CN111939552A

CN111939552A - Magic cube and axis structure thereof

Info

Publication number: CN111939552A
Application number: CN201910416817.XA
Authority: CN
Inventors: 陈永煌; 刘寄; 张乐
Original assignee: Shantou Chenghai Kemeng Intelligent Technology Co ltd
Current assignee: Shantou Chenghai District Moyu Culture Co ltd
Priority date: 2019-05-17
Filing date: 2019-05-17
Publication date: 2020-11-17

Abstract

The invention discloses an axis structure of a magic cube, which comprises an inner core, a plurality of central shafts and a plurality of surface rotation sensors, wherein the inner core is hollow; the surface of the inner core is provided with through holes with the same number as the central shaft, and the through holes are uniformly distributed on the surface of the inner core at intervals; each surface rotation sensor is correspondingly arranged on each central shaft respectively and is used for detecting the rotation angle of each central shaft; one end of each central shaft is provided with a stop block; after the upper rotation sensor is arranged on each central shaft, one end of each central shaft without a stop block penetrates through each through hole on the surface of the inner core, and the upper rotation sensor is limited in the inner core and is positioned between the inner surface of the inner core and the central shaft stop block; the surface rotation sensor is respectively connected with the microcontroller and the power supply in the kernel, and the microcontroller determines the rotation angle of each central shaft according to signals transmitted by the surface rotation sensor. The axis structure has the advantage of strong compatibility, the electronic magic cube can be obtained by assembling the traditional magic cube accessories on the axis structure after being disassembled, and the service life of the magic cube is prolonged.

Description

Magic cube and axis structure thereof

Technical Field

The invention relates to the technical field of magic cubes, in particular to a magic cube and an axis structure thereof, wherein the magic cube covers magic cube type intelligent toys, and particularly relates to all the magic cube type intelligent toys entering WCA (International magic cube Association) competition, wherein the magic cube type intelligent toys comprise 2-7-step magic cubes, pyramid magic cubes, 12-surface body 5 magic balls, oblique turning magic cubes and SQ magic cubes.

Background

The magic cube, also called the Rubik cube, Taiwan as the magic cube, hong Kong as the Zuojie cube, the English name is: rubik's Cube, a magic Cube, is an intelligent toy which is popular in the whole world in the eighties, and is well liked by people as a toy for developing intelligence. The magic cube restoration refers to a process of changing the magic cube from a non-original state to an original state, is a process integrating observation, operation and imagination, and can well cultivate the operation and brain ability, the memory training, the spatial imagination and the judgment of people.

The existing magic cube commonly used is single in function, cannot communicate with external electronic equipment and lacks interestingness. In order to improve the interest of the magic cube operation, some electronic magic cubes appear in the prior art, namely, electronic elements such as a sensor and the like are arranged on the magic cube to detect the plane rotation information and the like of the magic cube, but the problems of the sensor volume, the area and the like in the prior art cannot be put into an inner ball in the center of the magic cube, so that the internal structure of the magic cube is relatively complex. For example, chinese patent application publication No. CN106110651A discloses an intelligent magic cube and a timing method using an inductive axis structure thereof, wherein a state signal transmitting set for generating a state signal, i.e., a sensor, is disposed on a tubular shaft and is located in a magic cube center block outside an inner ball, the sensor and the inner ball are connected in a data and electrical manner by a hollow tubular shaft for threading connection, during the surface rotation of the magic cube, since the tubular shaft and the state signal transmitting set thereon will also rotate together, the twisting of the line in the tubular shaft will be inevitably caused, and after the magic cube is used for a certain time, the twisting of the line in the tubular shaft will be caused, which reduces the service life of the magic cube; in addition, because the tubular shaft needs to be provided with the state signal sending group, the magic cube axis structure disclosed in the invention patent application needs to be matched with corresponding magic cube modules (comprising a center block, a corner block and a prism block), and cannot be compatible with the traditional magic cube for use.

Disclosure of Invention

The first purpose of the present invention is to overcome the disadvantages and shortcomings of the prior art, and to provide an axial center structure of a magic cube with a simple structure, which improves the service life of the electronic magic cube and can be compatible with the conventional magic cube.

The second purpose of the invention is to provide an intelligent magic cube.

The first purpose of the invention is realized by the following technical scheme: an axis structure of a magic cube comprises an inner core with a hollow interior, a plurality of central shafts and a plurality of surface rotation sensors;

the surface of the inner core is provided with through holes with the same number as the central shaft, and the through holes are uniformly distributed on the surface of the inner core at intervals;

each surface rotation sensor is correspondingly arranged on each central shaft and is used for detecting the rotation angle of each central shaft;

one end of each central shaft is provided with a stop block; after the upper rotation sensor is arranged on each central shaft, one end of each central shaft without a stop block penetrates through each through hole on the surface of the inner core, and the upper rotation sensor is limited in the inner core and is positioned between the inner surface of the inner core and the central shaft stop block;

the surface rotation sensor is connected with the microcontroller and the power supply respectively, and the microcontroller determines the rotation angle of each central shaft according to signals transmitted by the surface rotation sensor.

Preferably, the magic cube further comprises a body position sensor for detecting the body position change of the magic cube; the body position sensor is installed in the inner core and connected with the microcontroller.

Preferably, the wireless communication module is installed inside the kernel and connected with the microcontroller.

Preferably, the surface rotation sensor is an encoder, and comprises a code disc, a first rotor and a first electric brush; the surface rotation sensor is arranged on the central shaft through the code disc and the first rotor, and the first rotor rotates along with the central shaft after the surface rotation sensor is arranged on the central shaft; the first brush is arranged on the first rotor, and the first brush is driven by the first rotor to move relative to the code wheel.

Furthermore, the axis structure of the magic cube also comprises first sleeves with the same number as the central shaft; the surface rotation sensor in the axis structure of the magic cube further comprises a second rotor and a second electric brush, the second electric brush is mounted on the second rotor, and the second rotor drives the second electric brush to move relative to the coded disc; the code disc and the first rotor of each surface rotation sensor are respectively arranged on each central shaft; after the code disc and the first rotor of each surface rotation sensor are arranged on each central shaft, each first sleeve is sleeved on each central shaft; a second rotor in the surface rotation sensor is arranged on a first sleeve and rotates along with the first sleeve; the central shafts sleeved with the first sleeves and the first sleeves on the central shafts penetrate through the through holes on the surface of the inner core together; the first sleeves rotate along the inner layer rotating surfaces in the magic cube correspondingly and respectively; defining the axis structure of the magic cube as a first structure;

or the axis structure of the magic cube further comprises a first sleeve and a second sleeve, wherein the number of the first sleeve and the second sleeve is the same as that of the central shaft; the surface rotation sensor in the axis structure of the magic cube further comprises a second rotor, a second electric brush, a third rotor and a third electric brush, wherein the second electric brush is installed on the second rotor, the second rotor drives the second electric brush to move relative to the code wheel, the third electric brush is installed on the third rotor, and the third rotor drives the third electric brush to move relative to the code wheel; the code disc and the first rotor of each surface rotation sensor are respectively arranged on each central shaft; after the code disc and the first rotor of each rotation sensor are arranged on each central shaft, each first sleeve is sleeved on each central shaft, and each second sleeve is sleeved on the first sleeve; a second rotor in the surface rotation sensor is arranged on a first sleeve and rotates along with the first sleeve; a third rotor in the surface rotation sensor is arranged on a second sleeve and rotates along with the second sleeve; the central shafts sleeved with the first sleeve and the second sleeve and the first sleeve and the second sleeve on the central shafts penetrate through the through holes on the surface of the inner core together; the central shafts respectively rotate along with the outer rotating surfaces, corresponding to and connected with the outer rotating surfaces, in the magic cube, and the first sleeves and the second sleeves respectively rotate along with the inner rotating surfaces, corresponding to and connected with the inner rotating surfaces, in the magic cube; the inner layer of the magic cube connected with the second sleeve is closer to the center of the magic cube than the inner layer of the magic cube connected with the first sleeve; the axis structure of the magic cube is defined as a second structure.

Further, the surface rotation sensor is an absolute type encoder;

a first electrode and a second electrode are arranged on a code wheel of the absolute encoder, wherein:

the first electrode and the second electrode are arranged on the same circumference of the code wheel face, and the circumference is defined as a first circumference; the first brush is arranged on the first rotor and arranged along a first circumference where the first electrode and the second electrode are located, and the first brush is driven by the first rotor to rotate along the first circumference relative to the first electrode and the second electrode; when the first brush rotates to the position opposite to the first electrode, the first brush is contacted with the first electrode; the first electrode comprises a plurality of electrodes, and the number n of the electrodes in the first electrode is set according to the angle detection precision of the surface rotation sensor in the magic aspect; n electrodes in the first electrodes are respectively arranged correspondingly

On any n equal parts of the first circumference of the equal parts; a first brush is arranged along the above

Any of the first circumference of equal parts

Arranging the equal parts; the second electrode is arranged on the first circumference so that the first brush is in contact with the second electrode when rotated to any position; each electrode in the first electrode in the code disc, the first electric brush, the second electrode and the power supply form an electrifying loop, and each electrode in the first electrode is connected with each IO port of the microcontroller;

or when the axis structure of the magic cube is the first structure; a code disc of the absolute encoder is provided with a first electrode, a second electrode, a third electrode and a fourth electrode; wherein:

Any of the first circumference of equal parts

Arranging the equal parts; the second electrode is arranged on the first circumference so that the first brush is in contact with the second electrode when rotated to any position; each electrode in the first electrode, the first electric brush, the second electrode and the power supply form an electrifying loop, and each electrode in the first electrode is connected with each IO port of the microcontroller;

the third electrode and the fourth electrode are arranged on the same circumference of the code disc surface, and the circumference is defined as a second circumference; the second circumference is positioned at the periphery of the first circumference where the first electrode and the second electrode are positioned, the second electric brush is arranged on the second rotor, and the second electric brush is driven by the second rotor to rotate relative to the third electrode and the fourth electrode along the second circumference; when the second brush rotates to the position opposite to the third electrode, the second brush is contacted with the third electrode; the third electrode comprises a plurality of electrodes, and the number n of the electrodes in the third electrode is set according to the angle detection precision of the surface rotation sensor in the magic aspect; n electrodes of the third electrodes are respectively arranged correspondingly

On any n of the aliquots; a second brush is arranged along the above

Any in a second circumference of equal parts

Arranging the equal parts; the fourth electrode is arranged on the second circumference so that the second brush is in contact with the fourth electrode when rotated to any position; each electrode in the third electrode, the second electric brush, the fourth electrode and the power supply form an electrifying loop, and each electrode in the first electrode and the third electrode is respectively connected with each IO port of the microcontroller;

or when the axis structure of the magic cube is of a second structure, a first electrode, a second electrode, a third electrode, a fourth electrode, a fifth electrode and a sixth electrode are arranged on a code disc of the absolute encoder; wherein:

Any of the first circumference of equal parts

Cloth is processed in equal partsPlacing; the second electrode is arranged on the first circumference so that the first brush is in contact with the second electrode when rotated to any position; each electrode in the first electrode, the first electric brush, the second electrode and the power supply form an electrifying loop, and each electrode in the first electrode is connected with each IO port of the microcontroller;

On any n of the aliquots; a second brush is arranged along the above

Any in a second circumference of equal parts

the fifth electrode and the sixth electrode are arranged on the same circumference of the code disc surface, the circumference is defined as a third circumference, the third circumference is positioned on the periphery of a second circumference where the fifth electrode and the sixth electrode are positioned, and the third electric brush is driven by the third rotor to rotate relative to the fifth electrode and the sixth electrode along the third circumference; when the third brush rotates to the position opposite to the fifth electrode, the third brush and the fifth electrode are connectedA pole contact; the fifth electrode comprises a plurality of electrodes, and the number n of the electrodes in the fifth electrode is set according to the angle detection precision of the surface rotation sensor in the magic aspect; n electrodes of the fifth electrodes are respectively arranged correspondingly

On any n equal parts of the third circumference of the equal parts; arranging a third brush along the above

Any in the third circumference of equal parts

Arranging the equal parts; the sixth electrode is arranged on the third circumference such that the third brush is in contact with the sixth electrode when rotated to any position; and each electrode in the fifth electrode, the third brush, the sixth electrode and the power supply form an electrifying loop, and each electrode in the fifth electrode is connected with each IO port of the microcontroller.

