wheels, levers, etc., which can be detachably fixed to at least one of the first shaft and the second shaft.

[0045] It should be appreciated that the subject technology can be implemented in a number of manners including, but not limited to, a process, an apparatus, a system, a device, or a computer readable medium. The subject technology, motor assembly, toy and educational system disclosed herein each have several aspects, no single one of which is solely responsible for its desirable attributes or features. The details of the subject technology, motor assembly, toy and educational system are described in the following description and attached drawings. BRIEF DESCRIPTION OF DRAWINGS

[0046] Other and further aspects and features of the technology or utility model will become apparent during the course of the following detailed description along with the accompanying drawings. The drawings show, by way of illustration, the design and utility of embodiments of the motor assembly, in which like reference numerals refer to similar elements. These drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the technology. For a better understanding of the above and other advantages and objects, reference is made to the following detailed description, taken in connection with the accompanying drawings, in which:

[0047] Figure 1 a rear perspective view of a motor assembly of a toy according to an embodiment of the utility model is shown,

[0048] Figure 2 an exploded view of a motor assembly according to an embodiment of the utility model is shown,

[0049] Figure 3 This is a vertical cross-sectional view of a motor assembly according to an embodiment of the present invention.

[0050] Figure 4 A side view of a motor assembly according to an embodiment of the present invention is shown.

[0051] Figure 5 Another side view of the motor assembly according to an embodiment of the present invention is shown.

[0052] Figure 6 A rear oblique perspective view of the inner compartment of the main body of a motor assembly according to an embodiment of the present invention is shown; and

[0053] Figure 7 This is a schematic diagram of the control circuit and related components according to an embodiment of the present invention. Detailed Implementation

[0054] Those skilled in the art will understand that the accompanying drawings are illustrative and may be simplified for clarity, and in some cases may show only details essential for understanding embodiments of the exemplary motor assembly, while other details are omitted.

[0055] Figure 1 A perspective view of a motor assembly 1 for a toy or educational system (e.g., an educational toy) according to an embodiment of the present invention is shown. The motor assembly 1 can be integrated into an educational device.

[0056] The motor assembly 1 can serve as a motion-generating component of a toy. The motor assembly 1 includes a body 10, which includes a cover 12, sidewalls 14, and a base 2. The motor assembly 1 includes a plurality of knobs 15 protruding from the outer surface of the cover 12 for coupling to mating connection members of various toy building blocks. The cover 12, sidewalls 14, and base 2 define an internal compartment for the motor assembly 1. Figure 2 (See attached figure 28).

[0057] Motor assembly 1 includes Figure 3 The first electric motor 30A is shown. The motor assembly 1 includes a first shaft 5A having an internal compartment 28 extending from the main body. Figure 2The first shaft 5A extends horizontally outward from its proximal end (not shown). The distal end of the first shaft 5A protrudes beyond the body 10. The first shaft 5A includes a first rod extending into the internal compartment 28 and a first connecting member, such as a first disc-shaped connecting member 7A, attached to the distal end of the first rod. The first rod can extend into a central opening of the first disc-shaped connecting member 7A to attach the first disc-shaped connecting member 7A to the first rod. The first rod and the first disc-shaped connecting member 7A can be manufactured as separate objects that can be mechanically interconnected in a detachable manner, such as using snap-fit ​​engagement. Alternatively, the first rod and the first disc-shaped connecting member 7A can be permanently bonded together by means such as adhesives or welding. Alternatively, the first rod and the first disc-shaped connecting member 7A can be manufactured as a single integral object by means such as injection molding.

