Modular Configuration System Motor Unit
The modular configuration system motor unit addresses encoder inaccuracy due to asymmetric loads by incorporating a rotation detection mechanism with backlash, ensuring precise rotation measurement and control.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- LEGO AS
- Filing Date
- 2022-03-24
- Publication Date
- 2026-06-04
Smart Images
Figure 0007870292000001 
Figure 0007870292000002 
Figure 0007870292000003
Abstract
Description
Technical Field
[0001] The present invention relates to a modular configuration system and a modular configuration system motor unit.
Background Art
[0002] Such modular configuration systems, like modular configuration system motor units (i.e., simple motor units) for such modular configuration systems, are known in the art. A modular configuration system includes, for example, a plurality of components such as assembly blocks (i.e., bricks), which are assembled to form various different architectural structures when connected to each other. A motor unit may be added to such a modular configuration system to move the components of such a system.
[0003] A modular configuration system is "modular" in the sense that the components constituting the structural system are shaped according to the size and include cooperative connection means that enable their mutual connection, and models / sets such as humanoid robots can be constructed.
[0004] Learning systems, robot construction sets, and so-called maker kits are known and can provide various functions to users.
[0005] Modular components such as beams, plates, bricks, pegs, connectors, and interlocking gears, known from traditional modular configuration systems, can be combined not only with functional modular components such as lighting elements, motors / actuators, and sensors, but also with programmable processor units, which can also be digitally connected to external devices, for example, for programming or remote control. Such functionally enhanced modular configuration systems have proven their value in terms of play and / or learning, because, above all, they increase the reliability between simple and functional modular components, facilitate easily removable mechanical connections, and allow functional modular components to fit together to provide a clear and stimulating user experience.
[0006] Motor units for such modular systems often include power take-off discs equipped with connecting means suitable for connecting, for example, shafts.
[0007] In many modular configuration 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. For this purpose, the motor units of a modular configuration system may include encoders such as magnetic sensors with 360-degree resolution and controlled absolute position motors equipped with zero-point indicators.
[0008] In modular systems, motor units often consist of a casing and other components such as gear mechanisms, including parts made of plastic to keep costs down, thereby allowing them to be easily connected to other components made of plastic. Motor units in modular systems are often very small but can be used to construct very large structures. Therefore, during use, the motor unit's output disk can be subjected to heavy loads (sometimes asymmetrical loads).
[0009] The problem lies in the asymmetric load applied to the motor unit. The asymmetric load on the take-up element can impair the encoder, which in turn causes the encoder to provide an inaccurate measurement of the rotational position of the take-up element relative to the motor unit casing, thereby impairing precise control of rotation.
[0010] Therefore, a modular motor unit system with a reliable and accurate rotation detection mechanism is required, even when an asymmetrical load is applied to the power take-off element of the motor unit. [Overview of the Initiative]
[0011] Therefore, the object of the present invention is to alleviate the problems of the prior art.
[0012] This is achieved by a modular configuration system motor unit for a modular configuration system, and the motor unit is - Casing and, - An electric motor attached to the casing, - A power take-off element having at least one connector for connecting to a component and rotatably connected to the casing about a rotation axis, - A gear mechanism provided between the electric motor and the power extraction element, - A rotation detection mechanism configured to detect the rotational position of the power take-off element relative to the casing, Equipped with, The rotation detection mechanism is, - A disk element configured to rotate together with the power extraction element, - A sensor device fixed to the casing, Equipped with, The disk element is connected to the power extraction element or the gears of the gear mechanism via a first rotation transmission unit, and the first rotation transmission unit is fixedly connected to the disk element. The power extraction element or the gear of the gear mechanism has a receiving portion formed therein that is configured to receive the first rotation transmission portion. The receiving portion and the first rotation transmission portion have a cooperative shape and size configured to allow backlash between the power extraction element and the first rotation transmission portion.
[0013] In mechanical engineering, backlash, sometimes called lash or play, is the slack, or free movement, in a mechanism caused by the gap between parts. Therefore, the cohesive shape and size of the receiving part and the first rotational transmission part are configured such that slack, or gap, is provided between them. Backlash allows for a slight rotation of the power take-out element before the first rotational transmission part engages with the power take-out element to rotate together.
[0014] The gear mechanism is configured to transmit rotation from the electric motor to the power extraction element. The gear mechanism is housed within the casing. The rotation detection mechanism is housed within the casing.
[0015] In one embodiment, the cooperative shape and size of the receiving portion and the first rotational transmission portion are configured such that the receiving portion rotates 0.5° to 2° before the first rotational transmission portion engages to rotate with the extraction element.
[0016] In one embodiment, the disk element is connected to the power extraction element via a first shaft.
[0017] In one embodiment, the disk element is located on the side wall of the casing opposite to the power take-off element with respect to the casing.
[0018] In one embodiment, some of the gears of the gear mechanism surround and support a first shaft and are arranged coaxially.
[0019] In one embodiment, the first rotation transmission unit comprises a cylindrical body and a first arm protruding therefrom, and the receiving unit comprises a cylindrical main recess and a first arm recess extending therefrom.
[0020] The first arm of the first rotation transmission part preferably extends perpendicularly to the cylindrical outer surface of the first rotation transmission part. Accordingly, the first arm recess of the receiving part preferably extends perpendicularly to the cylindrical inner surface of the receiving part.
[0021] In a preferred embodiment, it will be understood that the first arm of the first rotation transmission part extends perpendicularly to the rotation axis of the extraction element. Accordingly, the first arm recess of the receiving part preferably extends perpendicularly to the rotation axis of the extraction 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 configuration system comprising a modular configuration system motor unit according to any embodiment of the first aspect of the present invention and a plurality of components.
[0024] It should be emphasized that the terms "comprising / including / consisting of" used in this specification are used to specify the presence of the described features, integer values, steps or components, but do not prevent the presence or addition of one or more other features, integer values, steps, components or groups thereof.
[0025] Hereinafter, the present invention will be described in more detail with reference to the embodiments shown in the accompanying drawings. It should be emphasized that the illustrated embodiments are used for the purpose of illustration only and should not be used to limit the scope of the present invention.