Furthermore, the surface rotation sensor is an incremental encoder;

a code wheel of the incremental encoder is provided with a first electrode, a second electrode and a third electrode, wherein:

the first electrode, the second electrode and the third electrode are arranged on the same circumference of the code disc surface, and the circumference is defined as a first circumference; wherein, in the incremental encoder: the first brush comprises three endpoints which are a first endpoint, a second endpoint and a third endpoint respectively, the first endpoint, the second endpoint and the third endpoint of the first brush are all arranged along the first circumference, and every two endpoints are separated by a certain distance

Radian; the first brush is arranged on the first rotor, and drives three endpoints of the first brush to rotate relative to the first electrode, the second electrode and the third electrode along a first circumference through the first rotor;

third electricityThe arc occupied by the poles on the first circumference is

；

For a 3-pulse incremental profile rotation sensor, the first and second electrodes each comprise only a pad portion; the radian of the gap between the first electrode and the third electrode and the radian of the gap between the second electrode and the third electrode on the first circumference are allThe radian of the gap between the first electrode and the second electrode on the first circumference is equal to that of the gap between the first electrode and the second electrode on the first circumference

(ii) a The radian occupied by the first electrode and the second electrode on the first circumference is

；

For a 3n pulse increment type surface rotation sensor, n is a natural number larger than 1, the first electrode and the second electrode are divided into equal parts of a pad part and a non-pad part, the pad part and the non-pad part on the first electrode and the second electrode are distributed adjacently along a first circumference, and radians occupied by the pad part and the non-pad part on the first circumference in the first electrode and the second electrode are all radians

(ii) a The number of the welding pad parts on the first electrode and the second electrode is equal to that of the welding pad parts

Not the number of pad parts is all

(ii) a The radian of the gap between the first electrode and the third electrode and the radian of the gap between the second electrode and the third electrode on the first circumference are all

(ii) a The radian of the gap between the first electrode and the second electrode on the first circumference is all

；

The first electrode, the first brush, the third electrode and the power supply form an electrifying loop, and the second electrode, the first brush, the third electrode and the power supply form an electrifying loop; the first electrode and the second electrode are respectively connected with two IO ports of the microcontroller;

or when the axis structure of the magic cube is a first structure, a code disc of the incremental encoder is provided with a first electrode, a second electrode, a third electrode, a fourth electrode, a fifth electrode and a sixth electrode; wherein:

Radian; the first brush is arranged on the first rotor, and drives three endpoints of the first brush to rotate relative to the first electrode, the second electrode and the third electrode along a first circumference through the first rotor; the radian occupied by the third electrode on the first circumference is

；

For a 3-pulse incremental profile rotation sensor, the first electrode and the second electrode each comprise only a pad portion; the radian of the gap between the first electrode and the third electrode and the radian of the gap between the second electrode and the third electrode on the first circumference are all

The radian of the gap between the first electrode and the second electrode on the first circumference is equal to that of the gap between the first electrode and the second electrode on the first circumference

；

For a 3n pulse increment type surface rotation sensor, n is a natural number larger than 1, a first electrode and a second electrode are divided into equal parts of a pad part and a non-pad part, the pad part and the non-pad part on the first electrode and the second electrode are distributed adjacently along a first circumference, and radians of the pad part and the non-pad part on the first circumference in the first electrode and the second electrode are all arcs

Not the number of pad parts is all

；

the fourth electrode, the fifth electrode and the sixth electrode are arranged on the same circumference of the code disc surface, and the circumference is defined as a second circumference; the second circumference is positioned at the periphery of the first circumference; the second brush comprises three endpoints which are a first endpoint, a second endpoint and a third endpoint respectively, the first endpoint, the second endpoint and the third endpoint of the second brush are all arranged along the second circumference, and every two endpoints are separated by a certain distance

Radian; the second brush is arranged on the second rotor, the second rotor drives three endpoints of the second brush to rotate relative to the fourth electrode, the fifth electrode and the sixth electrode along a second circumference, and the second brush is in contact with the fourth electrode, the fifth electrode and the sixth electrode through the three endpoints; the radian of the sixth electrode on the second circumference is

；

For an incremental profile rotation sensor with a pulse count of 3, the fourth electrode and the fifth electrode each comprise only a pad portion; the radian of the gap between the fourth electrode and the sixth electrode and the radian of the gap between the fifth electrode and the sixth electrode on the second circumference are all the radian

The radian of the gap between the fourth electrode and the fifth electrode on the second circumference is all

(ii) a The radian of the fourth electrode and the radian of the fifth electrode on the second circumference are both

；

Aiming at the incremental profile rotation sensor with the pulse number of 3n, wherein n is a natural number greater than 1, the fourth electrode and the fifth electrode are divided into equal parts of a pad part and a non-pad part, and the pad parts on the fourth electrode and the fifth electrodeThe partial and non-welding-pad parts are all adjacently distributed along the second circumference, and the radians of the welding-pad parts and the non-welding-pad parts on the fourth electrode and the fifth electrode on the second circumference are all

(ii) a The number of the welding pad parts on the fourth electrode and the fifth electrode is equal to that of the welding pad parts

Not the number of pad parts is all

(ii) a The radian of the gap between the fourth electrode and the sixth electrode and the radian of the gap between the fifth electrode and the sixth electrode on the second circumference are all the radian

(ii) a The radian of the gap between the fourth electrode and the fifth electrode on the second circumference is all

；

The fourth electrode, the second brush, the sixth electrode and the power supply form an electrifying loop, and the fifth electrode, the second brush, the sixth electrode and the power supply form an electrifying loop; the fourth electrode and the fifth electrode are respectively connected with two IO ports of the microcontroller;

or when the axis structure of the magic cube is a second structure, a code disc of the incremental encoder is provided with a first electrode, a second electrode, a third electrode, a fourth electrode, a fifth electrode, a sixth electrode, a seventh electrode, an eighth electrode and a ninth electrode; wherein:

；

；

Not the number of pad parts is all

；

；

For an incremental profile rotation sensor with a number of pulses of 3, the fourth electricalThe electrode and the fifth electrode each include only a pad portion; the radian of the gap between the fourth electrode and the sixth electrode and the radian of the gap between the fifth electrode and the sixth electrode on the second circumference are all the radian

；

Aiming at the incremental profile rotation sensor with the pulse number of 3n, wherein n is a natural number greater than 1, the fourth electrode and the fifth electrode are divided into equal parts of a pad part and a non-pad part, the pad part and the non-pad part on the fourth electrode and the fifth electrode are distributed adjacently along a second circumference, and radians of the pad part and the non-pad part on the fourth electrode and the fifth electrode on the second circumference are all radians

Not the number of pad parts is all

；

the seventh electrode, the eighth electrode and the ninth electrode are arranged on the same circumference of the code disc surface, and the circumference is defined as a third circumference; the second circumference is positioned at the periphery of the first circumference, and the third circumference is positioned at the periphery of the second circumference; the third brush comprises three endpoints which are a first endpoint, a second endpoint and a third endpoint respectively, the first endpoint, the second endpoint and the third endpoint of the third brush are all arranged along the third circumference, and every two endpoints are separated by a certain distance

Radian; the third brush is arranged on the second rotor, the second rotor drives three endpoints of the third brush to rotate relative to the seventh electrode, the eighth electrode and the ninth electrode along the third circumference, and the third brush is in contact with the seventh electrode, the eighth electrode and the ninth electrode through the three endpoints; the radian of the ninth electrode on the third circumference is

；

For an incremental profile rotation sensor with a pulse count of 3, the seventh electrode and the eighth electrode each comprise only a pad portion; the radian of the gap between the seventh electrode and the ninth electrode and the radian of the gap between the eighth electrode and the ninth electrode on the third circumference are all the same

The radian of the gap between the seventh electrode and the eighth electrode on the third circumference is all

(ii) a The radian of the seventh electrode and the radian of the eighth electrode on the third circumference are both

；

Aiming at the incremental profile rotation sensor with the pulse number of 3n, wherein n is a natural number greater than 1, the seventh electrode and the eighth electrode are both divided into equal parts of a pad part and a non-pad part, the pad part and the non-pad part on the seventh electrode and the eighth electrode are both distributed adjacently along a third circumference, and the radian occupied by the pad part and the non-pad part on the seventh electrode and the eighth electrode on the third circumference is both

(ii) a The number of the welding pad parts on the seventh electrode and the eighth electrode are all

Not the number of pad parts is all

(ii) a The radian of the gap between the seventh electrode and the ninth electrode and the radian of the gap between the eighth electrode and the ninth electrode on the third circumference are all the same

(ii) a The radian of the gap between the seventh electrode and the eighth electrode on the third circumference is all

；

The seventh electrode, the third brush, the ninth electrode and the power supply form an electrifying loop, and the eighth electrode, the third brush, the tenth electrode and the power supply form an electrifying loop; the seventh electrode and the eighth electrode are respectively connected with two IO ports of the microcontroller.