[0058] Motor assembly 1 also includes a second shaft 5B, which has an internal compartment 28 extending from the body 10. Figure 2 The proximal end (not shown) of the central portion of the first shaft 5A extends horizontally. The distal end of the second shaft 5B protrudes outside the body 10 on the opposite side of the body 10 relative to the first shaft 5A. The second shaft 5B includes a second rod extending into the internal compartment 28 and a second connecting member 7B, such as a second disc-shaped connecting member 7B, releasably attached to the distal end of the second rod. The second rod can extend into the central opening of the second disc-shaped connecting member 7B to attach the second disc-shaped connecting member 7B to the second rod. The second rod and the second disc-shaped connecting member 7B can be interconnected and manufactured in a manner similar to that of the rod of the first shaft 5A and the first disc-shaped connecting member 7A.

[0059] The first axis 5A can be arranged coaxially with the second axis 5B to provide a compact layout and minimize space consumption in the internal compartment 28 of the main body 10. However, other spatial arrangements of the first axis 5A and the second axis 5B can also be chosen, such as with horizontal or vertical displacement between them. The first disc-shaped connecting member 7A may include one or more technical latches 20A as described below. The motor assembly 1 also includes a first electric motor ( Figure 3 As shown in 30A), it can be arranged inside the main body 10, for example, in the internal compartment 28. The motor assembly 1 also includes a second electric motor ( Figure 3 As shown in 30B), it can be arranged inside the main body 10, for example, in the internal compartment 28. The motor assembly 1 also includes a control circuit 31 ( Figure 7 It can be housed inside the main body 10, for example, as an electronic component 22 arranged in the internal compartment 28. Figure 2 The main printed circuit board 24 (shown) Figure 2 As shown). The control circuit may include a digital processor 33. Figure 7), such as a software programmable microprocessor. The software programmable microprocessor can be configured to provide various monitoring, signal transmission, and control functions of the motor assembly 1, such as those disclosed in the present specification, by executing one or more software components, such as program routines. Each software component can include a set of executable program instructions that can be stored in a non-volatile memory 37 Figure 7 ), such as a flash memory, and loaded therefrom. In addition, the functions provided by the control circuit 31 can also 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, etc. These hardware functional modules can be implemented, for example, as circuits or as a combination of circuits and software.

[0060] Certain embodiments of the motor assembly 1 also include an optional first gearbox 40A and an optional second gearbox 40B Figure 2 , each of which can have a generally L-shaped profile. The first gearbox 40A and the second gearbox 40B can be arranged in a mirror configuration to provide a compact layout that can be effectively coupled to the first electric motor and the second electric motor. Such an arrangement can reduce the space occupation of the interior compartment 28 of the main body 10. The first gearbox 40A includes a first input shaft 44A that is mechanically coupled to the first electric motor 30A (not shown). The second gearbox 40B includes a second input shaft 44B that is mechanically coupled to the second electric motor 30B (not shown). The first input shaft 44A and the second input shaft 44B can be offset to facilitate connection.

[0061] The first electric motor 30A is configured to drive the first shaft 5A, such as by directly applying a driving force or via a mechanical coupling arrangement (such as the first gearbox 40A), to generate a rotational motion of the first shaft 5A. Similarly, the second electric motor 30B is configured to drive the second shaft 5B, such as by directly applying a driving force or via a mechanical coupling arrangement (such as the second gearbox 40B), to generate a rotational motion of the second shaft 5B. The first electric motor and the second electric motor, and the respective first shaft 5A and second shaft 5B, are independently rotatable to support flexible actuation possibilities of the motor assembly 1. The control circuit 31 can also be configured to independently control the driving of the first electric motor and the driving of the second electric motor.

[0062] The motor assembly 1 includes a first sensor 62A Figure 6A first sensor 62A (shown) is configured to detect rotational movement of the first shaft 5A. The first sensor 62A is configured to respond to rotational movement of the first shaft 5A by generating a first sensor signal indicative of the detected rotational movement of the first shaft 5A. The first sensor signal is supplied to the control circuit 31, for example via electrical wires or traces of the main printed circuit board 24 of the motor assembly 1. The motor assembly 1 further includes a second sensor 62B Figure 6 A second sensor 62B (shown) is configured to detect rotational movement of the second shaft 5B. The second sensor 62B is configured to respond to rotational movement of the second shaft 5B by generating a second sensor signal indicative of the detected rotational movement of the second shaft 5B. The second sensor signal can be supplied to the control circuit 31, for example via electrical wires or traces of the main printed circuit board 24 of the motor assembly 1.