Brief Description of the Drawings
[0026] [Figure 1A] FIG. 1A shows, in perspective view, a modular configuration system motor unit according to an aspect of the present invention and a modular configuration system motor unit for a modular configuration system according to another aspect of the present invention. [Figure 1B] Figure 1B shows a side view of the motor unit shown in Figure 1A. [Figure 1C] Figure 1C shows the motor unit from Figure 1A in a top view. [Figure 2] Figure 2 is a side cross-sectional view of the motor unit shown in Figures 1A to 1C. [Figure 3] Figure 3 is a cross-sectional view of the end face of the motor unit shown in Figures 1A to 1C. [Figure 4] Figure 4 shows the main subunits of the motor unit shown in Figures 1A to 1C, 2 and 3, in exploded view. [Figure 5] Figure 5 shows an exploded view of the drive subunit of the motor unit shown in Figures 1A to 1C, 2, 3, and 4. [Figure 6] Figure 6 shows a detailed perspective cross-sectional view of the power extraction elements of the motor unit shown in Figures 1A to 1C, 2, 3, and 4. [Figure 7A] Figure 7A is a top view showing the inner power take-off element of the power take-off element in Figure 6 and its connection to the first rotation transmission section. [Figure 7B] Figure 7B shows a top view of the first rotation transmission unit in Figure 7A. [Figure 7C] Figure 7B is a top view of the inner power take-off element of Figure 7A when it is not connected to the first rotation transmission unit of Figure 7B. [Figure 8] Figure 8 is a perspective view showing a modular configuration system according to an embodiment of the present invention, comprising a modular configuration system motor unit and a set of connector elements, a prior art component (belonging to the first type of component), and the attachment of the motor unit to the first component using the set of connector elements. [Figure 9] Figure 9 shows a perspective view of a prior art component belonging to a second type of component, which has a connector knob formed on one surface and a connector knob receiving opening formed on the opposite surface. [Figure 10]Figure 10 shows a perspective view of a prior art connector element for a modular configuration system comprising a second type of component including a connector opening, the connector element including a snap connection configured such that each end of the connector element connects to the connector opening of the second type of component. [Figure 11] Figure 11 is a perspective view showing two connector elements, as shown in Figure 9, inserted into the connector opening of one component of the system, and the other component of the system which also has a connector opening. [Modes for carrying out the invention]
[0027] Figure 1A shows a perspective view of a modular system motor unit 1 according to an aspect of the present invention and a modular system motor unit 1 for a modular system according to another aspect of the present invention. The modular system motor unit 1 can be simply referred to as motor unit 1. Figure 1B shows a side view of the motor unit 1 in Figure 1A, and Figure 1C shows a top view of the motor unit 1 in Figure 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 Figure 1A, but is shown in Figures 2 and 5.
[0029] Furthermore, the motor unit 1 includes a power take-off element 20, or simply a take-off element 20, which extends from the casing 10, and the take-off element 20 is rotatably connected to the casing 10.
[0030] The extraction element 20 is rotatably connected to the casing 10 around a rotation axis (not shown).
[0031] The extraction element 20 is connected to the electric motor 150 such that it is forced to rotate when the output shaft 151 of the electric motor 150 (see Figures 2 and 5) rotates. Preferably, the extraction element 20 is connected to the electric motor 150 via a gear mechanism 200, as shown in Figures 3, 4, 5, 6 and 7A to 7C.
[0032] The extraction element 20 is provided with at least one connector 600 for connecting the motor unit 1 to the components 510 and 520 of the modular configuration system.
[0033] In Figure 1, the extraction element 20 is equipped with five such connectors 600.
[0034] A connector 600, or first connector 601, is shown in the center of the extraction element 20. The first connector 601 is recessed into the extraction element 20 and has an X-shaped (cross-sectional) cross-section (a cross-section perpendicular to the rotation axis of the extraction element 20). The first connector is configured to receive a shaft 524, as shown in Figure 8, and the shaft 524 has a cross-sectional shape corresponding to the cross-sectional shape of the first connector 601 (a cross-sectional shape perpendicular to the longitudinal axis of the shaft 524). That is, the shaft has an X-shaped (cross-sectional) cross-section. The first connector 601 and the shaft 524 belong to the modular configuration system 500 as described above and are sized to form a friction mating between the first connector 601 and the shaft.
[0035] Four identical connectors 600, or second connectors 602, are shown along the periphery of the extraction element 20. The second connectors are formed as recesses into and through the extraction element 20. The second connectors are preferably connector openings 640, as described below in relation to Figures 8, 10, and 11.
[0036] In other embodiments not shown, it will be understood that the extraction element 20 may have only a centrally located connector 600, such as the first connector, and may not have any connectors on the periphery.
[0037] Furthermore, in other embodiments not shown, it will be understood that the extraction element 20 may have only connectors such as the second connector 602 described above in its peripheral portion, and may not have the first connector 601 in its central portion.
[0038] Furthermore, in other embodiments not shown, it will be understood that the number, shape, and location (on the take-off element 20) of the connectors 600 may differ from those shown in Figure 1A. Preferably, one or more connectors 600 are configured to cooperate with and connect to various types of components of the modular configuration system, as described below, for example.
[0039] The casing 10 of the motor unit 1 further has a number of connector openings 640, which will be described below in relation to Figures 8, 10, and 11, to enable connection between the motor unit 1 and other components of the modular configuration system 500. Again, it will be understood that other types of connection means may be formed in the casing 10.
[0040] As described above, the motor unit 1 of the present invention can form part of a modular configuration system 500 that includes multiple components. Before returning to the motor unit 1, such a modular configuration system 500 and exemplary components will be described in more detail below.
[0041] Figure 9 shows a perspective view of a prior art component 511 belonging to a first type of component 510. Such a first type of component 510 includes at least a connector knob 610 configured to connect to other components of the first type 510 that are similar but of various shapes and have knob receiving openings 620. The component 501 shown in Figure 9 has a connector knob 610 formed on its upper surface and knob receiving openings 620 formed on its opposite surface. For example, it will be understood that two components 501, as shown in Figure 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 mating / friction connection by the outer diameter of the cylindrical connector knob 610 closely fitting 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] Figure 8 shows another component 512 of the first type component 510. The component 512 shown in Figure 8 is formed in a plate shape and has 36 connector knobs 610 arranged in a 6x6 grid and 36 knob receiving openings 620 (not shown) arranged in a 6x6 grid on the opposite side of the plate from the connector knobs 610.
[0044] A component of type 1 is defined herein as having either or both a connector knob 610 or a knob receiving opening 620. A configuration system of type 1 is defined herein as a system of components comprising two or more components of type 1 510, wherein at least one component has connector knobs 610 arranged in a regular two-dimensional n × n grid (n ≥ 2). A configuration system of type 1 is known in the art, for example, by the trade name LEGO SYSTEM, sold by LEGO A / S.