Furthermore, the first rotor, the second rotor, the third rotor and the code disc of the surface rotation sensor are all provided with through holes; the surface rotation sensor is mounted on the central shaft in the following way: a coded disc of the surface rotation sensor and the first rotor sequentially penetrate through the central shaft and are arranged at the end of the central shaft where the stop block is located; the inner wall of a first rotor through hole of the surface rotation sensor is attached to the outer wall of the central shaft and rotates along with the central shaft; a second rotor of the surface rotation sensor is arranged at the bottom end of the first sleeve through a through hole; the inner wall of a through hole of a second rotor of the surface rotation sensor is attached to the outer wall of the first sleeve and rotates along with the first sleeve; a third rotor of the surface rotation sensor is arranged at the bottom end of the second sleeve through a through hole; the inner wall of a third rotor through hole of the surface rotation sensor is attached to the outer wall of the second sleeve and rotates along with the second sleeve;

the axis structure of the magic cube further comprises a spring gasket, a first cover plate, a second cover plate and a third cover plate;

after the surface rotation sensor is arranged on the central shaft, the coded disc is close to the central shaft stop block, and a spring gasket is arranged between the coded disc of the surface rotation sensor and the central shaft stop block;

the first cover plate is provided with a through hole, after a code disc of the surface rotation sensor and the first rotor are arranged on the central shaft, the through hole of the first cover plate penetrates through the central shaft, the edge of the bottom of the first cover plate is fixed on the code disc, and the first rotor is covered by the first cover plate;

the second cover plate is provided with a through hole, the second cover plate through hole penetrates through the first sleeve after the second rotor is installed on the first sleeve, the bottom edge of the second cover plate is fixed on the code disc, and the second rotor is covered by the second cover plate;

the third cover plate is provided with a through hole, the third cover plate through hole penetrates through the second sleeve after the third rotor is installed on the second sleeve, the edge of the bottom of the third cover plate is fixed on the code disc, and the third rotor is covered by the third cover plate;

the central shaft is a screw rod, a screw cap at one end of the screw rod is a stop block on the central shaft, and threads are arranged at the other end of the screw rod.

Preferably, the central shaft is made of a material with conductive performance; every two central shafts form a pair and are respectively connected with the anode and the cathode of a power supply through leads, and the outside charges the power supply through each pair of central shafts; the central shaft is connected with a port of the microcontroller through a wire, and the outside sends a signal to the microcontroller or receives a signal sent by the microcontroller through the central shaft.

The second purpose of the invention is realized by the following technical scheme: the magic cube comprises a plurality of center blocks and an axis structure of the magic cube, wherein each center shaft is correspondingly provided with one center block of the magic cube.

Compared with the prior art, the invention has the following advantages and effects:

(1) the axis structure of the magic cube comprises an inner core with a hollow inner part, a plurality of central shafts and a plurality of surface rotation sensors; the surface of the inner core is provided with through holes with the same number as the central shaft, and the through holes are uniformly distributed on the surface of the inner core at intervals; each surface rotation sensor is correspondingly arranged on each central shaft and is used for detecting the rotation angle of each central shaft; one end of each central shaft is provided with a stop block; after the upper rotation sensor is arranged on each central shaft, one end of each central shaft without a stop block penetrates through each through hole on the surface of the inner core, and the upper rotation sensor is limited in the inner core and is positioned between the inner surface of the inner core and the central shaft stop block; the surface rotation sensor is respectively connected with the microcontroller and the power supply in the kernel, and the microcontroller determines the rotation angle of each central shaft according to signals transmitted by the surface rotation sensor. Therefore, the surface rotation sensor for detecting the surface rotation of the magic cube is arranged in the inner core through the central shaft, all the wire connection relations are positioned in the inner core, and the rotation of the central shaft cannot drive the rotation of the circuit in the inner core, so that the phenomenon that the circuit is twisted and broken due to the rotation of the central shaft in the prior art can be avoided, and the service life of the electronic magic cube is prolonged; in addition, in the invention, the parts of each central shaft in the shaft center structure, which extend out of the through hole on the surface of the inner core, are completely the same as the central shafts of the traditional magic cube in the prior art, only the central bracket of the traditional magic cube is replaced by the inner core, and all other parts of the traditional magic cube meeting the size of the inner core except the inner core can be arranged on the inner core to form the electronic magic cube, so the shaft center structure has the advantage of strong compatibility, and the electronic magic cube can be obtained by assembling the traditional magic cube parts on the shaft center structure after being disassembled.

(2) The axis structure of the magic cube disclosed by the invention further comprises a body position sensor arranged in the inner core, and when the magic cube is rolled integrally to change the body position, the body position change information can be detected by the body position sensor disclosed by the invention, so that the motion state of the magic cube can be monitored more comprehensively. In addition, the wireless communication module is further installed inside the inner core, the wireless communication module is connected with the microcontroller, magic cube motion information detected by the microcontroller through the surface rotation sensor and the body position sensor can be directly sent to equipment such as a terminal outside the magic cube through the wireless communication module, and great convenience is brought to acquisition of the magic cube motion information.

(3) In the axis structure of the magic cube, the surface rotation sensor is an encoder, when the encoder only comprises a code disc, a first rotor and a first electric brush, the encoder can only detect the rotation of the rotating surface of the magic cube with only an outer rotating surface, such as 2-step, 3-step and 12-step surface body 5 magic balls, at the moment, the number of the surface rotation sensors and the central shafts in the axis structure of the magic cube is the same, and each surface rotation sensor is respectively arranged on each central shaft through the code disc and the first rotor; the first electric brush is arranged on the first rotor, and the first electric brush is driven by the first rotor to move relative to the code wheel; each center pin rotates along with the outer layer rotating face of each center block connected with the corresponding magic cube, and the center pins can drive the first rotor to rotate when rotating, so that the rotation detection of each outer layer rotating face of the magic cube is realized through the encoder.

(4) In the axis structure of the magic cube, the surface rotation sensor is an encoder, when the encoder comprises a code disc, a first rotor, a first electric brush, a second rotor and a second electric brush, and the axis structure also comprises a first sleeve, the first rotor is driven to rotate through the rotation of the central shaft, so that the first electric brush rotates relative to the code disc, and the second rotor rotates electrically through the first sleeve, so that the second electric brush rotates relative to the code disc; therefore, the structure of the invention enables the rotation sensors on all surfaces to simultaneously realize the rotation detection of the two rotating surfaces of the magic cube, and the magic cube comprises the outer rotating surface of the magic cube connected with the central shaft and the inner rotating surface of the magic cube connected with the first sleeve, and is suitable for 4-order, 5-order, pyramid and the like magic cubes which not only comprise the outer rotating surface but also comprise the inner rotating surface.

(5) In the axis structure of the magic cube, the surface rotation sensor is an encoder, when the encoder comprises a code disc, a first rotor, a first electric brush, a second rotor, a second electric brush, a third rotor and a third electric brush, and the axis structure further comprises a first sleeve and a second sleeve, the first rotor is driven to rotate through the rotation of the central shaft, so that the first electric brush rotates relative to the code disc, the second rotor is driven to rotate through the first sleeve, so that the second electric brush rotates relative to the code disc, and the third rotor is driven to rotate through the second sleeve, so that the third electric brush rotates relative to the code disc; therefore, the structure of the invention enables each surface rotation sensor to simultaneously realize the rotation detection of three rotation surfaces of the magic cube, and the magic cube comprises an outer rotation surface of the magic cube connected with a central shaft, an inner rotation surface of the magic cube connected with a first sleeve and adjacent to the outer rotation surface, and an inner rotation surface of the magic cube connected with a second sleeve, and is suitable for the magic cube which not only comprises outer rotation but also comprises two inner rotation surfaces at the same side with the outer rotation surface in 6-order, 7-order, pyramid and the like.

(6) In the axis structure of the magic cube, the surface rotation sensor can be an absolute encoder, wherein a code disc of the absolute encoder is provided with a first electrode and a second electrode, and the first electrode and the second electrode are arranged on a first circumference of the code disc surface; the first brush is arranged on the first rotor and arranged along a first circumference where the first electrode and the second electrode are located, and the first brush is driven by the first rotor to rotate along the first circumference relative to the first electrode and the second electrode; wherein the first electrode comprises a plurality of electrodes, and n electrodes of the first electrodes are respectively and correspondingly arranged on the first electrode

Any of the first circumference of equal parts

Arranging equal parts of a first circumference; the second electrode is arranged on the first circumference such that the first brush contacts the second electrode when rotated to any position. In the surface rotation sensor of the magic cube, aiming at a first circumference where a first electrode and a second electrode are positioned, a first electric brush is arranged along an equant circular arc of one half of the first circumference, and all electrodes in the first electrode are distributed on

On any n equal parts of the first circumference of the equal parts, the rest positions are provided with second electrodes, and the positions of the second electrodes are arranged to ensure that the first electric brush is always contacted with the second electrodes in the process of rotating by the rotation of the first electric brush, so that the first electric brush can ensure that an electrifying loop where the second electrodes and the first electrodes are positioned is conducted when being contacted with each electrode in the first electrodes in the rotating process; when the surface rotation detection of the magic cube is realized, a plurality of circular rings do not need to be arranged on the code wheel, and compared with an absolute encoder in the prior art, the surface rotation sensor of the magic cube has the advantages of simpler structure and smaller volume. In addition, when the magic cube comprises one or two inner layer rotating surfaces, one or two circles of electrodes can be arranged on the code disc, and then the inner layer rotating surfaces are detected by matching with the brushes moving along the circles.

(7) In the axis structure of the magic cube, the surface rotation sensor can be an incremental encoder and comprises a code disc, a first electric brush and a first rotor, wherein the code disc is provided with a first electrode, a second electrode and a third electrode which are arranged on a first circumference of the code disc surface; the first brush includes three end points, each of the three end points is arranged along the first circumference and every two end points are spaced apart from each other

And (4) radian. The first brush is mounted on the first rotor by a first rotor bandThree end points of the first electric brush rotate relative to the first electrode, the second electrode and the third electrode along a first circumference, and the first electric brush is in contact with the first electrode, the second electrode and the third electrode through the three end points; the radian occupied by the third electrode on the first circumference is

(ii) a In the invention, the radian occupied by the gap between every two electrodes on the circumference and the radians occupied by the first electrode and the second electrode on the circumference are set according to the number of pulses to be realized by the sensor; the incremental profile rotation sensor of the magic cube provided by the invention is provided with corresponding parameters such as electrodes according to the requirement of the number of pulses, has the advantage of high angle detection precision, and is applied to the axis structure of the magic cube, so that the surface rotation detection precision of the magic cube is greatly improved, and the magic cube is simpler in structure and lower in cost. In addition, when the magic cube comprises one or two inner layer rotating surfaces, one or two circles of electrodes can be arranged on the code disc, and then the inner layer rotating surfaces are detected by matching with the brushes moving along the circles.

(8) In the axis structure of the magic cube, the central shaft is made of a material with conductive performance; every two central shafts form a pair and are respectively connected with the positive electrode and the negative electrode of a power supply through leads; in the invention, the outside can charge the power supply in the kernel directly through each pair of central shafts, and the magic cube kernel power supply has the advantage of convenient charging. In addition, the central shaft can be connected with a port of the microcontroller through a wire, and the outside can directly send signals to the microcontroller through the central shaft and can also receive the signals sent by the microcontroller through the central shaft.

(9) In the axis structure of the magic cube, the central shaft can directly use the screw, the screw cap at one end of the screw is the stop block on the central shaft, the other end of the screw is provided with the thread, and the central block of the magic cube is arranged on the central shaft through the thread.

Drawings

Fig. 1 is a sectional view showing a structure of a shaft center of a magic cube according to embodiment 1 of the present invention.

