Modular configuration system motor unit

Abstract

A modular construction system motor unit (1) for a modular construction system (500) comprises a casing (10), an electric motor (150) mounted in the casing (10), a power take-off element (20) having at least one connector (600) for connecting to components (501, 502, 503) and rotatably connected to the casing (10) about a rotation axis, a gear mechanism (200) provided between the electric motor (150) and the power take-off element (20), and a rotation detection mechanism configured to detect the rotational position of the power take-off element relative to the casing (10). The rotation detection mechanism comprises a disk element (99) rotating with the power take-off element (20) and a sensor device (399) fixed to the casing. The disk element (99) is connected to the power take-off element (20) or the gear of the gear mechanism (200) via a first rotation transmission part (50) fixed to the disk element (99) and a receiving part (60) for receiving the first rotation transmission part (50). The receiving part (60) is formed on the gear of the power take-off element (20) or the gear mechanism (200). The receiving part (60) and the first rotation transmission part (50) have cooperating shapes and sizes configured to allow backlash between the power take-off element (20) and the first rotation transmission part (50).

Description

[Technical field]

[0001] The present invention relates to a modular construction system and a modular construction system motor unit. [Background technology]

[0002] Such modular building systems are known in the art, as are modular building system motor units, i.e. simple motor units, for such modular building systems. Modular building systems include a number of components, e.g. building blocks, i.e. bricks, which, when connected together, can be assembled to form a variety of different architectural structures. Motor units may be added to such modular building systems to move parts of such systems.

[0003] A modular construction system is "modular" in the sense that the components that make up the construction system are shaped to a certain size and contain cooperating connection means that allow their interconnection, allowing models / sets such as puppet robots to be constructed.

[0004] Learning systems, robot construction sets and so-called maker kits are known and can provide different functionalities to the user.

[0005] Modular components such as beams, plates, bricks, pegs, connectors, cogwheels etc. known from traditional modular construction systems can be combined with functional modular components such as lighting elements, motors / actuators, sensors etc. as well as with programmable processor units, which can also be digitally connected with external devices, e.g. for programming or remote control. Such modular construction systems with enhanced functionality have proven their value in terms of play and / or learning, since among other things they facilitate reliable, yet easily removable mechanical connections between simple and functional modular components, which fit together to provide a clear and stimulating user experience.

[0006] Motor units for such modular construction systems often include a power take-off disk provided with suitable connection means for connecting, for example, a shaft or the like.

[0007] In many modular construction set applications where functional components such as motor units are applied, it is desirable to be able to precisely control the movement of the constructed set. To this end, the motor units of the modular construction system can include encoders such as magnetic sensors with 360 degree resolution, controlled absolute position motors with zero point indicators, etc.

[0008] In modular construction systems, motor units often include casings and other parts, such as gear mechanisms, including parts made of plastic to keep costs low, so that they can be easily connected to other components made of plastic. The motor units of modular construction systems are often very small, but may be used to construct very large structures. Thus, during use, the ejection disks of the motor units may be subject to high loads, sometimes asymmetrical loads.

[0009] Such asymmetric loading on the motor unit presents a problem because asymmetric loading on the ejection element can impart an asymmetry to the encoder, causing the encoder to provide an inaccurate measurement of the rotational position of the ejection element relative to the motor unit casing, thereby compromising precise control of the rotation.

[0010] Therefore, there is a need for a modular construction system motor unit having a reliable and accurate rotation sensing mechanism even when the power take-off elements of the motor unit are asymmetrically loaded. Summary of the Invention

[0011] It is therefore an object of the present invention to alleviate the problems of the prior art.

[0012] This is achieved by a modular construction system motor unit for a modular construction system, the motor unit being - a casing; - an electric motor mounted on said casing; - a power take-off element rotatably connected to said casing about an axis of rotation, said power take-off element having at least one connector for connecting to a component; - a gear mechanism provided between said electric motor and said power take-off element; - a rotational detection mechanism configured to detect a rotational position of the power take-off element relative to the casing; Equipped with The rotation detection mechanism includes: - a disk element adapted to rotate with said power take-off element; a sensor device fixed relative to said casing; Equipped with the disk element is connected to the power take-off element or the gear of the gear mechanism via a first rotation transmission part, the first rotation transmission part being fixedly connected to the disk element, a receiving portion configured to receive the first rotation transmission portion is formed in the power take-off element or the gear of the gear mechanism, The receiving portion and the first rotary transmission portion have cooperating shapes and sizes configured to allow backlash between the power take-off element and the first rotary transmission portion.

[0013] In mechanical engineering, backlash, sometimes called lash or play, is a slack or lost motion in a mechanism caused by clearance between parts. Thus, the cooperating shapes and sizes of the receiving part and the first rotary transmission part are configured such that a slack or gap is provided between them. The backlash allows a small amount of rotation of the power take-off element before the first rotary transmission part engages for rotation therewith.

[0014] The gear mechanism is configured to transmit rotation from the electric motor to the power take-off element. The gear mechanism is disposed within the casing. The rotation detection mechanism is disposed within the casing.

[0015] In one embodiment, the cooperating shapes and sizes of the receiving portion and the first rotary transmission portion are configured to rotate the receiving portion 0.5° to 2° before the first rotary transmission portion engages for rotation with the ejection element.

[0016] In one embodiment, the disk element is connected to the power take-off element via a first shaft.

[0017] In one embodiment, the disk element is located on a side wall of the casing opposite the power take-off element with respect to the casing.

[0018] In one embodiment, some of the gears of the gear mechanism are coaxially arranged around and support the first shaft.

[0019] In one embodiment, the first rotational transmission portion includes a cylindrical body portion and a first arm protruding therefrom, and the receiving portion includes a cylindrical main recess and a first arm recess extending therefrom.

[0020] The first arm of the first rotation transmitting part preferably extends perpendicular to the cylindrical outer surface of the first rotation transmitting part, and accordingly, the first arm recess of the receiving part preferably extends perpendicular to the cylindrical inner surface of the receiving part.

[0021] It will be appreciated that in a preferred embodiment, the first arm of the first rotation transmission part extends perpendicular to the axis of rotation of the ejection element, and therefore the first arm recess of the receiving part preferably extends perpendicular to the axis of rotation of the ejection element.

[0022] In one embodiment, the first arm of the first rotation transmission part has a first width, the first arm recess of the receiving part has a second width, and the first width is 1 mm to 2 mm smaller than the second width.

[0023] In a second aspect, the object of the present invention is obtained by a modular construction system comprising a modular construction system motor unit according to any embodiment of the first aspect of the invention and a plurality of components.

[0024] It should be emphasized that the term "comprising" as used in this specification is used to specify the presence of stated features, integer values, steps or components, but does not preclude the presence or addition of one or more other features, integer values, steps, components or groups thereof.