[0045] Figure 10 shows a second type component 521 having two cylindrical connector portions 630 formed along a common axis and facing opposite directions. The second type component 520 may additionally or alternatively include a cylindrical connector opening 640 configured to cooperate with other second type components 520 having a protruding cylindrical connector portion 630, such as the second type component 521 shown in Figure 10.
[0046] Figure 11 shows an example of a second type configuration system 520, which includes second type components 521, 522, 523, 524, and 525 having various shapes, forms, and various means of connection.
[0047] The second type components 510 and 511 shown in Figure 10 include two cylindrical connector portions 630, or elastic connector pegs, each of which is configured to form a snap connection with a connector opening 640 formed on the other second type component 520.
[0048] Figure 11 shows two other components of the second type, 520, 522, and 523.
[0049] The second type component 522, shown on the right in the figure, is formed as a beam through which three cylindrical connector openings 640 pass. One end of the second type component 521, shown in Figure 10, is inserted into two of these cylindrical connector openings 640 and is detachably locked with a snap connection.
[0050] The second type component 523 is formed as a rectangular frame made up of four beams formed on a common plane, as shown on the left in the figure. Two of these beams have three connector openings 640 having vertical axes parallel to the plane of the frame. It will be understood that each of these connector openings 640 can receive the cylindrical connector portion 630 of the second type component 521, as shown in Figure 10. However, it will also be understood that the connector openings can form bearings for, for example, a shaft 524, as shown in the figure. The shaft 524 shown in Figure 11 has a cross-shaped cross section.
[0051] The two beams of the second type component 523 of the frame shape shown in Figure 11 are formed perpendicular to the two beams described above and each has three cylindrical connector openings 640 formed penetrating in the direction of the frame surface, and four cylindrical connector openings 640 formed penetrating the beams with a vertical axis perpendicular to the frame surface. Again, it will be understood that each of these connector openings 640 can receive the cylindrical connector portion 630 of the second type component 521 as shown in Figure 10.
[0052] The second type component 521 shown in Figure 10, which includes two oppositely oriented cylindrical connector portions 630, can be used by being detachably connected to two other second type components, such as the second type components 522 and 523 shown in Figure 11. In modified examples not shown, the second type component may 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 portion 630 and the cylindrical connector opening 640 is provided by the cylindrical connector portion 630 having a circumferentially positioned bead 631 located at the free end of the cylindrical connector portion 630, and by the elasticity of the cylindrical connector portion 630. This elasticity may be provided by one or more elongated notches 632 formed in the longitudinal direction of the cylindrical connector portion 630. In the modified example in Figure 10, two such elongated notches 632 are shown. The diameter of the bead 631 is slightly larger than the diameter of the body of the cylindrical connector portion 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 the bead 631 formed on the cylindrical connector portion 630.
[0056] When the user pushes the cylindrical connector portion 630 into the cylindrical connector opening 640, the elasticity of the cylindrical connector portion 630 pushes the bead 631 through the main body of the cylindrical connector opening 640. When the bead reaches the enlarged ring-shaped opening at the opposite end of the cylindrical connector opening 640, the elasticity of the main body of the cylindrical connector portion 630 causes the bead 631 to engage with the enlarged ring-shaped opening, forming a snap connection between the cylindrical connector portion 630 and the cylindrical connector opening 640.
[0057] Such snap connections are well known in the art.
[0058] The components of the second type of component 520 are defined herein as having at least a cylindrical connector opening 640 configured to snap into a cylindrical connector portion 630 (elastic connector peg 270) as described above. The second type of component 200 may also include components having one or more cylindrical connector portions 630. The second type of component 520 may also include components having one or more cylindrical connector portions 630 and one or more cylindrical connector openings 640.
[0059] A second type of component is defined herein as a system of components comprising two or more second type components 520, each having at least one connector opening 640. An example of a second type of component system 2000 is known in the art, for example, by the trade name LEGO TECHNIC, sold by LEGO A / S.
[0060] It will be understood that some components of the second type configuration system and some components of the second type 520 may additionally have connector knobs 610 and / or knob receiving openings 620, thereby forming a hybrid.
[0061] The right side of Figure 8 shows a motor unit 1 according to an embodiment of the present invention mounted on a plate-shaped component 512 of the first type component 510. For this purpose, the modular configuration system also includes a connector element 550.
[0062] The connector element 530 is shown in the left perspective view of Figure 8. The connector element 530 is configured to connect components belonging to the first type of component 510 and components belonging to the second type of component 520, as described above. One or more connector elements 530 may further form part of a configuration system 500 which includes the motor unit 1 and further includes one or more first type components 510 and / or one or more second type components 520. At one end of the connector element 530 is a cylindrical connector portion 630 that enables connection to the cylindrical connector opening 640 as described above. At the other end, the connector element 530 is a knob receiving opening 620 that enables the connector element 530 to connect to a knob 610. The knob receiving opening 620 is provided on the cylindrical portion of the connector element 530 which is sized and shaped to connect between the four connector knobs 610 of the first type component 510, such as the plate-shaped first type component 512 shown in Figure 8.
[0063] Since the electric motor unit 1 has a cylindrical connector opening 640, it can be connected to a second type of component 520 having a cylindrical connector portion 630 or to a connector element 530 shown in Figure 8.
[0064] In Figure 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 which is a cylindrical portion that is opposed to and connected between four adjacent connector knobs 150 on the plate 104.
[0065] Now, returning to such a motor unit 1, as described above, the casing 10 of the motor unit 1 shown in Figures 1A to 1C is provided with a plurality of connection means in the form of connector openings 640. However, in embodiments not shown, the casing may alternatively or additionally be provided with other types of connection means such as the connector knobs 610, knob receiving openings 620 and / or cylindrical connector portions 630 described above, or in yet another embodiment, other types of connector means suitable for other modular configuration systems.
[0066] As described above, and as shown in Figures 2 and 3, the power take-off element 20 is connected to the electric motor 150 via a gear mechanism 200 provided between the electric motor 150 and the power take-off element 20. An exemplary gear mechanism will be described in more detail below.
[0067] However, as also shown in Figures 2 and 3, the motor unit 1 further includes 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 includes a disk element 99, such as a permanent magnet. The disk element 99 is connected to the power take-off element 20 or a gear of the gear mechanism so 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 described in more detail below. However, from Figures 2 and 3, it will be understood 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 to the casing.