FIGS. 2a and 2b are perspective views showing the axial structure of the magic cube in accordance with embodiment 1 of the present invention

Fig. 3a to 3c are schematic diagrams of positions of electrodes and brushes in a code wheel of a surface rotation sensor in the axial center structure of the magic cube according to embodiment 1 of the present invention.

Fig. 3d to 3f are schematic diagrams of the third-order magic cube in embodiment 1 of the present invention.

Fig. 4 is a partial sectional view of the axial structure of the magic cube in embodiment 2 of the present invention.

Fig. 5a to 5b are schematic diagrams of positions of electrodes and brushes in a code wheel of a surface rotation sensor in the axial center structure of the magic cube according to embodiment 2 of the present invention.

Fig. 6 is a partial sectional view of the axial structure of the magic cube in embodiment 3 of the present invention.

Fig. 7a to 7b are schematic diagrams of positions of electrodes and brushes in a code wheel of a surface rotation sensor in the axial center structure of the magic cube according to embodiment 3 of the present invention.

Detailed Description

The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.

Example 1

The embodiment discloses an axis structure of a magic cube, which is used for the magic cube only comprising an outer layer rotating surface, and comprises an inner core 21 with a hollow inner part, a plurality of central shafts 22 and a plurality of surface rotation sensors 23, as shown in fig. 1, 2a and 2 b; the surface of the inner core is provided with through holes with the same number as the central shaft, and the through holes are uniformly distributed on the surface of the inner core at intervals; each surface rotation sensor is correspondingly arranged on each central shaft and is used for detecting the rotation angle of each central shaft; one end of each central shaft is provided with a stop block 25; after the upper rotation sensor is mounted on each central shaft, one end of each central shaft without a stop passes through each through hole on the surface of the inner core, and the upper rotation sensor is limited in the inner core and is positioned between the inner surface of the inner core and the central shaft stop.

The inner core is internally provided with a power supply 24 and a microcontroller, the surface rotation sensor is respectively connected with the microcontroller and the power supply, and the microcontroller determines the rotation angle of each central shaft according to signals transmitted by the surface rotation sensor. The inner core is also internally provided with a wireless communication module 26 and a body position sensor, and the body position sensor is connected with the microcontroller and is used for detecting the body position change of the magic cube; the wireless communication module is connected with the microcontroller, and the microcontroller can be in wireless communication with devices such as a terminal outside the magic cube through the wireless communication module. In this embodiment, the microcontroller may use a chip such as a single chip.

As shown in fig. 2a, the axial structure of the magic cube of this embodiment is a structure that facilitates observation of the inside of the core when the core shell is omitted, and the axial structure of the actual magic cube is a structure that the central axes pass through the through holes on the surface of the core and the surface rotation sensor is located inside the core as shown in fig. 2 b.

In the present embodiment, as shown in fig. 1, the surface rotation sensor may use an encoder including a code wheel 1, a first brush 2, and a first rotor 3; the surface rotation sensor is arranged on the central shaft through the code disc and the first rotor, and the first rotor rotates along with the central shaft after the surface rotation sensor is arranged on the central shaft; the first brush is arranged on the first rotor, and the first brush is driven by the first rotor to move relative to the code wheel.

In the embodiment, the number of the surface rotation sensors and the central shafts in the axis structure of the magic cube is the same, and each surface rotation sensor is respectively arranged on each central shaft through the code disc and the first rotor; and each central shaft rotates along with the outer layer rotating surface of each central block connected with the central shaft in the magic cube.

The first rotor and the coded disc of the surface rotation sensor are both provided with through holes; the surface rotation sensor is mounted on the central shaft in the following way: a coded disc of the surface rotation sensor and the first rotor sequentially penetrate through the central shaft and are arranged at the end of the central shaft where the stop block is located; the inner wall of a first rotor through hole of the surface rotation sensor is attached to the outer wall of the central shaft and rotates along with the central shaft.

In this embodiment, the axis structure of the magic cube further includes a spring washer and a first cover plate 31.

After the surface rotation sensor is installed on the central shaft, the coded disc is close to the central shaft stop block, and a spring gasket is arranged between the coded disc of the surface rotation sensor and the central shaft stop block.

The first cover plate is provided with a through hole, after a code disc of the surface rotation sensor and the first rotor are arranged on the central shaft, the through hole of the first cover plate penetrates through the central shaft, the edge of the bottom of the first cover plate is fixed on the code disc, and the first rotor is covered by the first cover plate.

The central shaft is a screw rod, a screw cap at one end of the screw rod is a stop block on the central shaft, and the other end of the screw rod is provided with threads. In this embodiment, the central shaft is made of a material having conductive properties; every two central shafts form a pair and are respectively connected with the anode and the cathode of a power supply through leads, and the outside charges the power supply through each pair of central shafts; the central shaft is connected with a port of the microcontroller through a wire, and the outside sends a signal to the microcontroller or receives a signal sent by the microcontroller through the central shaft.

In the present embodiment, the surface rotation sensor is an absolute type encoder or an incremental type encoder.

When this embodiment face rotation sensor is absolute type encoder, be provided with first electrode and second electrode on absolute type encoder's the code wheel, wherein:

the first electrode and the second electrode are arranged on the same circumference of the code wheel face, and the circumference is defined as a first circumference; the first brush is mounted on the first rotor and arranged along a first circumference on which the first and second poles are located, the first brush being rotated relative to the first and second poles along the first circumference by the first rotor being rotated; when the first brush rotates to the position opposite to the first electrode, the first brush is contacted with the first electrode; the first electrode comprises a plurality of electrodes, and the number n of the electrodes in the first electrode is set according to the angle detection precision of the surface rotation sensor in the magic aspect; n electrodes of the first electrodes are respectively arranged at 2ⁿOn any n equal parts of the first circumference of the equal parts; arranging a first brush along the above 2ⁿEqual parts of any 2 of the first circumference^n-1Arranging the equal parts; the second electrode is arranged on the first circumference so that the first brush rotates to any positionElectrode contact; the above structure according to the present embodiment; the first electrodes are arranged at first circumferential positions

The first brush is arranged along the first circumference

And (4) seed preparation. When the surface of the code disc where the first electrode and the second electrode are arranged is used as the upper surface of the code disc, for the code disc, the first electric brush is positioned above a first circumference where the first electrode and the second electrode are positioned, and when the first electric brush rotates to the position above the corresponding first electrode, the first electric brush is in contact with the first electrode below the first electric brush;

in this embodiment, when the angle detection accuracy for the magic aspect is pi/N, the number N of electrodes in the first electrode on the code wheel of the absolute encoder is:

n is an integral power of 2.

Angle detection accuracy for magic aspects, e.g. based on face rotation sensor

When 2 electrodes are needed to be arranged in the first electrode, the first circumference where the first electrode and the second electrode are located is divided into 4 equal parts, then 2 equal parts are randomly selected from the 4 equal parts, and the 2 electrodes in the first electrode are respectively and correspondingly arranged on the first circumference of the selected 2 equal parts; the first brushes are arranged along any 2 equal parts of the 4 equal parts of the first circumference, and the total arc length of the first brushes occupies half of the arc length of the first circumference of the code disc. For example, when the angle detection accuracy in magic is

Then, the number n of the electrodes in the first electrode is 3, at this time, the first circumference where the first electrode and the second electrode are located is divided into 8 equal parts, then 3 equal parts are arbitrarily selected from the 8 equal parts,3 electrodes in the first electrodes are respectively and correspondingly arranged on the selected first circumference of 3 equal parts; the first brush is arranged along any 4 equal parts of the 8 equal parts of the first circumference. Fig. 3a to 3b show two position layout diagrams of the

electrodes

101, 102, 103, the second electrode 104 and the first brush 2 in the first electrode in this embodiment, where the first brush may be a single segment or multiple segments, and as shown in fig. 3a to 3b, the first brush is divided into two segments, which are a first segment brush and a second segment brush respectively, and the first segment brush and the second segment brush are in an electrical connection relationship, where the first segment brush is arranged along 1 of the first circumference of 8 equal segments, and the second segment brush is arranged along the other 3 equal segments of the first circumference of 8 equal segments.

In the embodiment, each electrode in the first electrode in the code disc, the first brush, the second electrode and the power supply form an electrifying loop, and each electrode in the first electrode is respectively connected with each IO port of the microcontroller; in this embodiment, the second electrode is grounded, that is, connected to the positive terminal of the power supply, each electrode in the first electrode is connected to each IO port of the microcontroller, and if there is a pull-up resistor in the IO port connected between the microcontroller and each electrode in the first electrode, each electrode in the first electrode is connected to the positive terminal of the power supply through the pull-up resistor of each IO port, and at this time, each electrode in the first electrode is not connected to another resistor and the power supply; if the IO port connected with each electrode in the first electrode by the microcontroller does not have a pull-up resistor, each electrode in the first electrode is also connected with the positive end of the power supply through the resistor; each electrode in the first electrode is communicated with the second electrode through a brush; for each electrode in the first electrodes, when the first electric brush is in contact with the electrode, a power-on loop where the electrode is located is electrified, a low-level signal (0) is arranged on the electrode, and one end of the microcontroller connected with the electrode receives the low-level signal; when the first electric brush is not in contact with the electrode, the electrode is in a suspended state, and one end of the microcontroller connected with the electrode receives a high-level signal (1). Therefore, in the embodiment, the microcontroller can determine the contact condition of each electrode in the first brush and the first electrode according to the level signal received by each IO port; the rotation of first brush will change the contact condition of each electrode in the first electrode, therefore microcontroller can confirm the turned angle of first brush according to the level signal change condition that each IO port received in this embodiment to the turned angle in the magic aspect that further confirms drive center pin pivoted. In this embodiment, of course, the first electrode, the second electrode and the first brush may be electrically connected in other manners, as long as the microcontroller can receive two different level signals corresponding to the IO port in two cases of the first brush and the first electrode, where the electrodes are in contact and non-contact.

If the first electrode and the second electrode are arranged on the code wheel as shown in FIG. 3a, the detection accuracy of the face rotation sensor is

I.e. 45 degrees, the first electrode includes three

electrodes

101, 102 and 103, and when the brush rotates one turn counterclockwise, the level signals received by the IO ports of the microcontroller connecting the three

electrodes

101, 102 and 103 in the first electrode will be respectively: 011, 111, 100, 010, 110, 101, 001, 000. If the first brush starts to rotate from the diagram shown in fig. 3a, and if the IO port of the microcontroller connecting the three

electrodes

101, 102 and 103 in the first electrode currently receives level signals of 011, 111 and 100, it can be determined that the first brush rotates 90 degrees counterclockwise compared to the starting time, and it can be confirmed that the magic cube driving the central shaft to rotate in the middle rotates 90 degrees counterclockwise currently according to the angle of the first brush. With the present embodiment of the electrode and brush arrangement in the code wheel as shown in FIGS. 3a and 3b, the three bit binary received by the microcontroller indicates that the first rotor has rotated the first brush by 45 degrees for each change sent.