[0025] The present invention will now be described in more detail with reference to the embodiments illustrated by the accompanying drawings, in which: It should be emphasized that the illustrated embodiments are used for illustrative purposes only and should not be used to limit the scope of the present invention. [Brief description of the drawings]

[0026] [Figure 1A] FIG. 1A illustrates, in perspective view, a modular construction system motor unit according to an embodiment of the invention and a modular construction system motor unit for a modular construction system according to another embodiment of the invention. [Figure 1B] FIG. 1B shows the motor unit of FIG. 1A in side view. [Figure 1C] FIG. 1C shows the motor unit of FIG. 1A in top view. [Diagram 2] FIG. 2 is a side cross-sectional view of the motor unit shown in FIGS. 1A to 1C. [Diagram 3] FIG. 3 is a cross-sectional end view of the motor unit shown in FIGS. 1A to 1C. [Figure 4] FIG. 4 shows in an exploded view the major subunits of the motor unit shown in FIGS. 1A-1C, 2 and 3. [Diagram 5] FIG. 5 shows in an exploded view the drive subunit of the motor unit shown in FIGS. 1A-1C, 2, 3 and 4. [Figure 6] FIG. 6 shows in perspective cross-sectional view a detail of the power take-off element of the motor unit shown in FIGS. 1A to 1C, 2, 3 and 4. [Figure 7A] FIG. 7A shows in a top view the inner power take-off element of the power take-off element of FIG. 6 and its connection to the first rotary transmission part. [Figure 7B] FIG. 7B shows the first rotation transmission part of FIG. 7A in a top view. [Figure 7C] FIG. 7B shows in top view the inner power take-off element of FIG. 7A when not connected to the first rotary transmission part of FIG. 7B. [Figure 8] FIG. 8 shows, in a perspective view, a modular construction system according to an embodiment of the present invention comprising a modular construction system motor unit and a set of connector elements, a prior art component (belonging to a first type of component), and attachment of the motor unit to the first component using the set of connector elements. [Figure 9] FIG. 9 shows in a transparent perspective view a prior art component of a second type of component having a connector knob formed on one surface and a connector knob receiving opening formed on the opposing surface. [Figure 10]FIG. 10 shows in perspective view a prior art connector element for a modular construction system having a second type of component including a connector opening, wherein each of the two ends of the connector element includes a snap connection configured to connect to the connector opening of the second type of component. [Figure 11] FIG. 11 shows in a perspective view two connector elements as shown in FIG. 9 inserted into connector openings of one component of a configuration system, and another component of the configuration system also having a connector opening. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] FIG 1A shows in perspective view a modular construction system motor unit 1 according to an embodiment of the present invention and a modular construction system motor unit 1 for a modular construction system according to another embodiment of the present invention. The modular construction system motor unit 1 may be simply referred to as a motor unit 1. FIG 1B shows a side view of the motor unit 1 of FIG 1A, and FIG 1C shows a top view of the motor unit 1 of FIG 1A.

[0028] The motor unit 1 comprises a casing 10 and an electric motor 150 mounted inside the casing 10. The electric motor 150 is not shown in FIG. 1A, but is shown in FIGS.

[0029] The motor unit 1 also comprises a power take-off element 20 extending from the casing 10, or simply the take-off element 20, which is connected to the casing 10 so as to be rotatable relative thereto.

[0030] The ejection element 20 is rotatably connected to the casing 10 about an axis of rotation (not shown).

[0031] The retrieval element 20 is connected to the electric motor 150 such that when an output shaft 151 (see Figures 2 and 5) of the electric motor 150 rotates, the retrieval element 20 is forced to rotate as well. The retrieval element 20 is preferably connected to the electric motor 150 via a gear mechanism 200, as shown, for example, in Figures 3, 4, 5, 6 and 7A-7C.

[0032] The take-off element 20 is provided with at least one connector 600 for connecting the motor unit 1 to components 510, 520 of the modular construction system.

[0033] In FIG. 1, the removal element 20 includes five such connectors 600 .

[0034] In the center of the removal element 20, one connector 600, the first connector 601, is shown. The first connector 601 has the shape of a recess in the removal element 20, which shape has an X-shaped (cross-shaped) cross section (cross section perpendicular to the axis of rotation of the removal element 20). The first connector is configured to receive an axle 524, as shown in FIG. 8, which has a cross-sectional shape (cross section perpendicular to the longitudinal axis of the axle 524) corresponding to the cross-sectional shape of the first connector 601. That is, the axle has an X-shaped (cross-shaped) cross section. The first connector 601 and the axle 524 belong to the modular construction system 500 as described and are dimensioned to form a friction fit between the first connector 601 and the axle.

[0035] Shown along the periphery of the retrieval element 20 are four identical connectors 600, namely second connectors 602. The second connectors are formed as recesses into and through the retrieval element 20. The second connectors are preferably connector openings 640, as will be described in connection with Figures 8, 10 and 11 below.

[0036] It will be appreciated that in other non-illustrated embodiments, the removal element 20 may only have a centrally located connector 600, such as the first connector, and no peripheral connectors.

[0037] It will also be understood that in other non-illustrated embodiments, the removal element 20 may only have a connector such as the second connector 602 described above at the periphery and not the first connector 601 at the center.

[0038] Additionally, it will be understood that in still other non-illustrated embodiments, the number, shape and location (on the removal element 20) of the connectors 600 may differ from that shown in Figure 1 A. Preferably, the one or more connectors 600 are configured to cooperate with and connect to various types of components of a modular construction system, for example as described below.

[0039] The casing 10 of the motor unit 1 further includes a number of connector openings 640, described below in relation to Figures 8, 10 and 11, for enabling connection of the motor unit 1 with other components of the modular construction system 500. Again, it will be appreciated that other types of connection means may be formed in the casing 10.

[0040] As mentioned above, the motor unit 1 of the present invention can form part of a modular construction system 500 including a number of components. Below, such a modular construction system 500 and exemplary components are described in more detail before returning to the motor unit 1.

[0041] FIG. 9 shows a prior art component 511 belonging to a first type of component 510 in a see-through perspective view. Such a first type of component 510 includes at least a connector knob 610 configured to connect to other components of similar but different shapes of the first type 510 having knob receiving openings 620. The component 501 shown in FIG. 9 has the connector knob 610 formed on its top surface and the knob receiving openings 620 formed on its opposite surface. It will be understood that two of the components 501, for example as shown in FIG. 10, can be connected to each other by connecting the connector knob 610 of one component 501 to a corresponding number of connector openings 620 of the second component 501. The connector knob 610 and the knob receiving openings 620 form a friction fit / friction connection by closely matching the outer diameter of the cylindrical connector knob 610 to the dimensions of one or more surfaces of the knob receiving openings 620.

[0042] The component 502 shown in Figure 9 has eight connector knobs 610 and eight knob-receiving openings 620. The connector knobs 610 are arranged in a regular two-dimensional grid, in this case a 2x4 grid. Similarly, the knob-receiving openings 620 are arranged in a regular two-dimensional grid, in this case a 2x4 grid. The component 502 shown in Figure 9 is formed as a brick.

[0043] Another component 512 of the first type of component 510 is shown in Figure 8. The component 512 shown in Figure 8 is formed in a plate shape and has 36 connector knobs 610 arranged in a 6 x 6 grid, and 36 knob receiving openings 620 (not shown) also arranged in a 6 x 6 grid on the opposite side of the plate from the connector knobs 610.