[0069] For example, as shown in Figures 2 and 3, the sensor device 399 is fixed to a printed circuit board (PCB) 310 which is part of the control subunit 300 that constitutes the control mechanism of the motor unit 1. The printed circuit board (PCB) 310 is fixed to the casing 10, and thereby the sensor device 399 is fixed to the casing 10.
[0070] The sensor device 399 is an encoder / rotation sensor, and may be, 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 embodiments shown in Figures 2, 3, 5, 6, and 7, the disk element 99 is connected to the power extraction element 20 via a receptacle 60 and a first rotation transmission unit 50 fixedly connected to the disk element 99, the receptacle 60 for receiving the first rotation transmission unit 50 is formed in the power extraction element 20.
[0072] Alternatively, the disk element 99 may be connected to a gear of the gear mechanism 200 via a first rotational transmission unit 50 similar to that shown in the figure, which is not shown. However, in this case as well, the first rotational transmission unit 50 is fixedly connected to the disk element 99. The first rotational transmission unit 50 is connected to the gear of the gear mechanism 200, for example, the lowest gear 220 shown in Figures 2, 3 and 5, via a receiving portion 60 for receiving the first rotational transmission unit 50. This receiving portion 60 is formed on the gear of the gear mechanism 200.
[0073] In either case, the receiving portion 60 and the first rotation transmission portion 50 have a cooperative shape and size configured to allow slight rotation of the power take-out element 20 before the first rotation transmission portion 50 engages to rotate together with the power take-out element 20.
[0074] As mentioned above, in a preferred embodiment, the receiving portion 60 may be provided within the power extraction element 20, as shown in the figure, which will be described in more detail below. However, it will be understood that the cooperation between the receiving portion 60 and the first rotation transmission portion 50, as described below, can also be applied to embodiments in which the receiving portion 60 is formed on a gear.
[0075] The casing 10 of the motor unit 1 may consist of three parts, for example, as shown in Figure 4: a top 11, a bottom 12, and an end 13. Each part of the casing 10 protects the internal components (electric motor 150, gear mechanism 200, control subunit 300, etc.) from damage and ensures their interrelationship / arrangement by forming supports for mounting the internal components.
[0076] The three parts 11, 12, and 13 allow for the assembly of internal components and can be connected to each other by snap connections, screws, or other methods known in the art. In some embodiments, the casing 10 can be disassembled to allow 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, shown here at the top 11, which forms a bearing for a portion of the power take-off element 20. The opening 15 of the casing has a first diameter.
[0078] In some embodiments, as shown in the figure, the power take-off element 20 is formed by two parts: an inner power take-off element 30 and an outer power take-off element 40. The first connectors 600, 601 described above are formed on the inner power take-off element 30, and the second connectors 600, 602 are 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 a (relative) anti-rotation manner by the cooperation of elongated projections 47 formed on the inward-facing surface / inner surface 46 of the outer power take-off element 40 and notches 32' formed as recesses on the outer surface 32 of the top 31 of the inner power take-off element 30.
[0079] The internal power take-off element 30 consists of a top 31 and a bottom 35, as shown in Figure 5, for example. The top 31 is cylindrical and has a second diameter. The top is configured to extend through the opening 15 of the casing 10. The diameter of the top 31, i.e., the second diameter, is configured to allow rotation of the internal power take-off element 30 relative to the casing 10. The bottom 35 is also cylindrical and has a third diameter, which is larger than the diameter of the top 31. When the internal power take-off element 30 is inserted into the opening 15 of the casing 10, the upward surface of the bottom 35 interacts with the inward surface of the casing 10, enclosing the opening 15 and preventing axial movement of the internal power take-off element 30 in one axial direction. The external power take-off element 40 is connected to the top 31 of the internal power take-off element 30 on the opposite side of the casing 10 from the bottom 35 of the internal power take-off element 30, as shown in the exploded view of Figure 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 and 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 moving axially in the other direction in the 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. The opening 45 is provided, penetrating the body 41 of the outer power take-off element 40 from the upper surface 42 to the lower surface 43, and the opening 45 is configured to receive a portion of the top 31 of the inner power take-off element 30. The opening 45 penetrating the body 41 of the outer power take-off element 40 has an inward-facing surface, i.e., an inner surface 46. A projection 47 extending inward is formed on the inner surface 46 of the outer power take-off element 40.
[0081] The top portion 31 of the inner power extraction element 30 consists of an outer end portion 31' and an inner end portion 31'', and has an outer surface 32 (see Figure 4).
[0082] The bottom 35 of the inner power take-off element 30 consists of an outer end, an inner end, and an outer 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, Figure 4). Preferably, the top 31 and bottom 35 of the inner power take-off element 30 are formed as a single integrated part.
[0083] Furthermore, as described 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-out element 30, and the elongated notch 32' is configured to cooperate with a projection 47 that is formed on the inner surface 46 of the opening 45 that penetrates the outer power take-out element 40 and extends inward.
[0084] An internal space 33 is provided at the top 31 of the internal power extraction element 30. The internal space 33 has a bottom formed at the inner end 31'' of the top 31 and opens at the outer end 31' of the top. Thus, the internal space 33 can be considered to have a cup shape.
[0085] The top 31 of the internal power extraction element 30 has an inward-facing surface, i.e., an inner surface 34, that defines the internal space 33 (see Figure 3).
[0086] The internal space 33 of the top 31 of the inner power take-off element 30 can constitute the second connector 602 described above. Therefore, the cross section (taken perpendicular to the axial direction of the top 31 of the inner power take-off element 30) can be cross-shaped / X-shaped as described above to receive a similar cross-shaped / X-shaped shaft, such as the shaft 524 shown in Figure 11. The cross-shaped cross section of the internal space 33 can also be understood from Figure 6, which shows a cross section passing through the power take-off element 20, the internally formed receiving section 60, the first rotation transmission section 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. Figure 6 also shows, as can be understood in Figure 7C, 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.
[0087] The internal space 37 is located at the cylindrical bottom 35 of the internal power extraction element 30. This internal space 37 also has a bottom wall, or end wall, but it is formed at the outer end of the bottom 35 and opens at the inner end of the top of the bottom. Thus, the internal space 37 can be considered to have a cup shape. In contrast to the internal space 33 of the top 31, this internal space 37 opens downward and enters the interior of the casing 10.