[0063] Those skilled in the art will appreciate that various types of sensors and physical arrangements of sensors can be utilized to sense the respective rotational movement of the first shaft 5A and the second shaft 5B. Each sensor can include a magnetic field sensor, an optical sensor, a capacitive sensor, or any combination thereof.

[0064] Figure 2 A cross-sectional view of an exemplary motor assembly 1 is shown. The motor assembly 1 includes a main body or housing 10, which includes, among other things, a cover 15 and a bottom 2 that collectively at least partially define an internal compartment 28 of the motor assembly 1. The motor assembly 1 includes an electronics module 22 or electronics support structure that is disposed within the internal compartment 28 and is thus suitably protected from contamination by the external environment. The electronics module 22 includes a main printed circuit board 24 that can include and support various types of active and passive electronic components of a control circuit 31.

[0065] The active and passive electronic components can be soldered and electrically connected to one or more surfaces of the main printed circuit board 24 using well-known manufacturing techniques. The motor assembly 1 includes a rechargeable battery 25 and a mating frame 21 that can support the rechargeable battery 25 or similar power source. The rechargeable battery 25 can be configured to power the control circuit 31, the first and second electric motors, the first and second sensors, and the like. The motor assembly 1 can include a data communication interface, such as a USB port 23, for data communication between the control circuit 31 and an external programming device 29 Figure 7 ) that is suitably programmed. The external programming device 29 can include an off-the-shelf computer that is suitably programmed, such as a tablet computer that includes a specially tailored software application. The specially tailored software application can be configured to generate and transmit various commands to the motor assembly 1. The specially tailored software application can be configured to receive and store various types of data from the motor assembly 1, such as operating parameters of the motor assembly. The motor assembly 1 can include an optical sensor and / or optical detector 27.

[0066] A first gearbox 40A is coupled between a proximal end of the first shaft 5A and a distal end of the first shaft 5A to provide one or more angular speed ratios between the proximal end and the distal end of the first shaft 5A. A first electric motor 30A is coupled to an input of the first gearbox 40A, and an output of the first gearbox 40A is coupled to the distal end of the first shaft 5A. A second gearbox 40B is coupled between a proximal end of the second shaft 5B and a distal end of the second shaft 5B to provide one or more angular speed ratios between the proximal end and the distal end of the second shaft 5B. A second electric motor 30B is coupled to an input of the second gearbox 40B, and an output of the second gearbox 40B is coupled to the distal end of the second shaft 5B.

[0067] The electronic module 22 comprises a first carrier substrate 55A arranged vertically substantially below the first shaft 5A and horizontally aligned with the distal end of the first shaft 5A. The electronic module 22 further comprises a similar second carrier substrate 55B arranged vertically substantially below the second shaft 5B and horizontally aligned with the distal end of the first shaft 5A. Each of the first and second carrier substrates 55A, 55B can comprise a printed circuit board. The first carrier substrate 55A comprises a first surface 56A facing the first shaft 5A and an opposite second surface (not shown) facing away from the first shaft 5A. At least one component 62A of the first sensor discussed earlier (shown in Fig. 2), such as a Hall effect circuit or the like magnetic field sensing circuit, is fixed to the second surface of the first carrier substrate 55A. Similarly, the second carrier substrate 55B comprises a first surface 56B facing the second shaft 5B and an opposite second surface (not shown) facing away from the second shaft 5B. At least one component 62B of the second sensor (shown in Fig. 2), such as a Hall effect circuit or the like second magnetic field sensing circuit, is fixed to the second surface of the second carrier substrate 55B. Figure 6 As shown, the first magnetic field sensing circuit 62A and the second magnetic field sensing circuit 62B are as discussed earlier and will be further discussed below. Figure 6 As shown, the first magnetic field sensing circuit 62A and the second magnetic field sensing circuit 62B are as discussed earlier and will be further discussed below. Figure 6 As shown, the first magnetic field sensing circuit 62A and the second magnetic field sensing circuit 62B are as discussed earlier and will be further discussed below.