[0044] A component of the first type of building blocks 510 is defined herein as having either a connector knob 610 or a knob-receiving opening 620 or both. A construction system of the first type is defined herein as a system of components including two or more first type of building blocks 510, at least one of the components having a connector knob 610 arranged in a regular two-dimensional n×n grid (n≧2). Construction systems of the first type are known in the art, for example under the trade name LEGO SYSTEM sold by LEGO A / S.

[0045] 10 shows a second type component 521 having two opposed cylindrical connector portions 630 formed along a common axis. The second type component 520 can additionally or alternatively include a cylindrical connector opening 640 configured to cooperate with another second type component 520 having a protruding cylindrical connector portion 630, such as the second type component 521 shown in FIG.

[0046] FIG. 11 shows an example of a second type of component system 520 that includes second type components 521, 522, 523, 524, 525 having various shapes, configurations and various means of connection.

[0047] The second type components 510, 511 shown in FIG. 10 include two cylindrical connector portions 630, i.e., elastic connector pegs, each configured to form a snap connection with a connector opening 640 formed on the other second type component 520.

[0048] FIG. 11 shows two other second type components 520, 522, 523.

[0049] The second type component 522 shown on the right is formed as a beam with three cylindrical connector openings 640 formed therethrough, into two of which one end of the second type component 521 shown in Figure 10 is inserted and releasably locked with a snap connection.

[0050] The second type of component 523 is formed as a rectangular frame formed by four beams formed in a common plane, as shown on the left in the figure. Two of these beams have three connector openings 640 with their longitudinal axes parallel to the plane of the frame. It will be understood that each of these connector openings 640 can receive a cylindrical connector part 630 of the second type of component 521 as shown in Figure 10. However, it will be understood that the connector openings can also form bearings for example for the shaft 524 as shown in the figure. The shaft 524 shown in Figure 11 has a cross-shaped cross-sectional shape.

[0051] The two beams of the second type of frame-shaped component 523 shown in Figure 11 are formed perpendicular to the two beams and each have three cylindrical connector openings 640 formed therethrough in the direction of the frame plane and four cylindrical connector openings 640 formed therethrough with their longitudinal axes perpendicular to the frame plane. It will again be understood that each of these connector openings 640 can receive a cylindrical connector portion 630 of the second type of component 521 as shown in Figure 10.

[0052] A second type component 521 shown in Figure 10 including two opposing cylindrical connector portions 630 can be used to removably connect to two other second type components such as second type components 522, 523 shown in Figure 11. In a variation not shown, the second type component can include both one or more cylindrical connector openings 640 and one or more cylindrical connector portions 630.

[0053] The snap connection between the cylindrical connector part 630 and the cylindrical connector opening 640 is provided by the cylindrical connector part 630 comprising a circumferentially arranged bead 631 arranged at the free end of the cylindrical connector part 630 and by the elasticity of the cylindrical connector part 630. This elasticity can be provided by one or more elongated slits 632 formed in the longitudinal direction of the cylindrical connector part 630. In the variant of Fig. 10, two such elongated slits 632 are shown. The diameter of the bead 631 is slightly larger than the diameter of the body of the cylindrical connector part 630.

[0054] The length of the cylindrical connector portion 630 corresponds to the length of the cylindrical connector opening 640. The diameter of the cylindrical connector portion 630 corresponds to the diameter of the cylindrical connector opening 640.

[0055] The end of the cylindrical connector opening 640 is provided with an enlarged ring-shaped opening (not shown) configured to cooperate with a bead 631 formed in the cylindrical connector part 630 .

[0056] When a user presses the cylindrical connector part 630 into the cylindrical connector opening 640, the elasticity of the cylindrical connector part 630 pushes the bead 631 through the body part of the cylindrical connector opening 640 and when the bead reaches the enlarged ring-shaped opening at the opposite end of the cylindrical connector opening 640, the elasticity of the body part of the cylindrical connector part 630 causes the bead 631 to engage with the enlarged ring-shaped opening to form a snap connection between the cylindrical connector part 630 and the cylindrical connector opening 640.

[0057] Such snap connections are known in the art.

[0058] Components of the second type 520 are defined herein as having at least a cylindrical connector opening 640 configured to snap connect with a cylindrical connector portion 630 (elastic connector peg 270), as described above. Components of the second type 200 can also include components having one or more cylindrical connector portions 630. Components of the second type 520 can also include components having one or more cylindrical connector portions 630 and one or more cylindrical connector openings 640.

[0059] A second type component is defined herein as a system of components including two or more second type components 520, at least one component having at least one connector opening 640. Examples of second type construction systems 2000 are known in the art, for example under the trade name LEGO TECHNIC, sold by LEGO A / S.

[0060] It will be appreciated that some components of the second type configuration system and some second type components 520 may additionally have connector knobs 610 and / or knob-receiving openings 620, thereby forming a hybrid.

[0061] 8 shows a motor unit 1 according to an embodiment of the invention mounted on a plate-like component 512 of a first type component 510. To this end, the modular construction system also includes a connector element 550.

[0062] The connector element 530 is shown in a left perspective view in FIG. 8. The connector element 530 is configured to connect components belonging to a first type of components 510 and components belonging to a second type of components 520, as described above. The one or more connector elements 530 may further form part of a configuration system 500 including the motor unit 1 and further including one or more of the first type components 510 and / or one or more of the second type components 520. The connector element 530 includes a cylindrical connector portion 630 at one end that allows connection to a cylindrical connector opening 640, as described above. At another end, the connector element 530 includes a knob receiving opening 620 that allows the connector element 530 to connect to a knob 610. The knob receiving opening 620 is provided in a cylindrical portion of the connector element 530 that has a size and shape configured to be connected between the four connector knobs 610 of a first type of component 510, such as the plate-like first type component 512 shown in FIG. 8.

[0063] The electric motor unit 1 has a cylindrical connector opening 640 so that it can be connected to a second type component 520 having a cylindrical connector portion 630 or to a connector element 530 as shown in FIG.

[0064] In FIG. 8 , the electric motor unit 1 is connected to the plate 512 via four connector elements 530, each of which has a cylindrical connector portion 630 that is inserted into a cylindrical connector opening 640 of the electric motor unit 1 and is an opposed cylindrical portion that is connected between four adjacent connector knobs 150 on the plate 104.

[0065] Returning now to such a motor unit 1, as mentioned above, the casing 10 of the motor unit 1 shown in Figures 1A-1C comprises a number of connection means in the form of connector openings 640. However, in embodiments not shown, the casing may alternatively or additionally comprise other types of connection means, such as the connector knobs 610, knob receiving openings 620 and / or cylindrical connector portion 630 discussed above, or in yet other embodiments, connector means suitable for other types of modular construction systems.

[0066] 2 and 3, the power take-off element 20 is connected to the electric motor 150 via a gear mechanism 200 disposed between the electric motor 150 and the power take-off element 20. An exemplary gear mechanism is described in further detail below.

[0067] However, as also shown in Figures 2 and 3, the motor unit 1 further comprises a rotation detection mechanism. The rotation detection mechanism is configured to detect the rotational position of the power take-off element 20 relative to the casing 10. For this purpose, the rotation detection mechanism comprises a disk element 99, such as a permanent magnet. The disk element 99 is connected to the power take-off element 20 or to a gear of the gear mechanism, such that the disk element 99 and the power take-off element 20 rotate together or at least proportionally. An exemplary connection between the disk element 99 and the power take-off element 20 will be explained in more detail below. However, it will be understood from Figures 2 and 3 that the disk element 99 is connected to the power take-off element 20 via a first shaft 70.