[0088] The bottom 35 of the internal power extraction element 30 has an inward-facing surface, i.e., an inner surface 38, that defines the internal space 37 (see Figure 3).
[0089] The inner surface 38 of the bottom 35 of the inner power take-out element 30 has a cross-sectional shape (taken perpendicular to the axial direction of the cylindrical bottom 35 of the inner power take-out element 30) that allows for cooperation / connection with the outer surface 284 of the upper part 283 of the take-out disk 280 of the gear mechanism 200, and this 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-out element 30 (see Figures 2 and 3).
[0090] In this way, the internal power extraction element 30 is driven by the output disk 280 of the gear mechanism 200.
[0091] Referring to Figures 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 mentioned above, the electric motor 150 has a motor output shaft 151 (see Figures 2 and 5). The motor output shaft 151 is connected to a 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 on which teeth 212 are provided, and is configured to cooperate with the second gear 230.
[0094] The second gear 220 is rotatably supported by the first shaft 70, but can rotate freely relative to the first shaft 70. For this purpose, the second gear 220 is provided with a through hole 225 (axially).
[0095] The second gear 220 further includes a large-diameter section 221 and a small-diameter section 223. The large-diameter section 221 has teeth 222 configured to cooperate with the teeth 212 of the first gear 210.
[0096] As shown in Figures 2 and 5, the output shaft 151 of the electric motor 150 is positioned 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 located on the upward-facing surface of the large-diameter portion 221. This arrangement allows for a very compact motor unit because the rotation axis of the gear mechanism 200 is perpendicular to the output shaft 151 of the electric motor 150, and thus the gear mechanism can be compactly positioned at the end of the electric motor 150.
[0097] However, 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, instead of the teeth 222 on the large diameter portion 221 of the second gear 220, teeth (not shown) may be provided on the outward-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, integrated structure.
[0099] The small-diameter portion 223 of the second gear 220 consists of teeth 224 formed on its outer surface, and the teeth 224 are configured to cooperate with the third gear 230 of the gear mechanism 200.
[0100] The third gear 230 is rotatably supported by the second shaft 80, but can rotate freely relative to the second shaft 80. For this purpose, the third gear 230 is provided with a through hole 235 (axially).
[0101] The second axis 80 is positioned parallel to the first axis 70.
[0102] The third gear 230 further comprises a large-diameter portion 231 and a small-diameter portion 233. The large-diameter portion 231 has teeth 232 formed on it and is configured to cooperate with the teeth 224 formed on the small-diameter portion 222 of the second gear 220.
[0103] Preferably, the large-diameter portion 231 and the small-diameter portion 233 of the third gear 230 are formed as a single, integrated structure.
[0104] The small-diameter portion 233 of the third gear 230 consists of teeth 234 formed on its outer surface, and the teeth 234 are configured to cooperate with the fourth gear 240 of the gear mechanism 200.
[0105] The small-diameter portion 222 of the second gear 220 consists of teeth 224 formed on its outer surface and is configured to cooperate with the third gear 230 of the gear mechanism 200.
[0106] The third gear 230 is rotatably supported by the second shaft 80, but can rotate freely relative to the second shaft 80. For this purpose, the third gear 230 is provided with a through hole 235 (axially).
[0107] The second axis 80 is positioned parallel to the first axis 70.
[0108] The third gear 230 further comprises a large-diameter portion 231 and a small-diameter portion 233. The large-diameter portion 231 has teeth 232 formed on it and is configured to cooperate with the teeth 224 formed on the small-diameter portion 222 of the second gear 220.
[0109] Preferably, the large-diameter portion 231 and the small-diameter portion 233 of the third gear 230 are formed as a single, integrated structure.
[0110] The small-diameter portion 231 of the third gear 230 consists of teeth 232 formed on its outer surface, and the teeth 232 are configured to cooperate with the fourth gear 240 of the gear mechanism 200.
[0111] The fourth gear 240 is rotatably supported by the first shaft 70, but can rotate freely relative to the first shaft 70. For this purpose, the fourth gear 240 is provided with a through hole 245 (axially).
[0112] The fourth gear 240 further includes a large-diameter portion 241 and a small-diameter portion 243. The large-diameter portion 241 consists of teeth 242 formed on its outer surface and is configured to cooperate with teeth 234 formed on the small-diameter portion 233 of the third gear 230.
[0113] Preferably, the large-diameter portion 241 and the small-diameter portion 243 of the fourth gear 240 are formed as a single, integrated structure.
[0114] The small-diameter portion 243 of the fourth gear 240 consists of teeth 244 formed on its outer surface, and the teeth 244 are configured to cooperate with the fifth gear 250 of the gear mechanism 200.
[0115] The fifth gear 250 is rotatably supported by the second shaft 80, but can rotate freely relative to the second shaft 80. For this purpose, the fifth gear 250 is provided with a through hole 255 (axially).
[0116] The fifth gear 250 further includes a large-diameter portion 251 and a small-diameter portion 253. The large-diameter portion 251 consists of teeth 252 formed on its outer surface and is configured to cooperate with teeth 244 formed on the small-diameter portion 243 of the fourth gear 240.
[0117] Preferably, the large-diameter portion 251 and the small-diameter portion 253 of the fifth gear 250 are formed as a single, integrated structure.
[0118] The small-diameter portion 253 of the fifth gear 250 consists of teeth 254 formed on its outer surface, and the teeth 254 are configured to cooperate with the sixth gear 260 of the gear mechanism 200.
[0119] The sixth gear 260 is rotatably supported by the first shaft 70, but can rotate freely relative to the first shaft 70. For this purpose, the sixth gear 260 is provided with a through hole 265 (axially).
[0120] The sixth gear 260 further includes a lower section 261 and an upper section 263. The lower section 261 has teeth 262 formed on its outer surface and is configured to cooperate with teeth 254 formed on the small diameter section 253 of the fifth gear 250.
[0121] The lower part 261 and upper part 263 of the sixth gear 260 are preferably formed as a single, integrated structure.
[0122] The upper portion 263 of the sixth gear 250 is cylindrical and includes an outer surface 264 configured to interact with an inward-facing surface 116 of a first opening 115 that penetrates a portion of the casing 10 in the form of a housing drive subunit housing portion 110 (see below). The first opening 115 forms a bearing or support for the sixth gear 260, allowing the sixth gear 260 to rotate relative to the casing 10.