[0068] Figure 3 is a vertical sectional view of the motor assembly 1 through the respective centers of the first and second shafts 5A, 5B according to an embodiment of the present application.

[0069] Figure 4 A first side view of the motor assembly 1 comprising the first and second shafts 5A, 5B (not visible) is shown. The control circuit 31 can be configured to detect various physical parameters related to the first rotational movement of the first shaft 5A in the first external drive mode, as briefly discussed above. Additionally or alternatively, the control circuit 31 can be configured to detect various parameters related to the second rotational movement of the second shaft 5B in the second external drive mode.

[0070] Arrow 45A schematically illustrates an exemplary first rotational movement of the first shaft 5A in the first externally driven mode and its associated rotational angle a1, which will be further discussed below. It will be appreciated by those skilled in the art that the control circuit 31 can be configured to detect the respective rotational movement of the second shaft 5B independently of the rotational movement of the first shaft 5A.

[0071] It will be appreciated by those skilled in the art that in the first externally driven mode, the second rotational movement of the first shaft 5A can be generated by the user directly or indirectly using manipulation of the first shaft 5A using the first disc-shaped coupling member 7A discussed earlier. Various modular construction elements, such as technical beams or shafts, can be coupled to the first shaft 5A by attaching them to the technical snaps 20A of the first disc-shaped coupling member 7A. The user can manipulate the modular construction elements to effect the rotational movement of the first shaft 5A. For example, a motor assembly can be integrated to a toy car, wherein the wheels or tires are fixed to the first disc-shaped coupling member 7A of the motor assembly 1. Similarly, in the second externally driven mode, the second rotational movement of the second shaft 5B can be generated by the user directly or indirectly using manipulation of the second shaft 5B using the second disc-shaped coupling member 7B discussed earlier. Various modular construction elements, such as technical beams or shafts, can be coupled to the second shaft 5B by attaching them to the technical snaps 20B of the second disc-shaped coupling member 7B. One or both of the first shaft 5A and the second shaft 5B can be keyed or otherwise shaped to complementarily mate with the modular construction elements mounted thereon.

[0072] The user can manipulate the modular construction elements to effect the second rotational movement of the second shaft 5B. For example, a motor assembly 1 can be integrated to a toy car, wherein the wheels or tires are fixed to the second disc-shaped coupling member 7B of the motor assembly 1.

[0073] The control circuit 31 can be configured to detect various respective physical parameters associated with the respective rotational movement of the first shaft 5A in the first externally driven mode and the second shaft 5B in the second externally driven mode. The first physical parameter associated with the first rotational movement of the first shaft 5A can include the first rotational angle a1 of the first shaft and / or the angular velocity of the first shaft 5A. The control circuit 31 can be configured to effect the second rotational movement of the first shaft 5A in the first motor driven mode in the same direction (i.e., in the clockwise direction in the illustrated example) in response to the first rotational angle a1, as schematically illustrated by arrow CW.

[0074] The first rotation angle a1 of the first shaft 5A in the first external drive mode is determined by the user by manipulating the first shaft 5A to apply an external force. For example, the response of the control circuit 31 in the first motor drive mode can include a second rotational movement of the first shaft 5A having the same rotation angle or a rotation angle proportional to the first angle a1. Additionally or alternatively, the control circuit can be configured to, in response, continuously rotate the first shaft 5A (e.g., one or more turns of the first shaft 5A) until the first shaft 5A is blocked by the external driving force. For example, the user can block the first shaft 5A by holding a modular construction element attached to the first shaft 5A. The control circuit 31 can detect that the first angle rotation in the first external drive mode exceeds a certain angle threshold and then initiate a second rotational movement of the first shaft 5A by the first electric motor 30A. In another embodiment, the control circuit 31 is configured to control the second rotational movement of the first shaft 5A in the same direction as the first rotation angle a1.