When the surface rotation sensor in this embodiment is an incremental encoder, a code wheel of the incremental encoder of this embodiment is provided with a first electrode, a second electrode, and a third electrode, where:

the first electrode, the second electrode and the third electrode are arranged on the same circumference of the code disc surface, and the circumference is defined as a first circumference; wherein, in the incremental encoder: the first electric brush comprises three endpoints which are respectively a first endpoint and a second endpointAnd a third end point, wherein the first end point, the second end point and the third end point of the first brush are all arranged along the first circumference and every two end points are separated by a certain distance

the radian occupied by the third electrode on the first circumference is

Figure DEST_PATH_IMAGE022AAAAAAAAAAAAAAA

；

For a 3-pulse incremental profile rotation sensor, the first and second electrodes each comprise only a pad portion; the radian of the gap between the first electrode and the third electrode and the radian of the gap between the second electrode and the third electrode on the first circumference are all

；

Not the number of pad parts is all

；

The first electrode, the first brush, the third electrode and the power supply form an electrifying loop, and the second electrode, the first brush, the third electrode and the power supply form an electrifying loop; the first electrode and the second electrode are respectively connected with two IO ports of the microcontroller; the 3-pulse incremental profile rotation sensor means that 3 pulses can be generated when the rotor of the incremental profile rotation sensor rotates for one circle; wherein each pulse represents a 120 degree rotation of the rotor. The 3n pulse incremental profile rotation sensor means that 3n pulses can be generated when the incremental profile rotation sensor rotor rotates for one circle; wherein each pulse indicates that the rotor is rotating

And (4) degree.

In this embodiment, when the incremental profile rotation sensor is a 6-pulse incremental profile rotation sensor, i.e., n is 2, the positional arrangement of the brushes and electrodes in the incremental profile rotation sensor is as shown in fig. 3 c. Wherein in the first electrode 105 and the second electrode 104, the number of the pad portions is 2, the number of the non-pad portions is 1, and each of the pad portions and the non-pad portion 105-1 in the first electrode 105 is defined in a first circumferenceAll arc degrees occupied are

Each of the pad portion and the non-pad portion 104-1 of the second electrode 104 has an arc of a first circumference

I.e. 30 degrees, so that the arc occupied by the first and second electrodes on the first circumference is equal to

I.e. 90 degrees. The radian occupied by the gaps between the first electrode and the third electrode and between the second electrode and the third electrode on the first circumference

I.e. 15 degrees. The radian of the gap between the first electrode and the second electrode on the first circumference is all

I.e. 30 degrees. The arc occupied by the third electrode 107 on the first circumference is

Figure DEST_PATH_IMAGE022AAAAAAAAAAAAAAAA

I.e. 120 degrees.

In the present embodiment, if the face of the code wheel on which the first electrode, the second electrode, and the third electrode are arranged is taken as the upper face of the code wheel, the first brush is located above the first circumference on which the first electrode, the second electrode, and the third electrode are located with respect to the code wheel. In this embodiment, when each end point of the brush moves to a position corresponding to a first circumferential portion where a pad portion of the first electrode or the second electrode is located, the first brush is in contact with the pad member, that is, the first brush is electrically connected to the first electrode or the second electrode, and when each end point of the first brush moves to a position corresponding to a first circumferential portion where a non-pad portion of the first electrode or the second electrode is located, the first brush is in contact with the pad member, that is, the first brush is not electrically connected to the first electrode or the second electrode; in this embodiment, three endpoints of the first brush are spaced by 120 degrees, and the radian of the third electrode occupying the first circumference is 120 degrees, so that one endpoint of the first brush always contacts with the third electrode in the rotation process of the first brush.

In the embodiment, the third electrode is grounded, namely, connected with the negative end of the power supply; if the IO ports of the microcontroller, which are connected with the first electrode and the second electrode, are provided with pull-up resistors, the first electrode and the second electrode are connected with the positive end of the power supply through the pull-up resistors of the IO ports, and the first electrode and the second electrode are not connected with the resistors and the power supply additionally; if the IO ports of the microcontroller, which are connected with the first electrode and the second electrode, are not provided with pull-up resistors, the first electrode and the second electrode are connected with the positive end of the power supply through resistors; the first electrode and the second electrode are communicated with the third electrode through a first electric brush; for a first electrode and a second electrode, when a first electric brush is in contact with one electrode, a power-on loop where the electrode is located is electrified, a low-level signal (0) is arranged on the electrode, and one end of a microcontroller connected with the electrode receives the low-level signal; when the first electric brush is not in contact with the electrode, the electrode is in a suspended state, and one end of the microcontroller connected with the electrode receives a high-level signal (1). Therefore, in the embodiment, the microcontroller can determine the contact condition of each electrode in the first brush and the first electrode according to the level signals received by the two IO ports; the rotation of first brush will change the contact condition of each electrode in the first electrode, therefore microcontroller can confirm the turned angle of first brush according to the level signal change condition that each IO port received in this embodiment to the turned angle in the magic aspect that further confirms drive center pin pivoted. In this embodiment, of course, the electrical connection modes of the first electrode 105, the first brush 2 and the third electrode 107 and the second electrode 104, the first brush 2 and the third electrode 107 may be other, as long as the microcontroller can receive two different level signals corresponding to the IO port in two cases of the first brush, the first electrode and the second electrode being in contact with each other and not in contact with each other.

If the first electrode, the second electrode and the third electrode on the code wheel are arranged as shown in fig. 3c, that is, the face rotation sensor is a 6-pulse incremental profile rotation sensor, when the IO port connected with the first electrode 105 and the second electrode 104 receives 01, 00, 10 and 11 every time, a pulse signal is generated, it is determined that the first rotor drives the first brush to rotate clockwise by 60 degrees, when the microcontroller receives 01, 00, 10 and 11 for 6 times, 6 pulse signals are generated, and it is determined that the first rotor drives the first brush to rotate clockwise by 360 degrees. When the IO port of the microcontroller connected to the first electrode 105 and the second electrode 104 receives 11, 10, 00, 01 every time, a pulse signal is generated, and it is determined that the first rotor drives the first brush to rotate 60 degrees counterclockwise. When the microcontroller receives 01, 00, 10 and 11 times, 6 pulse signals are generated, and it is determined that the first rotor drives the first electric brush to rotate 360 degrees anticlockwise.

The axis structure of the magic cube in the embodiment is suitable for being applied to 2-order, 3-order or 12-body 5-magic-ball magic cubes, when the axis structure is applied to 2-order and 3-order magic cubes, the number of the central shafts in the axis structure of the magic cube in the embodiment is 6, the number of the surface rotation sensors is 6, and the code disc and the first rotor of each surface rotation sensor are respectively installed on each central shaft. When the magic cube is applied to a magic cube with a 12-face body 5, the number of the central shafts in the axis structure of the magic cube in the embodiment is 12, the number of the face rotation sensors is 12, and the code disc and the first rotor of each face rotation sensor are respectively installed on each central shaft.

This embodiment also discloses a magic cube, as shown in fig. 3d to 3f, which includes a plurality of center blocks and the above-mentioned axis structure of the magic cube of this embodiment, and each center axis 22 is correspondingly provided with a center block 27 of the magic cube. Fig. 3d shows a schematic view of the assembled magic cube with the center block 27, fig. 3e shows a schematic view of the assembled magic cube shown in fig. 3d after the corner blocks and the prism blocks are mounted, and fig. 3f shows a final magic cube finally assembled in fig. 3 e.

Example 2

The embodiment discloses an axis structure of a magic cube, which is used for an outer-layer rotating surface and an inner-layer rotating surface, wherein the number of the inner-layer rotating surfaces on the same side of the outer-layer rotating surface is 1, and the inner-layer rotating surface on the same side of the outer-layer rotating surface refers to an inner-layer rotating surface which takes an inner core as a boundary and belongs to the same side of the inner core as the outer-layer rotating surface; the difference between the axis structure of the magic cube in this embodiment and the axis structure of the magic cube in embodiment 1 is only that: as shown in fig. 4, the axial structure of the present embodiment further includes first sleeves 40, the number of which is the same as that of the central shaft; each surface rotation sensor also comprises a second rotor 4 and a second electric brush 5, the second electric brush is arranged on the second rotor, and the second rotor drives the second electric brush to move relative to the code wheel; the code disc and the first rotor of each surface rotation sensor are respectively arranged on each central shaft; after the code disc and the first rotor of each surface rotation sensor are arranged on each central shaft, each first sleeve is sleeved on each central shaft; a second rotor in the surface rotation sensor is arranged on a first sleeve and rotates along with the first sleeve; the central shafts sleeved with the first sleeves and the first sleeves on the central shafts penetrate through the through holes on the surface of the inner core together; the first sleeves rotate along the inner layer rotating surfaces in the magic cube correspondingly and respectively; the axis structure of the magic cube of the present embodiment is defined as a first structure.

In this embodiment, as shown in fig. 4, each face rotation sensor is further provided with a first cover plate 31 and a second cover plate 32, the first cover plate is provided with a through hole, after the code wheel of the face rotation sensor and the first rotor are mounted on the central shaft, the first cover plate through hole passes through the central shaft, the bottom edge of the first cover plate is fixed on the code wheel, and the first rotor is covered by the first cover plate. The second cover plate is provided with a through hole, after a second rotor of the surface rotation sensor is arranged on the first sleeve, the through hole of the second cover plate penetrates through the first sleeve, the edge of the bottom of the second cover plate is fixed on the code disc, and the second rotor is covered by the second cover plate; the first cover plate and the second cover plate enable the structure of the surface rotation sensor to be more compact, and meanwhile, the first rotor, the first electric brush, the second rotor, the second electric brush and other parts on the axis structure of the magic cube are separated, so that the influence of other parts is avoided.

When the surface rotation sensor of the present embodiment is an absolute encoder, compared with the absolute encoder in embodiment 1, a code wheel of the absolute encoder of the present embodiment is further provided with a third electrode and a fourth electrode; wherein:

On any n of the aliquots; a second brush is arranged along the above

Any in a second circumference of equal parts

Arranging the equal parts; the fourth electrode is disposed on the second circumference such that the second brush contacts the fourth electrode when rotated to any position.

Each electrode in the third electrode, the second electric brush, the fourth electrode and the power supply form an electrifying loop, and each electrode in the third electrode is connected with each IO port of the microcontroller; in this embodiment, the fourth electrode is grounded, and each electrode in the third electrode is connected to each IO port of the microcontroller; if the pull-up resistor exists at the IO port connected with each electrode in the third electrode and the microcontroller, each electrode in the third electrode is connected with the power supply through the pull-up resistor of each IO port, and at the moment, each electrode in the third electrode is not connected with the resistor and the power supply additionally; if the IO port connected with each electrode in the third electrode by the microcontroller does not have a pull-up resistor, each electrode in the third electrode is also connected with a power supply through a resistor; each electrode in the third electrode is communicated with the fourth electrode through a second electric brush; for each electrode in the third electrodes, when the second electric brush is in contact with the electrode, the electrifying loop of the electrode is electrified, a low-level signal (0) is on the electrode, and one end of the microcontroller connected with the electrode receives the low-level signal; when the second brush is not in contact with the electrode, the electrode is in a suspended state, and one end of the microcontroller connected with the electrode receives a high-level signal (1). Therefore, in the embodiment, the microcontroller can determine the contact condition of the second brush and each electrode in the third electrode according to the level signal received by each IO port connected with each electrode in the third electrode; the rotation of second brush will change the contact condition of each electrode in the third electrode, therefore microcontroller can confirm the turned angle of second brush according to the level signal change condition that each IO port received in this embodiment to further confirm the turned angle in the magic aspect that drives first sleeve pivoted.