[0123] The through-hole 265 of the sixth gear 260 further has an inward-facing surface 266 (see Figure 3), which has a profiled cross-sectional shape (perpendicular to the axial direction of the sixth gear 260), and this profiled cross-sectional shape is configured to cooperate with the similarly profiled outer surface 282 of the lower part 281 of the extraction disc 280. Since the inward-facing surface 266 of the profiled cross-sectional shape and the profiled outer surface 282 of the lower part 281 of the extraction disc 280 are complementary, the extraction disc 280 and the sixth gear 260 rotate together in conjunction when the lower part 281 of the extraction disc 280 is inserted into the through-hole 265 of the sixth gear 260 (see Figure 3).
[0124] Preferably, the inward-facing surface 266 of the profiled cross-sectional shape and the profiled outer surface 282 of the lower part 281 of the extraction disc 280 are complementary so that the lower part 281 of the extraction frictionally fits with at least the upper part of the through hole 265 of the extraction disc 280.
[0125] Therefore, the extraction disc 280 includes a lower part 281 and an upper part 283. As described above, the lower part 281 includes a profiled outer surface. The upper part 283 of the extraction disc 280 also includes an outer surface 284. The overall diameter of the outer surface 284 of the upper part 283 of the extraction disc 280 is greater than the overall diameter of the lower part 281 of the extraction disc 280. The outer surface of the upper part 283 of the extraction disc 280 is also preferably profiled and configured to cooperate with the inward-facing surface, i.e., inner surface 38, of the internal space 37 of the bottom 35 of the inner power extraction element 30.
[0126] Furthermore, as described above, the inner surface 38 of the bottom 35 of the inner power take-out element 30 has a cross-sectional shape that is complementary to the outer surface 284 of the upper part 283 of the take-out disk 280 (taken perpendicular to the axial direction of the cylindrical bottom 35 of the inner power take-out element 30) so that the take-out disk 280 of the gear mechanism 200 and the inner power take-out element 30 rotate together.
[0127] Furthermore, the extraction disk 280 of the gear mechanism 200 has a through hole 285 (in its axial direction). The through hole 285 of the extraction disk 280 is configured to receive the first shaft 70, and the first shaft and the extraction 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 on 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 take-out disk 280, which is rotatable relative to the first shaft 70 and the casing 10. The rotation of the extraction disk 280 causes the rotation of the inner power extraction element 30 and the outer power extraction element 40 connected thereto. Therefore, the rotation by the electric motor 150 causes the power extraction element 20 to rotate. It is clear that this causes the components 510 and 520 attached to the power extraction element 20 via the first connector 601 or the second connector 602 to rotate.
[0129] The above does not describe the diameter, number of teeth, gear ratio, etc. of the gears. However, it will be obvious to those skilled in the art that the appropriate gear ratio can be selected by the appropriate dimensions of gears 210, 220, 230, 240, 250, and 260.
[0130] The above does not describe in detail how any part of the casing 10, including the internal structure of the casing 10, provides bearings and other supports for the gears 210, 220, 230, 240, 250, 260, the first shaft 70 and the second shaft 80, and, if applicable, components or parts thereof other than those described.
[0131] Other types of gear mechanisms, such as gear mechanisms with different numbers of gears and / or other gear ratios, can also be used as alternatives.
[0132] The above explains how power (rotation) is transmitted from the electric motor 150 to the power extraction element 20.
[0133] Next, referring to Figures 7A to 7C, we will explain how rotation is transmitted from the power take-up element 20 to the disk element 99 so that the asymmetric load on the power take-up element 20 is not transmitted to the disk element 99.
[0134] As shown in Figure 7B, the first rotary transmission unit 50 includes a body 51 that is substantially cylindrical. The body 51 of the first rotary transmission unit 51 has an outer surface 52. A first arm 53 and a second arm 54 extend from the cylindrical body 51 of the first rotary transmission unit 50. The first arm 53 and the second arm 54 of the first rotary transmission unit are located opposite each other and extend from the outer surface 52 of the cylindrical body 51 of the first rotary transmission unit 50. In other embodiments, only a single arm may be provided (not shown).
[0135] Figure 7B also shows that the first arm 53 and the second arm 54 of the first rotation transmission unit 50 have a width, i.e., a first width W1.
[0136] Figure 6 shows a cross-section of 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 inside it, the first rotation transmission portion 50, and the first shaft 70.
[0137] Furthermore, Figure 6 shows that the first rotation transmission unit 50 includes an internal space 55 provided in the body 51 of the first rotation transmission unit 50. The internal space 55 has an inward-facing surface, i.e., an inner surface 56, configured to cooperate with the first end 71 of the first shaft 70. The first rotation transmission unit 50 can be clamped onto the first end 71 of the first shaft 70 so that the rotation of the first rotation transmission unit 50 is transmitted to the shaft 70.
[0138] The first shaft 70 has an elongated shape and is provided with a first end 71 and a second end 72 on the opposite side. As shown in Figures 2 and 3, the first shaft 70 extends from the connection point with the first rotation transmission unit 50, through several gears 260, 240, and 220 of the gear mechanism, toward the PCB 310 which has a sensor device 399 provided adjacent to the inner surface of the casing 10 on the side opposite to the first rotation transmission unit 50 and the power take-off element 20.
[0139] Furthermore, as shown in Figures 2 and 3, a disk element holding portion 90 can be provided at the second end 72 of the shaft 70.
[0140] The disk element holder 90 is attached to the second end 72 of the shaft 70, and the rotation of the shaft 70 causes the disk element holder 90 to rotate together with the shaft 70.
[0141] The disk element holding section 90 is configured to receive the disk element 99 such that the disk element 99 rotates with it when the disk element holding section 90 rotates.
[0142] The first rotational transmission unit is received into the receiving unit 60. The receiving unit 60 is provided on the power extraction element 20. More precisely, the receiving unit 60 is provided on the inner power extraction element 30 of the power extraction element 20.
[0143] For example, as shown in Figure 6, the internal space 33 of the top portion 31 of the internal power extraction element 30 has an end face 34'. The internal space 37 of the bottom portion 35 of the internal power extraction element 30 has an end wall 39. The wall separating the top portion 31 and the bottom portion 35 of the internal power extraction element 30 defines the end face 34' of the internal space 33 of the top portion 31 and the end face 39 of the internal space 37 of the bottom portion 35.