[0075] For example, the second physical parameter related to the second rotational movement of the second shaft 5B can include a second rotation angle and / or angular velocity of the second shaft 5B. Additionally or alternatively, the control circuit can be configured to rotate the second shaft in the same direction (i.e., clockwise or counterclockwise) as the direction of rotation detected in the second external drive mode in the second motor drive mode. The skilled person will appreciate that the control circuit 31 can be configured to implement a corresponding rotational movement of the second shaft 5B in the second motor drive mode as discussed above with respect to the control of the second rotational movement of the first shaft 5A.

[0076] Furthermore, the skilled person will appreciate that the control circuit 31 can be configured to independently control the second rotational movement of the first shaft 5A and the second rotational movement of the second shaft 5B. Thus, the control circuit can be configured (e.g., programmed) to control the first electric motor 30A to provide a clockwise rotation of the first shaft 5A at a certain angular velocity while controlling the second electric motor 30B to provide a counterclockwise rotation of the second shaft 5B at a different angular velocity, etc.

[0077] Figure 5 It is shown that the first shaft 5A is rotated in the first motor drive mode in the same direction as the first rotation angle a1. The second shaft 5B is rotated in the second motor drive mode in the same direction as the second rotation angle a2. Figure 4A first side view of a similar motor assembly 1, but with the control circuit 31 employing an alternative configuration (e.g., programmed) with respect to detecting a first rotational movement of the first shaft 5A in the first motor drive mode and controlling a second rotational movement of the first shaft 5A in response. The control circuit 31 is configured to detect a first reciprocating rotation of the first shaft 5A in the first external drive mode and, in response, control the first electric motor 30A to drive the first shaft 5A in the first motor drive mode with a second reciprocating rotation. This can be viewed as a turning and twisting actuation of the first shaft 5A, where the user rotates the first shaft 5A between a clockwise rotation angle and a counterclockwise rotation angle in response to the first motor drive mode to initiate a corresponding or similar reciprocating rotation of the first shaft 5A.

[0078] In one embodiment, the control circuit 31 is configured to detect a first rotation angle al and a second rotation angle a2 of the first shaft 5A in the first external drive mode. The first and second rotation angles are opposite rotations, such as a clockwise rotation and a counterclockwise rotation. The first rotation angle al and the second rotation angle a2 are respective end points of a first reciprocating rotation of the first shaft 5A caused by the user directly or indirectly manipulating the first shaft 5A. The control circuit 31 can be configured to switch to (e.g., enter) the first motor drive mode discussed previously in response and control the first electric motor 30A to effectuate a second reciprocating rotation of the first shaft 5A. The control circuit 31 can control the first motor 30A during or in the first motor drive mode to drive a second reciprocating movement between a third rotation angle a3 and a fourth rotation angle a4.

[0079] The third rotation angle a3 and the fourth rotation angle a4 can be proportional to or equal to the first rotation angle al and the second rotation angle a2, respectively. Thus, if the user applies an external force, such as twisting the first shaft 5A between, for example, +90 degrees and -90 degrees, the control circuit 31 can respond by controlling the electric motor 30A to drive the first shaft 5A through a second reciprocating rotation of +90 degrees and -90 degrees. Alternatively, the control circuit 31 can respond by controlling the first electric motor 30A to drive the first shaft 5A through a second reciprocating rotation of the first shaft 5A that is proportional to the first reciprocating rotation, such as +45 degrees and -45 degrees or +120 degrees and -120 degrees, etc.