[0068] The rotation detection mechanism further includes a sensor device 399 fixed relative to the casing.

[0069] 2 and 3, the sensor device 399 is fixed to a printed circuit board (PCB) 310 which constitutes a part of a control subunit 300 which constitutes a control mechanism of the motor unit 1. The printed circuit board (PCB) 310 is fixed to the casing 10, whereby the sensor device 399 is fixed to the casing 10.

[0070] The sensor device 399 is an encoder / rotation sensor, for example an optical sensor capable of optically recording the rotation of the disk element 99, or a magnetic field sensor if the disk element 99 is a magnet, i.e. an element having magnetic properties.

[0071] In the embodiment shown in Figures 2, 3, 5, 6 and 7, the disk element 99 is connected to the power take-off element 20 via a receiving portion (receptacle) 60 and a first rotational transmission portion 50 fixedly connected to the disk element 99, and the receiving portion 60 for receiving the first rotational transmission portion 50 is formed in the power take-off element 20.

[0072] However, alternatively, the disk element 99 may be connected to a gear of the gear mechanism 200 via a first rotation transmission part 50 similar to that shown in the figures. This is not shown. However, in this case too, the first rotation transmission part 50 is fixedly connected to the disk element 99. The first rotation transmission part 50 is connected to the gear of the gear mechanism 200, for example the lowermost gear 220 shown in Figures 2, 3 and 5, via a receiving part 60 for receiving the first rotation transmission part 50. This receiving part 60 is formed in the gear of the gear mechanism 200.

[0073] In either case, the receiving portion 60 and the first rotary transmission portion 50 have cooperating shapes and sizes configured to permit slight rotation of the power take-off element 20 before the first rotary transmission portion 50 engages for rotation therewith.

[0074] As mentioned above, in a preferred embodiment, the receiving portion 60 may be provided in the power take-off element 20, as shown in the figures, which will be explained in more detail below. However, it will be understood that the cooperation between the receiving portion 60 and the first rotation transmission portion 50 described below is also applicable to the embodiment in which the receiving portion 60 is formed on the gear.

[0075] The casing 10 of the motor unit 1 may, for example, be made up of three parts: a top part 11, a bottom part 12 and an end part 13, as shown in Figure 4. Each part of the casing 10 protects the internal components (electric motor 150, gear mechanism 200, control subunit 300, etc.) from damage and provides a support for mounting the internal components, thereby ensuring their relationship / positioning to one another.

[0076] The three parts 11, 12, 13 can be connected to each other by snap connections, screws or other methods known in the art, allowing for assembly of the internal parts. In some embodiments, the casing 10 can be disassembled to allow for maintenance of the motor unit 1, such as replacement of parts. In other embodiments, the parts can be connected in such a way that at least unauthorized disassembly is prevented.

[0077] The casing 10 includes an opening 15, here shown at the top 11, which forms a bearing for a portion of the power take-off element 20. The casing opening 15 has a first diameter.

[0078] In some embodiments, as shown in the figures, the power take-off element 20 is formed in two parts: an inner power take-off element 30 and an outer power take-off element 40. The above-mentioned first connector 600, 601 is formed on the inner power take-off element 30 and the second connector 600, 602 is formed on the outer power take-off element 40. The inner power take-off element 30 and the outer power take-off element 40 are connected to each other in an anti-rotational manner (relative to each other) by an elongated projection 47 formed on the inwardly facing / inner surface 46 of the outer power take-off element 40 in cooperation with a notch 32' formed as a recess on the outer surface 32 of the top 31 of the inner power take-off element 30.

[0079] The inner power take-off element 30 is composed of a top part 31 and a bottom part 35, as shown in FIG. 5, for example. The top part 31 is cylindrical and has a second diameter. The top part is configured to extend through the opening 15 of the casing 10. The diameter of the top part 31, i.e. the second diameter, is configured to allow the inner power take-off element 30 to rotate relative to the casing 10. The bottom part 35 is also cylindrical and has a third diameter, which is larger than the diameter of the top part 31, so that when the inner power take-off element 30 is inserted into the opening 15 of the casing 10, the upwardly facing surface of the bottom part 35 interacts with the inwardly facing surface of the casing 10, surrounding the opening 15 and preventing axial movement of the inner power take-off element 30 in one axial direction. The outer power take-off element 40 is connected to the top part 31 of the inner power take-off element 30 on the opposite side of the casing 10 to the bottom part 35 of the inner power take-off element 30, as shown in the exploded view of FIG. 4. The bottom 35 of the inner power take-off element 30 is located inside the casing 10, the top 31 of the inner power take-off element 30 extends through the casing 10 through the opening 15, and the outer power take-off element 40 is connected to the top 31 of the inner power take-off element 30 outside the casing 10. This prevents the inner power take-off element 30 from axially moving in the other axial direction.

[0080] The outer power take-off element 40 (see Figures 3 and 4) comprises a body 41 having an upper surface 42 and a lower surface 43, and an outer surface 44. An opening 45 is provided through the body 41 of the outer power take-off element 40 from the upper surface 42 to the lower surface 43, the opening 45 being configured to receive a portion of the top 31 of the inner power take-off element 30. The opening 45 through the body 41 of the outer power take-off element 40 comprises an inwardly facing or inner surface 46. The inner surface 46 of the outer power take-off element 40 defines an inwardly extending projection 47.

[0081] The top portion 31 of the inner power take-off element 30 comprises an outer end 31' and an inner end 31'', and has an outer surface 32 (see FIG. 4).

[0082] The bottom 35 of the inner power take-off element 30 comprises an outer end and an inner end and an exterior surface 35. The outer end of the bottom 35 is connected to the inner end 31'' of the top 31 of the inner power take-off element 30 (see, for example, FIG. 4). Preferably, the top 31 and bottom 35 of the inner power take-off element 30 are integrally formed in one piece.

[0083] As also mentioned above, an elongated notch 32' is formed as an elongated recess in the axial direction of the outer surface 32 of the top of the inner power take-off element 30, and the elongated notch 32' is configured to cooperate with an inwardly extending protrusion 47 formed on the inner surface 46 of an opening 45 through the outer power take-off element 40.

[0084] The top 31 of the inner power take-off element 30 defines an interior space 33. The interior space 33 is bottomed at the inner end 31'' of the top 31 and is open at the outer end 31' of the top, such that the interior space 33 can be considered to be cup-shaped.

[0085] The top 31 of the inner power take-off element 30 has an inwardly facing or inner surface 34 which defines an interior space 33 (see FIG. 3).