[0144] The receiving portion 60 is formed as a through-hole in the wall separating the top portion 31 and the bottom portion 35 of the inner power extraction element 30. The receiving portion extends from the end face 34' of the internal space 33 of the top portion 31 to the end face 39 of the internal space 37 of the bottom portion 35.
[0145] The cross-sectional shape of the receiving section 60 (taken perpendicular to the axial direction of the inner power extraction element 30) corresponds to the cross-sectional shape of the first rotation transmission section 50 (taken perpendicular to the axial direction of the first rotation transmission section 50).
[0146] The receiving portion 60 has a main recess 61, as shown in Figures 6, 7A, and 7C, for example. The main recess has an inward-facing surface 62.
[0147] The main recess 61 of the receiving section 60 is configured to receive the main body 51 of the first rotation transmission section 50. The main body 51 of the first rotation transmission section 50 has a shape corresponding to the recess 61 such that when the first rotation transmission section 50 rotates, the power take-off element 20 rotates in conjunction with it. The shape of the main body 51 of the first rotation transmission section 50 is shown in Figure 7B. The shape of the recess 61 that fits in accordance with the shape of the main body 51 of the first rotation transmission section 50 is shown in Figure 7C. Figure 7A shows the state in which the main body 51 of the first rotation transmission section 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 section 60. Furthermore, the second arm 65 extends outward from the main recess 61 of the receiving section 60. As shown in the figure, the first arm 63 and the second arm 64 of the receiving section 60 are located in the opposite direction from the main recess 61 and extend from the main recess 61 of the receiving section 60. The first arm 63 of the receiving section 60 is configured to receive the first arm 53 of the first rotation transmission section 50. The second arm 66 of the receiving section 60 is configured to receive the second arm 54 of the first rotation transmission section 50.
[0149] Figure 7C also shows that the first arm 63 and the second arm 64 of the receiving section have a width, i.e., a second width W2.
[0150] In Figure 7A, it can be seen that the first width is slightly larger than the second width W2.
[0151] This clearly creates a gap between the first rotation transmission unit 50 and the receiving unit 60, that is, backlash occurs between the power extraction element and the first rotation transmission unit 50.
[0152] In mechanical engineering, backlash, sometimes called lash or play, is the slack or idle movement within a mechanism caused by the gap between parts.
[0153] Preferably, the first width (W1) is 1 mm to 2 mm smaller than the second width (W2).
[0154] As a result, the cross-sectional shape of the receiving section 60 (perpendicular to the axial direction of the inner power take-out element 30) corresponds to the cross-sectional shape of the first rotation transmission section 50 (perpendicular to the axial direction of the first rotation transmission section 50). Although the shapes are the same, the receiving section 60 is slightly larger than the first rotation transmission section 50. As a result, when the power take-out element 20 is rotated by the electric motor 150 as described above, the receiving section 60 formed on the power take-out element 20 rotates, and when the arms 63 and 64 of the receiving section 60 come into contact with the arms 53 and 54 of the first rotation transmission section 50, the first rotation transmission section 50 begins to rotate with a slight delay. The slight slack between the power take-off element 20 and the first rotation transmission unit 50 due to this dimensional difference prevents the tilt of the power take-off element 20 from being transmitted to the first rotation transmission unit 50, the first shaft 70, and consequently, the disk element 99, even if the power take-off element 20 tilts slightly relative to the casing 10 due to the influence of an uneven load during rotation. Furthermore, since the disk element 99 does not change position due to the tilting of the power take-off element 20, it does not affect the interaction between the disk element 99 and the sensor device 399, enabling more accurate measurement of the rotational position of the power take-off element 20.
[0155] Figure 4 shows an embodiment of the present invention in which the components of the motor unit 1 are divided into subunits. In Figure 4, the casing 10 is shown divided into three parts: a top e11, a bottom 12, and an end 13.
[0156] The electric motor 150, disk element 99, and gear mechanism 200 are enclosed in a drive subunit 100, for example, as described above. The motor unit 1 may further include a control unit 300, which includes at least a printed circuit board 310 on which a sensor device 399 is provided, as shown in the figure. Preferably, the control unit 300 further includes control means such as a processor that processes rotation data received from the sensor device 399. The control unit may further include control means such as a processor that controls 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 supplied from an external device operated by a user, for example. The control signal may be supplied wirelessly. In such a case, the control subunit may include a wireless receiver. However, for example, as shown in Figure 4, the motor unit may further include a code subunit 400. The code subunit 400 includes a pair 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 control unit or input panel. The code subunit can transfer data to and from the control subunit 300 of the motor unit 1.
[0157] Furthermore, the code subunit 400 can transmit electrical energy to and from the unit containing the battery. However, in some embodiments, the motor unit 1 may optionally or additionally include a battery to supply power to the electric motor 150 and the control unit 300.
[0158] As described above, Figure 5 shows a detailed exploded view of the drive subunit 100 of the motor unit 1 in Figure 4. The drive subunit 100 includes a housing 101. The housing 101 is formed by an upper part 110 and a lower part 120. An opening 115 is provided in the upper part 110 of the housing 101 of the drive subunit 100. An opening (not shown) is also provided in the lower part 120 of the housing 101 of the drive subunit 100, and this opening has a shape and dimensions that allow the sensor device 399 to be positioned adjacent to the bottom surface of the disk element 99.
[0159] The housing 101 of the drive subunit 100 houses an electric motor 150, a gear mechanism 200, and the like. The upper part 110 and the lower part 120 can be assembled using screws indicated by 130 in Figure 5.
[0160] The casing 10, housing 101, gears, and power take-off elements 20 are preferably molded from plastic in an injection molding process.