[0080] The control circuit 31 can control the rotational motion of the first shaft 5A by generating and applying a drive voltage or drive current to the first electric motor 30A. Likewise, the control circuit 31 can control the rotational motion of the second shaft 5B by generating and applying a drive voltage or drive current to the second electric motor 30B. Each drive voltage or current can comprise a pulse-modulated drive voltage or current, such as a pulse-width-modulated drive voltage or current, or a pulse-density-modulated drive voltage or current. The control circuit can comprise a first motor driver 35A and a second motor driver 35B Figure 7 ), which are configured to provide a pulse-modulated drive voltage to the first and second electric motors, respectively. Each of the first and second motor drivers 35A, 35B can comprise a full-bridge output stage connected to the respective motor winding of the first and second electric motors, or a half-bridge output stage connected to these motor windings. Each of the half-bridge and full-bridge output stages can comprise a plurality of semiconductor switches, such as MOSFETs or IGBTs.

[0081] Furthermore, the skilled person will appreciate that the control circuit can be configured to detect a second rotational motion of the second shaft 5B and to independently drive the second shaft 5B using any of the motion detection and motion rotation schemes outlined above with respect to the first shaft 5A in response to the second rotational motion. Further details regarding the independent second rotational motion of the second shaft 5B will not be repeated here for the sake of brevity.

[0082] Figure 6 A rear view oblique sectional view is shown of certain components arranged in the interior compartment 28 of the main body 10 of the motor assembly 1. The first and second gearboxes 40A, 40B are visible and have the generally L-shaped profile discussed above. At least one component of the first magnetic field sensor discussed above can comprise a Hall effect circuit 62A mounted on and electrically connected to the second surface of the first carrier substrate 55A. In addition, the first magnetic field sensor can comprise a first permanent magnet (not shown) attached to the first shaft 5A such that the first permanent magnet follows the rotational motion of the first shaft 5A. The skilled person will appreciate that the rotational motion of the first permanent magnet relative to the fixed Hall effect circuit 62A will induce a time-varying magnetic field in the Hall effect circuit 62A that is indicative of the motion (e.g. rotation) of the first shaft 5A.

[0083] As mentioned above, the first carrier substrate 55A comprises a first surface (not shown) facing the first shaft 5A and an opposite second surface 60A facing away from the first shaft 5A. The first Hall effect circuit 62A is mounted on the second surface 60A of the first carrier substrate 55A facing away from the first shaft 5A and its permanent magnet. This arrangement enables a smaller distance between the first carrier substrate 55A and the first shaft 5A compared to placing the first Hall effect circuit 62A on the first surface of the first carrier substrate 55A. This facing-away surface arrangement of the Hall effect circuit 62A can be beneficial to minimize the combined spatial footprint of the first carrier substrate 55A, the Hall effect circuit 62A and the first shaft 5A.

[0084] The motor assembly 1 comprises at least one component of the second magnetic field sensor discussed earlier, e.g. the second Hall effect circuit 62B, which is mounted on the second surface of the second carrier substrate 55B and electrically connected therewith. In addition, the second magnetic field sensor can comprise a second permanent magnet (not shown) attached to the second shaft 5B such that the second permanent magnet follows the rotational movement of the second shaft 5B. The skilled person will understand that the rotational movement of the second permanent magnet relative to the fixed Hall effect circuit 62B will induce a time-varying magnetic field in the second Hall effect circuit 62B, which is indicative of the movement of the second shaft 5B. The second Hall effect circuit 62B is mounted on the second surface 60B of the second carrier substrate 55B with the same advantages as discussed earlier with respect to the first Hall effect circuit 62A.

[0085] Preferably, the first Hall effect circuit 62A is arranged at the distal end of the first shaft 5A, i.e. at the output of the first gearbox 40A. This arrangement enables an accurate sensing of the first rotational movement and the second rotational movement of the first shaft 5A due to the elimination of slack that can occur in the drive through the first gearbox. Preferably, the second Hall effect circuit 62B is arranged in a similar manner at the distal end of the second shaft 5B.