[0086] The internal space 33 of the top 31 of the inner power take-off element 30 can constitute the second connector 602 mentioned above. The cross section (taken perpendicular to the axial direction of the top 31 of the inner power take-off element 30) can therefore be cross / X-shaped as described above to receive a similar cross / X-shaped shaft such as the shaft 524 shown in FIG. 11. The cross-shaped cross section of the internal space 33 can also be seen from FIG. 6, which shows a cross section through the power take-off element 20, the receiving part 60 formed therein, the first rotation transmission part 50 and the first shaft 70. The power take-off element 20 is shown to have an inner power take-off element 30 and an outer power take-off element 40. FIG. 6 also shows that the internal space 33 of the top 31 of the inner power take-off element 30 has a bottom surface 34' at the inner end 32'' of the top 31, as can be seen in FIG. 7C.

[0087] An internal space 37 is provided in the cylindrical bottom 35 of the inner power take-off element 30. This internal space 37 is formed at the outer end of the bottom 35, which also forms the bottom or end wall, and opens at the inner end of the top of the bottom. The internal space 37 can thus be considered to be cup-shaped. In contrast to the internal space 33 in the top 31, this internal space 37 opens downwards into the interior of the casing 10.

[0088] The bottom 35 of the inner power take-off element 30 has an inwardly facing or inner surface 38 which defines an interior space 37 (see FIG. 3).

[0089] The inner surface 38 of the bottom 35 of the inner power take-off element 30 has a cross-sectional shape (taken perpendicular to the axial direction of the cylindrical bottom 35 of the inner power take-off element 30) that allows cooperation / connection with an outer surface 284 of the upper part 283 of the take-off disk 280 of the gear mechanism 200, which outer surface 284 has a cross-sectional shape complementary to the cross-sectional shape of the inner surface 38 of the bottom 35 of the inner power take-off element 30 (see Figures 2 and 3).

[0090] In this manner, the inner power take-off element 30 is driven by the output disc 280 of the gear mechanism 200 .

[0091] 2, 3 and 5, the connection between the electric motor 150 and the power take-off element 20 will not be described in further detail.

[0092] As described above, the electric motor 150 has a motor output shaft 151 (see FIGS. 2 and 5). The motor output shaft 151 is connected to the first gear 210, and the first gear 210 is fixed to the motor output shaft 151.

[0093] The first gear 210 has an outer surface 211 with teeth 212 and is configured to cooperate with a second gear 230 .

[0094] The second gear 220 is rotationally supported by the first shaft 70, but can rotate freely relative to the first shaft 70. The second gear 220 is provided with an (axial) through hole 225 for this purpose.

[0095] The second gear 220 further includes a large diameter portion 221 and a small diameter portion 223. The large diameter portion 221 includes teeth 222 configured to cooperate with the teeth 212 of the first gear 210.

[0096] 2 and 5, the output shaft 151 of the electric motor 150 is arranged perpendicular to the rotation axis of the second gear 220. Therefore, the teeth 222 of the large diameter portion 221 of the second gear 220 are provided on the upwardly facing surface of the large diameter portion 221. This arrangement allows for a very compact motor unit, since the rotation axis of the gear mechanism 200 is perpendicular to the output shaft 151 of the electric motor 150, which allows the gear mechanism to be compactly arranged at the end of the electric motor 150.

[0097] However, it will be appreciated that in other embodiments (not shown) the axis of the gear mechanism 200 and the axis of the output shaft 151 from the electric motor 150 may be arranged parallel to each other. In such embodiments, it will be appreciated that instead of the teeth 222 on the large diameter portion 221 of the second gear 220, teeth (not shown) may be provided on the outwardly facing surface of the large diameter portion 221.

[0098] The large diameter portion 221 and the small diameter portion 223 of the second gear 220 are preferably formed as a single, integral structure.

[0099] The small diameter portion 223 of the second gear 220 has teeth 224 formed on its outer surface, the teeth 224 being configured to cooperate with a third gear 230 of the gear mechanism 200 .

[0100] The third gear 230 is rotationally supported by the second shaft 80, but can rotate freely relative to the second shaft 80. The third gear 230 is provided with an (axial) through hole 235 for this purpose.

[0101] The second axis 80 is disposed parallel to the first axis 70 .

[0102] The third gear 230 further includes a large diameter portion 231 and a small diameter portion 233. The large diameter portion 231 is formed with teeth 232 configured to cooperate with teeth 224 formed on the small diameter portion 222 of the second gear 220.

[0103] Large diameter portion 231 and small diameter portion 233 of third gear 230 are preferably formed as a single, integral structure.

[0104] The small diameter portion 233 of the third gear 230 has teeth 234 formed on its outer surface, the teeth 234 being configured to cooperate with a fourth gear 240 of the gear mechanism 200 .

[0105] The second gear 220 has a smaller diameter portion 222 having teeth 224 formed on its outer surface and is configured to cooperate with a third gear 230 of the gear mechanism 200 .

[0106] The third gear 230 is rotationally supported by the second shaft 80, but can rotate freely relative to the second shaft 80. The third gear 230 is provided with an (axial) through hole 235 for this purpose.

[0107] The second axis 80 is disposed parallel to the first axis 70 .

[0108] The third gear 230 further includes a large diameter portion 231 and a small diameter portion 233. The large diameter portion 231 is formed with teeth 232 configured to cooperate with teeth 224 formed on the small diameter portion 222 of the second gear 220.

[0109] Large diameter portion 231 and small diameter portion 233 of third gear 230 are preferably formed as a single, integral structure.

[0110] The small diameter portion 231 of the third gear 230 has teeth 232 formed on its outer surface, the teeth 232 being configured to cooperate with a fourth gear 240 of the gear mechanism 200 .

[0111] The fourth gear 240 is rotationally supported by the first shaft 70, but can rotate freely relative to the first shaft 70. The fourth gear 240 is provided with an (axial) through hole 245 for this purpose.

[0112] The fourth gear 240 further includes a large diameter portion 241 and a small diameter portion 243. The large diameter portion 241 has teeth 242 formed on an outer surface thereof and is configured to cooperate with teeth 234 formed on the small diameter portion 233 of the third gear 230.

[0113] The larger diameter portion 241 and the smaller diameter portion 243 of the fourth gear 240 are preferably formed as a single integral structure.

[0114] The smaller diameter portion 243 of the fourth gear 240 has teeth 244 formed on its outer surface, the teeth 244 being configured to cooperate with a fifth gear 250 of the gear mechanism 200 .

[0115] The fifth gear 250 is rotationally supported by the second shaft 80, but can rotate freely relative to the second shaft 80. The fifth gear 250 is provided with an (axial) through hole 255 for this purpose.

[0116] The fifth gear 250 further includes a large diameter portion 251 and a small diameter portion 253. The large diameter portion 251 has teeth 252 formed on an outer surface thereof and is configured to cooperate with teeth 244 formed on the small diameter portion 243 of the fourth gear 240.

[0117] The larger diameter portion 251 and the smaller diameter portion 253 of the fifth gear 250 are preferably formed as a single integral structure.

[0118] The small diameter portion 253 of the fifth gear 250 has teeth 254 formed on its outer surface, the teeth 254 being configured to cooperate with a sixth gear 260 of the gear mechanism 200 .

[0119] The sixth gear 260 is rotationally supported by the first shaft 70, but can rotate freely relative to the first shaft 70. The sixth gear 260 is provided with an (axial) through hole 265 for this purpose.