In this embodiment, the number of electrodes in the third electrode is the same as the number of electrodes in the first electrode. In this embodiment, when the angle detection accuracy in magic is

Then, dividing a second circumference where the third electrode and the fourth electrode are located into 8 equal parts, and then randomly selecting 3 equal parts from the second circumference, wherein the number n of the electrodes in the first electrode and the third electrode is 3, and the 3 electrodes in the third electrode are respectively and correspondingly arranged on the selected second circumference of the 3 equal parts; the first brush is arranged along any 4 equal parts of the 8 equal parts of the second circumference. As shown in fig. 5a, the position layout of each of the

electrodes

301, 302, 303, the fourth electrode 304 and the second brush 5 in the third electrode in the present embodiment is shown.

When the surface rotation sensor of the present embodiment is an incremental encoder, compared with the incremental encoder in embodiment 1, a fourth electrode, a fifth electrode and a sixth electrode are further arranged on a code wheel of the incremental encoder of the present embodiment; wherein:

Figure DEST_PATH_IMAGE022AAAAAAAAAAAAAAAAA

Figure DEST_PATH_IMAGE022AAAAAAAAAAAAAAAAAA

；

Figure DEST_PATH_IMAGE027AAAAAAAAAAAAAAA

；

For an incremental profile rotation sensor with a number of pulses of 3n, n being a natural number greater than 1, the fourth and fifth electrodes are each divided into equal partsThe welding pad part and the non-welding pad part on the fourth electrode and the fifth electrode are all adjacently distributed along the second circumference, and the radians of the welding pad part and the non-welding pad part on the fourth electrode and the fifth electrode on the second circumference are all

Not the number of pad parts is all

Figure DEST_PATH_IMAGE030AAAAAAAAAAAAAAA

；

The fourth electrode, the second brush, the sixth electrode and the power supply form an electrifying loop, and the fifth electrode, the second brush, the sixth electrode and the power supply form an electrifying loop; the fourth electrode and the fifth electrode are respectively connected with two IO ports of the microcontroller; in the embodiment, the sixth electrode is grounded, namely, connected with the negative end of the power supply; if the IO ports of the microcontroller, which are connected with the fourth electrode and the fifth electrode, are provided with pull-up resistors, the fourth electrode and the fifth electrode are connected with the positive end of the power supply through the pull-up resistors of the IO ports, and at the moment, the fourth electrode and the fifth electrode are not connected with a resistor and the power supply additionally; if the IO ports of the microcontroller, which are connected with the fourth electrode and the fifth electrode, do not have pull-up resistors, the fourth electrode and the fifth electrode are connected with the positive end of the power supply through resistors; the fourth electrode and the fifth electrode are communicated with the sixth electrode through a second brush; for the fourth electrode and the fifth electrode, when the second electric brush is in contact with a certain electrode (the second electric brush is in contact with a pad part of the electrode), an electrifying loop where the electrode is positioned is electrified, a low-level signal (0) is arranged on the electrode, and one end of the microcontroller, which is connected with the electrode, receives the low-level signal; when the second brush is not in contact with the electrode (referring to the other parts of the contact electrode except the pad part), the electrode is equivalent to a floating state, and one end of the microcontroller connected with the electrode receives a high-level signal (1). Therefore, in the present embodiment, the microcontroller may determine the contact condition of each electrode of the second brush and the fourth electrode according to the level signals received by the two IO ports; the rotation of second brush will change the contact condition of each electrode in the fourth electrode, therefore microcontroller can confirm the turned angle of second brush according to the level signal change condition that each IO port received in this embodiment to the turned angle in the magic aspect that further confirms drive center pin pivoted. In this embodiment, of course, the electrical connection modes of the fourth electrode, the second brush and the sixth electrode and the fifth electrode, the second brush and the sixth electrode may be other ones, as long as the microcontroller can receive two different level signals corresponding to the IO port under two conditions of contact and non-contact between the second brush and the fourth electrode and between the second brush and the fifth electrode.

In this embodiment, when the incremental profile rotation sensor is a 6-pulse incremental profile rotation sensor, i.e., n is 2, the positional arrangement of the second brush 5 and the electrodes in the incremental profile rotation sensor is as shown in fig. 5 b. In the fourth electrode 304 and the fifth electrode 305, the number of the pad portions is 2, the number of the non-pad portions is 1, and the radian of each pad portion and each non-pad portion 304-1 in the fourth electrode 304 in the second circumference is 1

Each of the pad portion and the non-pad portion 305-1 of the fifth electrode 305 occupies an arc of the second circumference

I.e. 30 degrees, so that the fourth and fifth electrodes are on the second circumferenceAll occupied radians are

I.e. 90 degrees. The radian occupied by the gaps between the fourth electrode and the sixth electrode and between the fifth electrode and the sixth electrode on the second circumference is respectively

I.e. 15 degrees. The radian of the gap between the fourth electrode and the fifth electrode on the second circumference is all

I.e. 30 degrees. The arc occupied by the sixth electrode 306 on the second circumference is

Figure DEST_PATH_IMAGE022AAAAAAAAAAAAAAAAAAA

I.e. 120 degrees.

In the present embodiment, if the face of the code wheel on which the fourth electrode, the fifth electrode, and the sixth electrode are arranged is taken as the upper face of the code wheel, the second brush is located above the second circumference of the code wheel on which the fourth electrode, the fifth electrode, and the sixth electrode are located. In this embodiment, when each end point of the second brush moves to a position corresponding to a second circumferential portion where a pad portion of the fourth electrode or the fifth electrode is located, the second brush is in contact with the pad member, that is, the second brush is electrically connected to the fourth electrode or the fifth electrode, and when each end point of the second brush moves to a position corresponding to a second circumferential portion where a non-pad portion of the fourth electrode or the fifth electrode is located, the second brush is in contact with the pad member, that is, the second brush is not electrically connected to the fourth electrode or the fifth electrode; in this embodiment, three endpoints of the second brush are spaced by 120 degrees, and the radian of the sixth electrode occupying the second circumference is 120 degrees, so that one endpoint of the second brush always contacts with the sixth electrode in the rotation process of the second brush.

The axis structure of the magic cube in the embodiment is suitable for being applied to 4-order and 5-order magic cubes comprising outer-layer rotating surfaces and inner-layer rotating surfaces, wherein each central shaft is driven by each outer-layer rotating surface of the magic cube to rotate, and the first sleeve sleeved in each central shaft is driven by the inner-layer rotating surface which is connected with the central shaft and is positioned at the same side of the inner core.

The embodiment also discloses a magic cube, which comprises a plurality of central blocks and the axis structure of the magic cube, wherein each central shaft is correspondingly provided with the central block of one magic cube.

Example 3

The embodiment discloses an axis structure of a magic cube, which is used for an outer-layer rotating surface and an inner-layer rotating surface, wherein the number of the inner-layer rotating surfaces on the same side of the outer-layer rotating surface is 2, and the inner-layer rotating surface on the same side of the outer-layer rotating surface refers to an inner-layer rotating surface which takes an inner core as a boundary and belongs to the same side of the inner core as the outer-layer rotating surface; the difference between the axis structure of the magic cube in this embodiment and the axis structure of the magic cube in embodiment 2 is only that: the axis structure of the magic cube of the present embodiment further includes second sleeves 40 in the same number as the central axis and the first sleeves 40, and the surface rotation sensor further includes a third rotor 6 and a third brush 7; the third electric brush is arranged on the third rotor, and the third electric brush is driven by the third rotor to move relative to the coded disc; each second sleeve is sleeved on the first sleeve; a third rotor in the surface rotation sensor is arranged on a second sleeve and rotates along with the second sleeve; the central shafts sleeved with the first sleeve and the second sleeve and the first sleeve and the second sleeve on the central shafts penetrate through the through holes on the surface of the inner core together; the central shafts respectively rotate along with the outer rotating surfaces, corresponding to and connected with the outer rotating surfaces, in the magic cube, and the first sleeves and the second sleeves respectively rotate along with the inner rotating surfaces, corresponding to and connected with the inner rotating surfaces, in the magic cube; the inner layer of the magic cube connected with the second sleeve is closer to the center of the magic cube than the inner layer of the magic cube connected with the first sleeve; the axis structure of the magic cube of the present embodiment is defined as a second structure.

In this embodiment, each face rotation sensor is further provided with a first cover plate 31, a second cover plate 32 and a third cover plate 33, the first cover plate is provided with a through hole, after the code disc of the face rotation sensor and the first rotor are mounted on the central shaft, the first cover plate through hole passes through the central shaft, the bottom edge of the first cover plate is fixed on the code disc, and the first rotor is covered by the first cover plate. The second cover plate is provided with a through hole, after a second rotor of the surface rotation sensor is arranged on the first sleeve, the through hole of the second cover plate penetrates through the first sleeve, the edge of the bottom of the second cover plate is fixed on the code disc, and the second rotor is covered by the second cover plate; the third cover plate is provided with a through hole, the third cover plate through hole penetrates through the second sleeve after the third rotor is installed on the second sleeve, the edge of the bottom of the third cover plate is fixed on the code disc, and the third rotor is covered by the third cover plate; the first cover plate, the second cover plate and the third cover plate enable the structure of the surface rotation sensor to be more compact, and meanwhile, the first rotor and the first electric brush, the second rotor and the second electric brush, and the third rotor and the third electric brush are separated from other parts on the axis structure of the magic cube, so that the influence of other parts is avoided.

The surface rotation sensor in this embodiment is an incremental encoder or an absolute encoder.

When the surface rotation sensor is an incremental encoder, compared with the absolute encoder in embodiment 2, the code wheel of the absolute encoder in this embodiment is further provided with a fifth electrode and a sixth electrode; wherein:

in the embodiment, the fifth electrode and the sixth electrode are arranged on the same circumference of the code wheel surface, the circumference is defined as a third circumference, the third circumference is positioned on the periphery of a second circumference where the fifth electrode and the sixth electrode are positioned, and the third brush is driven by the third rotor to rotate relative to the fifth electrode and the sixth electrode along the third circumference; when the third brush rotates to the position opposite to the fifth electrode, the third brush contacts with the fifth electrode; the fifth electrode comprises a plurality of electrodes, and the number n of the electrodes in the fifth electrode is set according to the angle detection precision of the surface rotation sensor in the magic aspect; n electrodes of the fifth electrodes are respectively arranged correspondingly

Any in the third circumference of equal parts

Arranging the equal parts; the sixth electrode is disposed on the third circumference such that the third brush contacts the sixth electrode when rotated to any position.