Claims

1. A motor assembly for use in a toy or educational system, the motor assembly comprising: -main body, -Control circuit, -First axis, -Second axis, - A first electric motor, configured to drive the first shaft by rotational motion. - A second electric motor, configured to drive the second shaft by rotational motion. - A first sensor, configured to detect rotational motion of the first axis. - A second sensor, configured to detect rotational motion of the second axis, and - A control circuit configured to independently control the drive of the first electric motor and the second electric motor to provide independent rotational motion of the first shaft and the second shaft.

2. The motor assembly of claim 1, wherein the first sensor is configured to generate a first sensor signal indicating rotational movement of the first shaft, and the second sensor is configured to generate a second signal indicating rotational movement of the second shaft; and - The control circuit is configured to control the respective drives of the first electric motor and the second electric motor based on the first sensor signal and the second sensor signal.

3. The motor assembly according to claim 1, wherein - The first electric motor is driven in the first motor drive mode of the control circuit. - The first shaft is driven by a first external force in the first external drive mode of the control circuit. -The control circuit is configured as follows: Detect a first physical parameter related to the first rotational motion of the first axis under the first external drive mode. The first electric motor is controlled in response to a detected first physical parameter to drive the first shaft by a second rotational motion in the first motor drive mode; And among them, - The second electric motor is driven by the second motor drive mode of the control circuit. - The second shaft is driven by a second external force in the second external drive mode of the control circuit. -The control circuit is further configured to: Detect a second physical parameter related to the second rotational motion of the second axis under the second external drive mode. The second electric motor is controlled in response to a detected second physical parameter to drive the second shaft by a third rotational motion in the second motor drive mode.

4. The motor assembly of claim 3, wherein the first physical parameter associated with the first rotational motion of the first shaft includes a first rotation angle and / or angular velocity; and wherein the second physical parameter associated with the second rotational motion of the second shaft includes a second rotation angle and / or angular velocity.

5. The motor assembly of claim 4, wherein the second rotational motion in the first motor drive mode comprises one or more revolutions of the first shaft; and / or wherein the third rotational motion in the second motor drive mode comprises one or more revolutions of the second shaft.

6. The motor assembly of claim 4, wherein the control circuit is configured to: - Detect the first reciprocating rotation of the first axis in the first external drive mode. - Controlling the first electric motor in the first motor drive mode to drive the first shaft via a second reciprocating rotation; and / or - Detect the second reciprocating rotation of the second axis in the second external drive mode. - The second electric motor, controlled in the second motor drive mode, drives the second shaft by a second reciprocating rotation.

7. The motor assembly of claim 6, wherein the control circuit is configured to: - Detect the first rotation angle (α1) and the second rotation angle (α2) of the first shaft during the first reciprocating rotation in the first external drive mode, i.e., during the first reciprocating rotation, wherein the first rotation angle (α1) and the second rotation angle (α2) are located at opposite rotation endpoints, namely the clockwise rotation endpoint and the counterclockwise rotation endpoint, respectively. - In the first motor drive mode, the first electric motor is controlled to drive the first shaft between a third rotation angle (α3) and a fourth rotation angle (α4) during the second reciprocating rotation; and / or - Detect the first rotation angle (α1) and the second rotation angle (α2) of the second axis during the second reciprocating rotation in the second external drive mode. The first rotation angle (α1) and the second rotation angle (α2) are located at opposite rotation endpoints, namely the clockwise rotation endpoint and the counterclockwise rotation endpoint, respectively. - In the second motor drive mode, the second electric motor is controlled to drive the second shaft between the third rotation angle (α3) and the fourth rotation angle (α4) during the second reciprocating rotation.