[0120] The sixth gear 260 further includes a lower portion 261 and an upper portion 263. The lower portion 261 has teeth 262 formed on an outer surface thereof configured to cooperate with teeth 254 formed on the small diameter portion 253 of the fifth gear 250.

[0121] Lower portion 261 and upper portion 263 of sixth gear 260 are preferably formed as a single unitary structure.

[0122] An upper portion 263 of the sixth gear 250 is cylindrical and includes an outer surface 264 configured to interact with an inwardly facing surface 116 of a first opening 115 that passes through a portion of the casing 10 in the form of the housing drive subunit housing portion 110 (see below). The first opening 115 forms a bearing or support for the sixth gear 260 and allows rotation of the sixth gear 260 relative to the casing 10.

[0123] The through hole 265 of the sixth gear 260 further has an inwardly facing surface 266 (see FIG. 3) having a profiled cross-sectional shape (perpendicular to the axial direction of the sixth gear 260) configured to cooperate with a similarly profiled outer surface 282 of the lower portion 281 of the ejection disk 280 described above. The inwardly facing surface 266 of the profiled cross-sectional shape and the profiled outer surface 282 of the lower portion 281 of the ejection disk 280 are complementary, so that when the lower portion 281 of the ejection disk 280 is inserted into the through hole 265 of the sixth gear 260, the ejection disk 280 and the sixth gear 260 rotate together in an interlocking manner (see FIG. 3).

[0124] Preferably, the inwardly facing surface 266 of the profiled cross-sectional shape and the profiled outer surface 282 of the lower portion 281 of the ejection disk 280 are complementary so that the lower portion 281 of the ejection disk 280 frictionally fits with at least the upper portion of the through hole 265 of the ejection disk 280.

[0125] The ejection disk 280 thus includes a lower portion 281 and an upper portion 283. As mentioned above, the lower portion 281 includes a profiled outer surface. The upper portion 283 of the ejection disk 280 also includes an outer surface 284. The overall diameter of the outer surface 284 of the upper portion 283 of the ejection disk 280 is greater than the overall diameter of the lower portion 281 of the ejection disk 280. The outer surface of the upper portion 283 of the ejection disk 280 is also preferably profiled and configured to cooperate with an inwardly facing or inner surface 38 of the interior space 37 of the bottom portion 35 of the inner power take-off element 30.

[0126] Also, as described above, the inner surface 38 of the bottom 35 of the inner power take-off element 30 has a cross-sectional shape (taken perpendicular to the axial direction of the cylindrical bottom 35 of the inner power take-off element 30) complementary to the outer surface 284 of the upper portion 283 of the take-off disk 280 of the gear mechanism 200 so that the take-off disk 280 and the inner power take-off element 30 rotate together.

[0127] The ejection disk 280 of the gear mechanism 200 has a through hole 285 (in its axial direction). The through hole 285 of the ejection disk 280 is configured to receive the first shaft 70, and the first shaft and the ejection disk 280 are rotatable relative to each other.

[0128] From the above description of the gear mechanism, it is clear that the rotation caused by the electric motor 150 of the output shaft 151, to which the first gear 210 is attached, causes the rotation of the second gear 220, which is rotatable relative to the first shaft 70 and the casing 10. The rotation of the second gear 220 causes the rotation of the third gear 230, which is rotatable relative to the second shaft 80 and the casing 10. The rotation of the third gear 230 causes the rotation of the fourth gear 240, which is rotatable relative to the first shaft 70 and the casing 10. The rotation of the fourth gear 240 causes the rotation of the fifth gear 250, which is rotatable relative to the second shaft 80 and the casing 10. The rotation of the fifth gear 250 causes the rotation of the sixth gear 260, which is rotatable relative to the first shaft 70 and the casing 10. The rotation of the sixth gear 260 causes the rotation of the ejection disk 280, which is rotatable relative to the first shaft 70 and the casing 10. The rotation of the take-off disk 280 causes the rotation of the inner power take-off element 30 and the outer power take-off element 40 connected thereto. Thus, the rotation by the electric motor 150 causes the rotation of the power take-off element 20. This obviously causes the rotation of the components 510, 520 attached to the power take-off element 20 via the first connector 601 or the second connector 602.

[0129] The above does not describe the gear diameters, number of teeth, gear ratios, etc. However, it will be apparent to one skilled in the art that appropriate dimensions of the gears 210, 220, 230, 240, 250, 260 will allow the selection of appropriate gear ratios.

[0130] The above has not described in detail how portions of casing 10, including the internal structure of casing 10, provide bearings and other support for gears 210, 220, 230, 240, 250, 260, first shaft 70 and second shaft 80, and possibly components or portions thereof other than those described.

[0131] Other types of gear mechanisms may alternatively be used, such as gear mechanisms having a different number of gears and / or other gear ratios.

[0132] The above describes how power (rotation) is transmitted from the electric motor 150 to the power take-off element 20 .

[0133] 7A to 7C, it will now be described how rotation is transmitted from the power take-off element 20 to the disk element 99 such that asymmetric loads on the power take-off element 20 are not transmitted to the disk element 99.

[0134] As shown in Fig. 7B, the first rotation transmitting part 50 includes a substantially cylindrical body 51. The body 51 of the first rotation transmitting part 51 has an outer surface 52. A first arm 53 and a second arm 54 extend from the cylindrical body 51 of the first rotation transmitting part 50. The first arm 53 and the second arm 54 of the first rotation transmitting part are located diametrically opposite each other and extend from the outer surface 52 of the cylindrical body 51 of the first rotation transmitting part 50. In other embodiments, only a single arm may be provided (not shown).

[0135] FIG. 7B also shows that the first arm 53 and the second arm 54 of the first rotation transmission part 50 have a width, namely a first width W1.

[0136] FIG. 6 shows a cross section through the power take-off element 20 (including the inner power take-off element 30 and the outer power take-off element 40), the receiving portion 60 formed therein, the first rotation transmission portion 50, and the first shaft 70.

[0137] 6 also shows that the first rotation transmission part 50 includes an internal space 55 provided in the body 51 of the first rotation transmission part 50. The internal space 55 has an inwardly facing or inner surface 56 configured to cooperate with a first end 71 of the first shaft 70. The first rotation transmission part 50 can be fastened onto the first end 71 of the first shaft 70 such that the rotation of the first rotation transmission part 50 is transmitted to the shaft 70.

[0138] The first shaft 70 has an elongated shape and includes a first end 71 and an opposite second end 72. As shown in Figures 2 and 3, the first shaft 70 extends from a connection with the first rotation transmission part 50, through several gears 260, 240, 220 of the gear mechanism, toward the first rotation transmission part 50 and a PCB 310 having a sensor device 399 provided adjacent to the inner surface of the casing 10 opposite the power take-off element 20.

[0139] Additionally, as shown in FIGS. 2 and 3, the second end 72 of the shaft 70 may include a disk element retaining portion 90 .

[0140] A disk element holder 90 is attached to the second end 72 of the shaft 70 such that rotation of the shaft 70 causes the disk element holder 90 to rotate therewith.

[0141] The disc element retaining portion 90 is configured to receive a disc element 99 such that as the disc element retaining portion 90 rotates, the disc element 99 rotates therewith.