And each electrode in the fifth electrode, the third brush, the sixth electrode and the power supply form an electrifying loop, and each electrode in the fifth electrode is connected with each IO port of the microcontroller. In this embodiment, the sixth electrode is grounded, and each electrode in the fifth electrode is connected to each IO port of the microcontroller; if the pull-up resistor exists in the IO port connected with each electrode in the fifth electrode and the microcontroller, each electrode in the fifth electrode is connected with the power supply through the pull-up resistor of each IO port, and at the moment, each electrode in the fifth electrode is not connected with another resistor and the power supply; if the IO port connected with each electrode in the fifth electrode by the microcontroller does not have a pull-up resistor, each electrode in the fifth electrode is also connected with a power supply through a resistor; each electrode in the fifth electrode is communicated with the sixth electrode through a third electric brush; for each electrode in the fifth electrodes, when the third electric brush is in contact with the electrode, a power-on loop where the electrode is located is electrified, a low-level signal (0) is arranged on the electrode, and one end of the microcontroller connected with the electrode receives the low-level signal; when the third brush is not in contact with the electrode, the electrode is in a suspended state, and one end of the microcontroller connected with the electrode receives a high-level signal (1). Therefore, in the present embodiment, the microcontroller may determine the contact condition between the third brush and each electrode in the fifth electrode according to the level signal received by each IO port connected to each electrode in the fifth electrode; the rotation of the third brush changes the contact condition of each electrode in the fifth electrode, so that in this embodiment, the microcontroller can determine the rotation angle of the third brush according to the level signal change condition received by each IO port, thereby further determining the rotation angle in the magic aspect driving the second sleeve to rotate.

In this embodiment, the number of electrodes in the fifth electrode is the same as the number of electrodes in the first and second electrodes. Angle detecting essence for magicDegree of

Then, dividing the first circumference where the first electrode and the second electrode are located into 8 equal parts, and then randomly selecting 3 equal parts from the 8 equal parts, wherein 3 electrodes in the first electrode are respectively and correspondingly arranged on the selected first circumference of the 3 equal parts; dividing a second circumference where the third electrode and the fourth electrode are located into 8 equal parts, then randomly selecting 3 equal parts from the second circumference, wherein 3 electrodes in the third electrode are respectively and correspondingly arranged on the selected 3 equal parts of the second circumference; arranging the first electric brush along any 4 equal parts of the 8 equal parts of the second circumference, dividing the third circumference where the fifth electrode and the sixth electrode are located into 8 equal parts, and then randomly selecting 3 equal parts from the 8 equal parts, wherein 3 electrodes in the fifth electrode are respectively and correspondingly arranged on the selected third circumference of the 3 equal parts; the third brush is arranged along any 4 equal segments of the 8 equal segments of the third circumference. As shown in fig. 7a, the position layout of each of the

electrodes

501, 502, 503, the sixth electrode 306, and the third brush 7 in the fifth electrode in the present embodiment is shown.

When the surface rotation sensor of the present embodiment is an incremental encoder, compared with the incremental encoder in embodiment 2, the code wheel of the incremental encoder of the present embodiment is further provided with a seventh electrode, an eighth electrode and a ninth electrode; wherein:

the seventh electrode, the eighth electrode and the ninth electrode are arranged on the same circumference of the code disc surface, and the circumference is defined as a third circumference; the second circumference is at the periphery of the first circumference and the third circumference is at the periphery of the second circumference. The first end point, the second end point and the third end point of the third brush are all arranged along the third circumference, and every two end points are separated by a certain distance

Figure DEST_PATH_IMAGE022AAAAAAAAAAAAAAAAAAAA

Radian; the third electric brush is arranged on the second rotor and drives three of the third electric brushes through the second rotorThe end points rotate relative to the seventh electrode, the eighth electrode and the ninth electrode along a third circumference, and the third brush is in contact with the seventh electrode, the eighth electrode and the ninth electrode through three end points; the radian of the ninth electrode on the third circumference is

Figure DEST_PATH_IMAGE022AAAAAAAAAAAAAAAAAAAAA

；

Figure DEST_PATH_IMAGE027AAAAAAAAAAAAAAAA

Figure DEST_PATH_IMAGE027AAAAAAAAAAAAAAAAA

；

Figure DEST_PATH_IMAGE030AAAAAAAAAAAAAAAA

Not the number of pad parts is all

Figure DEST_PATH_IMAGE030AAAAAAAAAAAAAAAAA

。

The seventh electrode, the third brush, the ninth electrode and the power supply form an electrifying loop, and the eighth electrode, the third brush, the tenth electrode and the power supply form an electrifying loop; the seventh electrode and the eighth electrode are respectively connected with two IO ports of the microcontroller. In the embodiment, the nine electrodes are grounded, namely, connected with the negative end of the power supply; if the IO ports of the microcontroller, which are connected with the seventh electrode and the eighth electrode, are provided with pull-up resistors, the seventh electrode and the eighth electrode are connected with the positive end of the power supply through the pull-up resistors of the IO ports, and at the moment, the seventh electrode and the eighth electrode are not additionally connected with a resistor and the power supply; if the IO port of the microcontroller connected with the seventh electrode and the eighth electrode does not have a pull-up resistor, the seventh electrode and the eighth electrode are connected with the positive end of the power supply through a resistor; the seventh electrode and the eighth electrode are communicated with the ninth electrode through a third brush; for the seventh electrode and the eighth electrode, when the third electric brush is in contact with a certain electrode (which is a pad part of the contact electrode), the electrifying loop where the electrode is located is electrified, a low-level signal (0) is arranged on the electrode, and one end of the microcontroller connected with the electrode receives the low-level signal; when the third brush is not in contact with the electrode (referring to the other parts of the contact electrode except the pad part), the electrode is equivalent to a floating state, and one end of the microcontroller connected with the electrode receives a high-level signal (1). Therefore, in the present embodiment, the microcontroller may determine the contact condition of each of the third brush and the seventh electrode according to the level signals received by the two IO ports; the rotation of the third brush changes the contact condition of each electrode in the seventh electrode, so that in this embodiment, the microcontroller can determine the rotation angle of the third brush according to the level signal change condition received by each IO port, thereby further determining the rotation angle in the magic aspect driving the central shaft to rotate. Of course, in this embodiment, the electrical connection modes of the seventh electrode 301, the third brush 7 and the ninth electrode 303 and the eighth electrode 302, the third brush 7 and the ninth electrode 303 may be other, as long as the microcontroller can receive two different level signals corresponding to the IO port in two cases of the third brush and the seventh electrode, and the eighth electrode being in contact and non-contact.

In the present embodiment, when the incremental profile rotation sensor is a 6-pulse incremental profile rotation sensor, i.e., n is 2, the positional arrangement of the third brush 7 and the respective electrodes in the incremental profile rotation sensor is as shown in fig. 7 b. Wherein in the seventh electrode 307 and the eighth electrode 308, the number of the pad portions is 2, the number of the non-pad portions is 1, and the radian of each of the pad portions and the non-pad portions 307-1 in the seventh electrode 307 in the third circumference is 1

Figure DEST_PATH_IMAGE025AAAAAAAAAAAAAAA

The radian occupied by each pad portion and non-pad portion 308-1 in the third circumference of the eighth electrode 308 is equal to that of the fourth electrode

Figure DEST_PATH_IMAGE025AAAAAAAAAAAAAAAA

I.e. 30 degrees, so that the arc occupied by the seventh and eighth electrodes on the second circumference is all the same

I.e. 90 degrees. The radian of the gaps between the seventh electrode and the ninth electrode and between the eighth electrode and the ninth electrode on the third circumference are all

I.e. 15 degrees. The radian occupied by the gap between the seventh electrode 307 and the eighth electrode 308 on the third circumference is all

Figure DEST_PATH_IMAGE025AAAAAAAAAAAAAAAAA

I.e. 30 degrees. The arc occupied by the ninth electrode 309 on the third circumference is

Figure DEST_PATH_IMAGE022AAAAAAAAAAAAAAAAAAAAAA

I.e. 120 degrees.

The axis structure of the magic cube in the embodiment is suitable for being applied to 6-order and 7-order magic cubes comprising outer-layer rotating surfaces and inner-layer rotating surfaces, wherein 2 inner-layer rotating surfaces which are positioned on the same side with the outer-side rotating surfaces in the magic cube are provided. The axis structure of the magic cube comprises 6 central shafts, 6 first sleeves and 6 second sleeves.

Each central shaft is driven by each outer layer rotating surface of the magic cube to rotate, and a first sleeve sleeved in each central shaft is driven by an inner layer rotating surface which is connected with the central shaft and the outer layer of which is positioned at the same side of the inner core to rotate; the second sleeve sleeved in each central shaft is driven to rotate by an inner layer rotating surface which is connected with the central shaft and the outer layer of which is positioned at the same side of the inner core.

The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims

1. An axis structure of a magic cube is characterized by comprising an inner core with a hollow interior, a plurality of central shafts and a plurality of surface rotation sensors;

2. The axial center structure of a magic cube according to claim 1, further comprising a body position sensor for detecting the body position change of the magic cube; the body position sensor is installed in the inner core and connected with the microcontroller.

3. The hub structure of a magic cube according to claim 1, further comprising a wireless communication module, wherein the wireless communication module is installed inside the inner core and connected with the microcontroller.

4. The axial center structure of a magic cube according to claim 1, wherein the surface rotation sensor is an encoder including a code wheel, a first rotor and a first brush; the surface rotation sensor is arranged on the central shaft through the code disc and the first rotor, and the first rotor rotates along with the central shaft after the surface rotation sensor is arranged on the central shaft; the first brush is arranged on the first rotor, and the first brush is driven by the first rotor to move relative to the code wheel.