8. The motor assembly of claim 7, wherein the control circuit is configured to: - In the first motor drive mode, the first electric motor is controlled to drive the first shaft between the third rotation angle (α3) and the fourth rotation angle (α4), the third rotation angle (α3) and the fourth rotation angle (α4) being proportional to or equal to the first rotation angle (α1) and the second rotation angle (α2), respectively; and / or - In the second motor drive mode, the second electric motor is controlled to drive the second shaft between the third rotation angle (α3) and the fourth rotation angle (α4), the third rotation angle (α3) and the fourth rotation angle (α4) being proportional to or equal to the first rotation angle (α1) and the second rotation angle (α2), respectively.

9. The motor assembly according to any one of claims 1 to 8, wherein, Each of the first sensor and the second sensor includes one or more of the following: - Magnetic field sensor - Optical sensors, - Capacitive sensor.

10. The motor assembly of claim 9, wherein the first sensor and / or the control circuit includes a first encoder configured to receive a first sensor signal and convert the first sensor signal into a corresponding first digital sensor signal; and wherein the second sensor and / or the control circuit includes a second encoder configured to receive a second sensor signal and convert the second sensor signal into a corresponding second digital sensor signal.

11. The motor assembly according to any one of claims 1 to 8, comprising a first carrier substrate and a second carrier substrate disposed in an internal compartment of the body, wherein the first carrier substrate includes a first surface facing the first axis and a second surface opposite to the first axis, wherein at least one component of the first sensor is fixed to the second surface of the first carrier substrate; and wherein the second carrier substrate includes a first surface facing the second axis and a second surface opposite to the second axis, wherein at least one component of the second sensor is fixed to the second surface of the second carrier substrate.

12. The motor assembly of claim 11, wherein the magnetic field sensing circuit of the first sensor is fixed to the second surface of the first carrier substrate; and wherein the magnetic field sensing circuit of the second sensor is fixed to the second surface of the second carrier substrate.

13. The motor assembly of claim 11, wherein, The first sensor includes: - A first Hall effect circuit, which is mounted on and electrically connected to the second surface of the first carrier substrate. - A first permanent magnet, attached to the first shaft, such that the first permanent magnet follows the rotational movement of the first shaft; and The second sensor includes: - A second Hall effect circuit, which is mounted on and electrically connected to the second surface of the second carrier substrate.

14. The motor assembly according to any one of claims 1 to 8, wherein the control circuit comprises: - A first motor driver, configured to apply a first motor drive voltage to the first electric motor; as well as - A second motor driver, configured to apply a second motor drive voltage to the second electric motor.

15. The motor assembly of claim 14, wherein the first motor drive voltage is a pulse-modulated motor drive voltage; and the second motor drive voltage is a pulse-modulated motor drive voltage.

16. The motor assembly according to any one of claims 1 to 8, comprising: - A first gearbox, which 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 end and the distal end of the first shaft; as well as - A second gearbox, which is coupled between a proximal segment of the second shaft and a distal segment of the second shaft to provide one or more angular velocity ratios between the proximal and distal ends of the second shaft.

17. A toy or educational system comprising: - The motor assembly according to any one of the preceding claims - One or more modular construction elements that are detachably secured to one or more mating latches of at least one of the first shaft and the second shaft.

18. The toy or educational system of claim 17, wherein the modular construction element comprises at least one of a technical beam, a wheel, and an axle.

19. A toy or educational system comprising: Main casing and control circuitry; A first electric motor is connected to the main housing and is used to drive the first shaft to rotate. A second electric motor is connected to the main housing and is used to drive the second shaft to rotate. as well as A control circuit, connected to the first electric motor and the second electric motor, is used to independently drive the first electric motor and the second electric motor, thereby providing independent rotational motion of the first shaft and the second shaft.

20. The toy or educational system of claim 19, further comprising: A first sensor is configured to detect rotational motion of the first axis, and a second sensor is configured to detect rotational motion of the second axis. The control circuit receives signals from the first and second sensors such that when the motion of the first and / or the second axis reaches a specific angle threshold, the control circuit drives at least one of the first and second electric motors in a predetermined manner.

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