[0142] The first rotation transmission part is received in a receiving part 60. The receiving part 60 is provided in the power take-off element 20. More precisely, the receiving part 60 is provided in the inner power take-off element 30 of the power take-off element 20.

[0143] 6, the interior space 33 of the top 31 of the inner power take-off element 30 has an end face 34', and the interior space 37 of the bottom 35 of the inner power take-off element 30 has an end wall 39. The wall separating the top 31 and the bottom 35 of the inner power take-off element 30 defines the end face 34' of the interior space 33 of the top 31 and the end face 39 of the interior space 37 of the bottom 35.

[0144] The receiving portion 60 is formed as a through hole in the wall separating the top 31 and the bottom 35 of the inner power take-off element 30. The receiving portion extends from an end face 34' of the internal space 33 of the top 31 to an end face 39 of the internal space 37 of the bottom 35.

[0145] The cross-sectional shape of the receiving portion 60 (taken perpendicular to the axial direction of the inner power take-off element 30) corresponds to the cross-sectional shape of the first rotation transmission portion 50 (taken perpendicular to the axial direction of the first rotation transmission portion 50).

[0146] 6, 7A and 7C, the receiving portion 60 has a main recess 61. The main recess has an inwardly facing surface 62.

[0147] The main recess 61 of the receiving part 60 is configured to receive the main body 51 of the first rotation transmitting part 50. The main body 51 of the first rotation transmitting part 50 has a shape corresponding to the recess 61 so that the power take-off element 20 rotates in response to the rotation of the first rotation transmitting part 50. The shape of the main body 51 of the first rotation transmitting part 50 is shown in FIG. 7B. The shape of the recess 61 that fits in accordance with the shape of the main body 51 of the first rotation transmitting part 50 is shown in FIG. 7C. FIG. 7A shows a state in which the main body 51 of the first rotation transmitting part 50 is connected to the recess 61 of the power take-off element 20.

[0148] The first arm 63 extends outward from the main recess 61 of the receiving portion 60. Furthermore, the second arm 65 extends outward from the main recess 61 of the receiving portion 60. As shown in the figure, the first arm 63 and the second arm 64 of the receiving portion 60 are located in diametrically opposite directions from the main recess 61 and extend from the main recess 61 of the receiving portion 60. The first arm 63 of the receiving portion 60 is configured to receive the first arm 53 of the first rotation transmitting portion 50. The second arm 66 of the receiving portion 60 is configured to receive the second arm 54 of the first rotation transmitting portion 50.

[0149] FIG. 7C also shows that the receiver first arm 63 and second arm 64 have a width, second width W2.

[0150] In FIG. 7A, it can be seen that the first width is slightly greater than the second width W2.

[0151] This obviously causes a gap between the first rotation transmission part 50 and the receiving part 60 , that is, causes backlash between the power take-off element and the first rotation transmission part 50 .

[0152] In mechanical engineering, backlash, sometimes called lash or play, is the clearance or lost motion in a mechanism caused by clearances between parts.

[0153] Preferably, the first width (W1) is smaller than the second width (W2) by 1 mm to 2 mm.

[0154] As a result, the cross-sectional shape (perpendicular to the axial direction of the inner power take-off element 30) of the receiving portion 60 corresponds to the cross-sectional shape (perpendicular to the axial direction of the first rotation transmission part 50) of the first rotation transmission part 50. Although they have the same shape, the receiving portion 60 is slightly larger than the first rotation transmission part 50. As a result, when the power take-off element 20 is rotated by the electric motor 150 as described above, the receiving portion 60 formed on the power take-off element 20 rotates, and when the arms 63, 64 of the receiving portion 60 come into contact with the arms 53, 54 of the first rotation transmission part 50, the first rotation transmission part 50 starts to rotate with a slight delay. The slight slack between the power take-off element 20 and the first rotation transmission part 50 caused by this dimensional difference prevents the tilt of the power take-off element 20 from being transmitted to the first rotation transmission part 50, the first shaft 70, and ultimately the disk element 99, even if the rotation of the power take-off element 20 is affected by an uneven load and the power take-off element 20 tilts slightly relative to the casing 10. In addition, since the disk element 99 does not change position due to the tilt of the power take-off element 20, the interaction between the disk element 99 and the sensor device 399 is not affected, and the rotational position of the power take-off element 20 can be measured more accurately.

[0155] 4 is a diagram showing an embodiment of the present invention in which the components of the motor unit 1 are divided into subunits. In FIG. 4, the casing 10 is shown divided into three parts: a top part e11, a bottom part 12, and an end part 13.

[0156] The electric motor 150, the disk element 99 and the gear mechanism 200 are enclosed in the drive subunit 100, for example as described above. The motor unit 1 may further comprise a control unit 300, which includes at least a printed circuit board 310 on which a sensor device 399 is provided, as shown. The control unit 300 preferably further comprises control means, such as a processor, for processing the rotation data received from the sensor device 399. The control unit may further comprise control means, such as a processor, for controlling the operation of the motor, for example, based at least in part on the rotation data received from the sensor device 399. The operation of the motor unit may further be provided from an external device, for example operated by a user. The control signal may be provided wirelessly. In such a case, the control subunit may include a wireless receiver. However, for example, as shown in FIG. 4, the motor unit may further comprise a cord subunit 400. The cord subunit 400 includes a set of cords 410 having a first end 411 connected to the control subunit 300 and a second end connected to an electrical connector plug 420. The electrical connector plug 420 allows connection to other devices such as a controller or an input panel. The cord subunit can transfer data to and from the control subunit 300 of the motor unit 1.

[0157] Additionally, the cord subunit 400 can transfer electrical energy to and from the unit including a battery. However, in some embodiments, the motor unit 1 can alternatively or additionally include a battery for powering the electric motor 150 and the control unit 300.

[0158] As mentioned above, Fig. 5 shows a detailed exploded view of the drive subunit 100 of the motor unit 1 of Fig. 4. The drive subunit 100 includes a housing 101. The housing 101 is formed by an upper portion 110 and a lower portion 120. The upper portion 110 of the housing 101 of the drive subunit 100 is provided with an opening 115. The lower portion 120 of the housing 101 of the drive subunit 100 is also provided with an opening (not shown) that is shaped and dimensioned to allow a sensor device 399 to be positioned adjacent to the bottom surface of the disk element 99.

[0159] An electric motor 150, a gear mechanism 200, etc. are provided inside the housing 101 of the drive subunit 100. The upper part 110 and the lower part 120 can be assembled using screws, indicated at 130 in FIG.

[0160] The casing 10, the housing 101, the gears and the power take-off element 20 are preferably molded from plastic in an injection molding process.