[0161] The figures and descriptions above provide a brief and schematic representation of the embodiments. Many specific mechanical details are omitted because those skilled in the art should be familiar with them and such details would only unnecessarily complicate this explanation. For example, the specific materials used and the specific injection molding procedures are not described in detail because those skilled in the art can find suitable materials and methods for manufacturing the container according to the present invention. [Explanation of symbols]
[0162] 1. Motor Unit / Modular Configuration System Motor Unit 10 Casings / Unit Casings 11. Top of the unit casing 12. Bottom of the unit casing 13 End of unit casing 15. Openings penetrating the casing (forming the bearings for the power take-off elements) 20 Power take-off element 30 Internal power take-off element 31 Top of the internal power extraction element 31' Outer end of the top of the inner power take-off element 31'' Inner end of top of inner power take-off element 32 Outer surface of the top of the inner power extraction element 32' Notch formed as a recess on the outer surface of the top of the inner power take-off element 33 Internal space at the top of the internal power extraction element 34 Inner surface of the top of the internal power extraction element 34' End face of the internal space at the top of the internal power extraction element 35 Bottom of the internal power extraction element 36 Outer surface of the bottom of the inner power extraction element 37 Internal space at the bottom of the internal power extraction element 38 Inward-facing surface / inner surface of the bottom of the internal power extraction element 39 End face of the internal space at the bottom of the internal power extraction element 40 External power take-off element 41 Body of the external power extraction element 42 Top surface of the external power take-off element 43 Lower surface of the external power extraction element 44 Outer surface of the external power take-off element 45 Opening through the external power take-off element 46 Inner surface of the external power extraction element 47. Protrusions formed by rising from the inner surface of the outer power extraction element. 50 First rotation transmission section 51 Main body of the first rotation transmission unit 52 Outer surface of the main body of the first rotation transmission unit 53 First arm of the first rotational transmission section 54 First rotation transmission section, second arm 55 Internal space of the main body of the first rotation transmission unit 56 Inward-facing surface / inner surface of the first rotational transmission section 60 Receiving section formed on the power extraction element 61 Main recess of the receiving section 62 Inward-facing surface of the main recess of the receiving section 63 First arm of the receiving section 64 Second arm of the receiving section 70 The first axis 71 The first end of the first shaft 72 The second end of the first shaft 80 The second axis 81 The first end of the second shaft 82 The second end of the second shaft 90. Disk element holding section (magnet holding section) 99 Disc elements (magnets) 100 Drive Subunit 101 Housing of the drive subunit 110 Top of the housing of the drive subunit 115 A first opening formed in the upper part of the housing of the drive subunit, passing through the housing of the drive subunit. 116 Inward-facing surface of the first opening through the housing of the drive subunit Lower part of the housing of the 120' drive subunit 130 screws 150 Electric Motor 151 Motor output shaft 200 Gear mechanism 210 First gear (on the motor output shaft) 211 Teeth formed on the outer surface of the first gear 220 Second gear (on the first shaft) 221 Large diameter section of the second gear 222 Teeth formed on the large diameter portion of the second gear 223 Small diameter portion of the second gear 224 Teeth formed on the smaller diameter portion of the second gear 225 Through hole for the second gear 230 Third gear (on the second shaft) 231 Large diameter section of the third gear 232 Teeth formed on the large diameter portion of the third gear 233 Small diameter section of the third gear 234 Teeth formed on the small diameter portion of the third gear 235 Through hole for the third gear 240 Fourth gear (on the first shaft) 241 Large diameter section of the fourth gear 242 Teeth formed on the large diameter portion of the fourth gear 243 Small diameter portion of the fourth gear 244 Teeth formed on the small diameter portion of the fourth gear 245 Through hole for the fourth gear 250 Fifth gear (on the second shaft) 251 Large diameter section of the fifth gear 252 Teeth formed on the large diameter portion of the fifth gear 253 Small diameter portion of the fifth gear 254 Teeth formed on the small diameter portion of the fifth gear 255 Through hole for the fifth gear 260 The sixth gear (on the first shaft) 261 Lower part of the sixth gear 262 Teeth formed on the lower part of the sixth gear 263 The upper part of the sixth gear 264 Upper outer surface of the sixth gear 265 Through hole of the sixth gear 280 Eject Disc 281 Bottom of the ejected disk 282 Profiled outer surface of the bottom of the ejected disc 283 Top of the ejected disc 284 Outer surface of the top of the ejected disc 285 Through-holes that penetrate the ejection disc 300 Control Subunit 310 Printed Circuit Boards 399 sensors 400 Code Subunit 410 A set of electrical cords 411 The 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 Components of the first type 511 Components of the first type (brick) 512 Components of the first type (plate) 520 Components of the second type 521 Components of the second type (double peg) 522 Components of the second type (beam) 523 Components of the second type (frame) 524 Components (Axes) 530 Connector elements for modular configuration systems 610 Connector Knob 620 Knob receiving opening 630 Cylindrical connector section (elastic connector peg) 631 Beads arranged circumferentially at the free end of the cylindrical connector section 632 Formed in the longitudinal direction of the cylindrical connector portion to provide elasticity to the cylindrical connector portion. The elongated cut section 640 Connector opening
Claims
1. A modular system motor unit (1) for a modular system (500), - Casing (10), - An electric motor (150) attached to the casing (10), - A power take-off element (20) having at least one connector (600) for connecting to a component, and rotatably connected to the casing (10) about a rotation axis, - A gear mechanism (200) provided between the electric motor (150) and the power extraction element (20), - A rotation detection mechanism configured to detect the rotational position of the power take-off element relative to the casing (10), Equipped with, The rotation detection mechanism comprises a disk element (99) that rotates together with the power extraction 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 unit (50) fixedly connected to the disk element (99) and a receiving unit (60) for receiving the first rotation transmission unit (50), the receiving unit (60) being formed on the gear of the power take-off element (20) or the gear mechanism (200), The modular system motor unit (1) is characterized in that the receiving portion (60) and the first rotation transmission portion (50) have a cooperative shape and size configured such that a gap is created between the receiving portion (60) and the first rotation transmission portion (50) to allow backlash between the power extraction element (20) and the first rotation transmission portion (50).
2. The modular system motor unit (1) according to claim 1 is characterized in that the cooperative shape and size of the receiving portion (60) and the first rotation transmission portion (50) are configured such that the receiving portion (60) is allowed to rotate by 0.5° to 2° before the first rotation transmission portion (50) engages to rotate together with the power take-off element (20).
3. The modular 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. The modular system motor unit (1) according to claim 3, characterized in that the disk element (99) is located on the side wall of the casing (10) opposite to the power take-off element with respect to the casing (10).
5. The modular configuration system motor unit (1) according to 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. The modular system motor unit (1) according to any one of claims 1 to 5, characterized in that the first rotation transmission unit (50) comprises a cylindrical body (51) and a first arm (53) protruding therefrom, and the receiving unit (60) comprises a cylindrical main recess (61) and a first arm recess (63) extending therefrom.
7. The modular configuration system motor unit (1) according to claim 6, characterized in that the first arm (53) of the first rotation transmission unit (50) has a first width (W1), the first arm recess (63) of the receiving unit (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 configuration system (500) comprising a motor unit (1) according to any one of claims 1 to 7 and a plurality of components (510, 520).