[0161] It should be noted that the figures and the above description are simple and schematic illustrations of the embodiment. Many specific mechanical details are not shown, since those skilled in the art should be familiar with these details and they would only unnecessarily complicate this description. For example, the specific materials used and the specific injection molding procedures are not described in detail, since it can be said that those skilled in the art can find suitable materials and suitable methods for manufacturing the container according to the present invention. [Explanation of symbols]

[0162] 1 Motor Unit / Modular Configuration System Motor Unit 10 Casing / Unit Casing 11 Top of unit casing 12 Bottom of unit casing 13 End of unit casing 15 Opening through the casing (forming a bearing for the power take-off element) 20 Power take-off element 30 Internal power take-off element 31 Top of inner power take-off element 31' outer end of top of inner power take-off element 31'' Inner end of top of inner power take-off element 32 Outer surface of top of inner power take-off element 32' A notch formed as a recess in the outer surface of the top of the inner power take-off element 33 Internal space at top of inner power take-off element 34 Inner surface of top of inner power take-off element 34' End surface of the interior space at the top of the inner power take-off element 35 Bottom of inner power take-off element 36 Outer surface of bottom of inner power take-off element 37 Internal space at bottom of inner power take-off element 38 Bottom inward facing / inner surface of inner power take-off element 39 End surface of the inner space at the bottom of the inner power take-off element 40 External power take-off element 41 Body of outer power take-off element 42 Upper surface of outer power take-off element 43 Underside of outer power take-off element 44 Outer surface of outer power take-off element 45 Opening through outer power take-off element 46 Inner surface of outer power take-off element 47 Protrusion formed by protruding from the inner surface of the outer power take-off element 50 First rotation transmission part 51 Main body of first rotation transmission part 52 Outer surface of the main body of the first rotation transmission part 53 First arm of first rotation transmission part 54 Second arm of first rotation transmission part 55 Internal space of the main body of the first rotation transmission part 56 Inward surface / inner surface of first rotation transmission part 60 Receiving portion formed on the power take-off element 61 Main recess of receiving part 62 Inward facing surface of main recess of receiving part 63 First arm of the receiving section 64 Second arm of receiver 70 First Axis 71 First end of first shaft 72 second end of first shaft 80 Second Axis 81 First end of second shaft 82 Second end of second shaft 90 Disk element holding part (magnet holding part) 99 Disk element (magnet) 100 Drive subunit 101 Drive subunit housing 110 Top of drive subunit housing 115 A first opening through the housing of the drive subunit formed in the upper portion of the housing of the drive subunit. 116 an inwardly facing surface of a first opening through the housing of the drive subunit; 120' Lower part of drive subunit housing 130 Screw 150 Electric Motor 151 Motor output shaft 200 Gear mechanism 210 First gear (on motor output shaft) 211 Teeth formed on the outer surface of the first gear 220 Second gear (on the first shaft) 221 Large diameter part of second gear 222 Teeth formed on the large diameter portion of the second gear 223 Small diameter part of second gear 224 Teeth formed on the small diameter portion of the second gear 225 Hole through second gear 230 Third gear (on the second shaft) 231 Large diameter part of the third gear 232 Teeth formed on the large diameter portion of the third gear 233 Small diameter part of third gear 234 Teeth formed on the small diameter portion of the third gear 235 Hole through the third gear 240 Fourth Gear (on the First Shaft) 241 Large diameter part of the fourth gear 242 Teeth formed on the large diameter part of the fourth gear 243 Small diameter part of the fourth gear 244 Teeth formed on the small diameter portion of the fourth gear 245 Hole through the fourth gear 250 Fifth Gear (on the Second Shaft) 251 Large diameter part of the fifth gear 252 Teeth formed on the large diameter part of the fifth gear 253 Fifth gear small diameter section 254 Teeth formed on the small diameter part of the fifth gear 255 Hole through the fifth gear 260 Sixth Gear (on the First Shaft) 261 Lower part of the sixth gear 262 Teeth formed on the bottom of the sixth gear 263 Top of the Sixth Gear 264 Upper outer surface of sixth gear 265 Sixth Gear Hole 280 Removal disk 281 Lower part of ejection disk 282 Profiled outer surface of lower part of ejection disc 283 Top of ejection disk 284 Upper outer surface of ejection disk 285 Hole through ejection disk 300 Control Subunit 310 Printed Circuit Board 399 Sensors 400 Code Subunits 410 A set of electrical cords 411 A first end of a pair of electrical cords 412 The second end of a pair of electrical cords 420 Electrical Connector Plug 500 Modular Configuration System 510 First type components 511 Components of the first type of components (bricks) 512 Component of the first type of component (plate) 520 Second Type Components 521 Components of the second type (double peg) 522 Elements of the second type of element (beam) 523 Components of the second type of components (frames) 524 Component (Axis) 530 Connector elements for modular configuration systems 610 Connector knob 620 Knob receiving opening 630 Cylindrical connector part (elastic connector peg) 631 Circumferentially arranged beads located at the free end of the cylindrical connector section 632 is formed in the longitudinal direction of the cylindrical connector portion to provide elasticity of the cylindrical connector portion. The elongated cut 640 Connector opening

Claims

1. A modular construction system motor unit (1) for a modular construction system (500), comprising: a casing (10), an electric motor (150) mounted in said casing (10); a power take-off element (20) having at least one connector (600) for connecting to components (501, 502, 503) and being rotatably connected to said casing (10) about an axis of rotation; a gear mechanism (200) provided between said electric motor (150) and said power take-off element (20); a rotation detection mechanism configured to detect the rotational position of said power take-off element relative to said casing (10); Equipped with The rotation detection mechanism includes a disk element (99) that rotates with the power take-off element (20) and a sensor device (399) fixed to the casing; the disk element (99) is connected to the power take-off element (20) or a gear of the gear mechanism (200) via a first rotation transmission part (50) fixedly connected to the disk element (99) and a receiving part (60) for receiving the first rotation transmission part (50), the receiving part (60) being formed on the power take-off element (20) or the gear of the gear mechanism (200); A modular construction system motor unit (1), characterized in that the receiving portion (60) and the first rotation transmission portion (50) have cooperating shapes and sizes configured to allow backlash between the power take-off element (20) and the first rotation transmission portion (50).

2. The modular construction system motor unit (1) of claim 1, characterized in that the cooperating shapes and sizes of the receiving portion (60) and the first rotary transmission portion (50) are configured such that the receiving portion (60) is allowed to rotate 0.5° to 2° before the first rotary transmission portion (50) engages to rotate with the ejection element (20).

3. 3. A modular construction system motor unit (1) according to claim 1 or 2, characterized in that the disk element (99) is connected to the power take-off element (20) via a first shaft (70).

4. 4. A modular construction system motor unit (1) according to claim 3, characterized in that the disk element (99) is arranged on a side wall of the casing (10) opposite the power take-off element with respect to the casing (10).

5. A modular construction system motor unit (1) as claimed in claim 3 or 4, characterized in that some of the gears (220, 240, 260) of the gear mechanism surround and support the first shaft (70) and are arranged coaxially.

6. A modular configuration system motor unit (1) according to any one of claims 1 to 5, characterized in that the first rotation transmission part (50) comprises a cylindrical main body part (51) and a first arm (53) protruding therefrom, and the receiving part (60) comprises a cylindrical main recess (61) and a first arm recess (63) extending therefrom.

7. The modular configuration system motor unit (1) of claim 6, characterized in that the first arm (53) of the first rotation transmission part (50) has a first width (W1), the first arm recess (63) of the receiving part (60) has a second width (W2), and the first width (W1) is 1 mm to 2 mm smaller than the second width (W2).

8. A modular construction system (500) comprising a motor unit (1) according to any one of claims 1 to 7 and a number of components (510, 520).

Images