5. The hub structure of a magic cube according to claim 4, wherein the hub structure of a magic cube further comprises a number of first sleeves equal to the number of the central shafts; the surface rotation sensor in the axis structure of the magic cube further comprises a second rotor and a second electric brush, the second electric brush is mounted on the second rotor, and the second rotor drives the second electric brush to move relative to the coded disc; the code disc and the first rotor of each surface rotation sensor are respectively arranged on each central shaft; after the code disc and the first rotor of each surface rotation sensor are arranged on each central shaft, each first sleeve is sleeved on each central shaft; a second rotor in the surface rotation sensor is arranged on a first sleeve and rotates along with the first sleeve; the central shafts sleeved with the first sleeves and the first sleeves on the central shafts penetrate through the through holes on the surface of the inner core together; the first sleeves rotate along the inner layer rotating surfaces in the magic cube correspondingly and respectively; defining the axis structure of the magic cube as a first structure;

6. A pivot structure of a magic cube according to claim 5, wherein the face rotation sensor is an absolute type encoder;

the first electrode and the second electrode are arranged on the same circumference of the code wheel face, and the circumference is defined as a first circumference; the first brush is arranged on the first rotor and arranged along a first circumference where the first electrode and the second electrode are located, and the first brush is driven by the first rotor to rotate along the first circumference relative to the first electrode and the second electrode; when the first brush rotates to the position opposite to the first electrode, the first brush is contacted with the first electrode; the first electrode comprises a plurality of electrodes, and the number n of the electrodes in the first electrode is set according to the angle detection precision of the surface rotation sensor in the magic aspect; n electrodes of the first electrodes are respectively arranged at 2ⁿOn any n equal parts of the first circumference of the equal parts; arranging a first brush along the above 2ⁿEqual parts of any 2 of the first circumference^n-1Arranging the equal parts; the second electrode is arranged on the first circumference so that the first brush is in contact with the second electrode when rotated to any position; each electrode in the first electrode in the code disc, the first electric brush, the second electrode and the power supply form an electrifying loop, and each electrode in the first electrode is connected with each IO port of the microcontroller;

the first electrode and the second electrode are arranged on the same circumference of the code wheel face, and the circumference is defined as a first circumference; the first brush is arranged on the first rotor and arranged along a first circumference where the first electrode and the second electrode are located, and the first brush is driven by the first rotor to rotate along the first circumference relative to the first electrode and the second electrode; when the first brush rotates to the position opposite to the first electrode, the first brush is contacted with the first electrode; the first electrode comprises a plurality of electrodes, and the number n of the electrodes in the first electrode is set according to the angle detection precision of the surface rotation sensor in the magic aspect; n electrodes of the first electrodes are respectively arranged at 2ⁿOn any n equal parts of the first circumference of the equal parts; arranging a first brush along the above 2ⁿEqual parts of any 2 of the first circumference^n-1Arranging the equal parts; the second electrode is arranged on the first circumference so that the first brush is in contact with the second electrode when rotated to any position; each electrode in the first electrode, the first electric brush, the second electrode and the power supply form an electrifying loop, and each electrode in the first electrode is connected with each IO port of the microcontroller;

the third electrode and the fourth electrode are arranged on the same circumference of the code disc surface, and the circumference is defined as a second circumference; the second circumference is positioned at the periphery of the first circumference where the first electrode and the second electrode are positioned, the second electric brush is arranged on the second rotor, and the second electric brush is driven by the second rotor to rotate relative to the third electrode and the fourth electrode along the second circumference; when the second brush rotates to the position opposite to the third electrode, the second brush is contacted with the third electrode; the third electrode comprises a plurality of electrodes, and the number n of the electrodes in the third electrode is set according to the angle detection precision of the surface rotation sensor in the magic aspect; n electrodes of the third electrodes are respectively arranged at 2ⁿOn any n of the aliquots; a second brush is arranged along the above 2ⁿEqual part of any 2 of the second circumference^n-1Arranging the equal parts; the fourth electrode is arranged on the second circumference so that the second brush is in contact with the fourth electrode when rotated to any position; each electrode in the third electrode, the second electric brush, the fourth electrode and the power supply form an electrifying loop, and each electrode in the first electrode and the third electrode is respectively connected with each IO port of the microcontroller;

the first electrode and the second electrode are arranged on the same circumference of the code wheel face, and the circumference is defined as a first circumference; the first brush is arranged on the first rotor and arranged along a first circumference where the first electrode and the second electrode are located, and the first brush is driven by the first rotor to rotate along the first circumference relative to the first electrode and the second electrode; when the first brush rotatesWhen the position of the first electrode is opposite to the position of the second electrode, the first electrode is contacted with the second electrode; the first electrode comprises a plurality of electrodes, and the number n of the electrodes in the first electrode is set according to the angle detection precision of the surface rotation sensor in the magic aspect; n electrodes of the first electrodes are respectively arranged at 2ⁿOn any n equal parts of the first circumference of the equal parts; arranging a first brush along the above 2ⁿEqual parts of any 2 of the first circumference^n-1Arranging the equal parts; the second electrode is arranged on the first circumference so that the first brush is in contact with the second electrode when rotated to any position; each electrode in the first electrode, the first electric brush, the second electrode and the power supply form an electrifying loop, and each electrode in the first electrode is connected with each IO port of the microcontroller;

the fifth electrode and the sixth electrode are arranged on the same circumference of the code disc surface, the circumference is defined as a third circumference, the third circumference is positioned on the periphery of a second circumference where the fifth electrode and the sixth electrode are positioned, and the third electric brush is driven by the third rotor to rotate relative to the fifth electrode and the sixth electrode along the third circumference; when the third brush rotates to the firstWhen the five electrodes are in opposite positions, the contact with the fifth electrode is realized; the fifth electrode comprises a plurality of electrodes, and the number n of the electrodes in the fifth electrode is set according to the angle detection precision of the surface rotation sensor in the magic aspect; n electrodes of the fifth electrodes are respectively arranged at 2ⁿOn any n equal parts of the third circumference of the equal parts; arranging a third brush along the above 2ⁿEqual parts of any 2 of the third circumference^n-1Arranging the equal parts; the sixth electrode is arranged on the third circumference such that the third brush is in contact with the sixth electrode when rotated to any position; and each electrode in the fifth electrode, the third brush, the sixth electrode and the power supply form an electrifying loop, and each electrode in the fifth electrode is connected with each IO port of the microcontroller.

7. A pivot structure of a magic cube according to claim 5, wherein the face rotation sensor is an incremental encoder;

the first electrode, the second electrode and the third electrode are arranged on the same circumference of the code disc surface, and the circumference is defined as a first circumference; wherein, in the incremental encoder: the first electric brush comprises three endpoints which are a first endpoint, a second endpoint and a third endpoint respectively, the first endpoint, the second endpoint and the third endpoint of the first electric brush are all arranged along the first circumference, and every two endpoints are separated by 2 pi/3 radian; the first brush is arranged on the first rotor, and drives three endpoints of the first brush to rotate relative to the first electrode, the second electrode and the third electrode along a first circumference through the first rotor;

the radian occupied by the third electrode on the first circumference is 2 pi/3;

for a 3-pulse incremental profile rotation sensor, the first and second electrodes each comprise only a pad portion; the radian occupied by the gaps between the first electrode and the third electrode and between the second electrode and the third electrode on the first circumference is pi/6, and the radian occupied by the gaps between the first electrode and the second electrode on the first circumference is pi/3; the radian occupied by the first electrode and the second electrode on the first circumference is pi/3;

for a 3n pulse increment type surface rotation sensor, n is a natural number larger than 1, the first electrode and the second electrode are divided into equal parts of a pad part and a non-pad part, the pad part and the non-pad part on the first electrode and the second electrode are both distributed adjacently along a first circumference, and radians occupied by the pad part and the non-pad part on the first circumference in the first electrode and the second electrode are both pi/3 n; on the first electrode and the second electrode, the number of the welding pad parts is 3n/3, and the number of the non-welding pad parts is (3n/3) -1; the radian occupied by the gaps between the first electrode and the third electrode and between the second electrode and the third electrode on the first circumference is pi/6 n; the radian of the gap between the first electrode and the second electrode on the first circumference is pi/3 n;

the first electrode, the second electrode and the third electrode are arranged on the same circumference of the code disc surface, and the circumference is defined as a first circumference; wherein, in the incremental encoder: the first electric brush comprises three endpoints which are a first endpoint, a second endpoint and a third endpoint respectively, the first endpoint, the second endpoint and the third endpoint of the first electric brush are all arranged along the first circumference, and every two endpoints are separated by 2 pi/3 radian; the first brush is arranged on the first rotor, and drives three endpoints of the first brush to rotate relative to the first electrode, the second electrode and the third electrode along a first circumference through the first rotor; the radian occupied by the third electrode on the first circumference is 2 pi/3;

for a 3-pulse incremental profile rotation sensor, the first electrode and the second electrode each comprise only a pad portion; the radian occupied by the gaps between the first electrode and the third electrode and between the second electrode and the third electrode on the first circumference is pi/6, and the radian occupied by the gaps between the first electrode and the second electrode on the first circumference is pi/3; the radian occupied by the first electrode and the second electrode on the first circumference is pi/3;

for a 3n pulse increment type surface rotation sensor, n is a natural number larger than 1, a first electrode and a second electrode are divided into equal parts of a pad part and a non-pad part, the pad part and the non-pad part on the first electrode and the second electrode are both distributed adjacently along a first circumference, and radians occupied by the pad part and the non-pad part on the first circumference in the first electrode and the second electrode are pi/3 n; on the first electrode and the second electrode, the number of the welding pad parts is 3n/3, and the number of the non-welding pad parts is (3n/3) -1; the radian occupied by the gaps between the first electrode and the third electrode and between the second electrode and the third electrode on the first circumference is pi/6 n; the radian of the gap between the first electrode and the second electrode on the first circumference is pi/3 n;

the fourth electrode, the fifth electrode and the sixth electrode are arranged on the same circumference of the code disc surface, and the circumference is defined as a second circumference; the second circumference is positioned at the periphery of the first circumference; the second electric brush comprises three endpoints which are a first endpoint, a second endpoint and a third endpoint respectively, the first endpoint, the second endpoint and the third endpoint of the second electric brush are all arranged along the second circumference, and every two endpoints are separated by 2 pi/3 radian; the second brush is arranged on the second rotor, the second rotor drives three endpoints of the second brush to rotate relative to the fourth electrode, the fifth electrode and the sixth electrode along a second circumference, and the second brush is in contact with the fourth electrode, the fifth electrode and the sixth electrode through the three endpoints; the radian of the sixth electrode on the second circumference is 2 pi/3;

for an incremental profile rotation sensor with a pulse count of 3, the fourth electrode and the fifth electrode each comprise only a pad portion; the radian occupied by the gaps between the fourth electrode and the sixth electrode and between the fifth electrode and the sixth electrode on the second circumference is pi/6, and the radian occupied by the gaps between the fourth electrode and the fifth electrode on the second circumference is pi/3; the radian occupied by the fourth electrode and the fifth electrode on the second circumference is pi/3;

aiming at an incremental profile rotation sensor with the pulse number of 3n, wherein n is a natural number greater than 1, the fourth electrode and the fifth electrode are divided into equal parts of a pad part and a non-pad part, the pad part and the non-pad part on the fourth electrode and the fifth electrode are both distributed adjacently along a second circumference, and radians occupied by the pad part and the non-pad part on the fourth electrode and the fifth electrode on the second circumference are both pi/3 n; on the fourth electrode and the fifth electrode, the number of the welding pad parts is 3n/3, and the number of the non-welding pad parts is (3n/3) -1; the radian occupied by the gaps between the fourth electrode and the sixth electrode and between the fifth electrode and the sixth electrode on the second circumference is pi/6 n; the radian of the gap between the fourth electrode and the fifth electrode on the second circumference is pi/3 n;

the seventh electrode, the eighth electrode and the ninth electrode are arranged on the same circumference of the code disc surface, and the circumference is defined as a third circumference; the second circumference is positioned at the periphery of the first circumference, and the third circumference is positioned at the periphery of the second circumference; the third electric brush comprises three endpoints which are a first endpoint, a second endpoint and a third endpoint respectively, the first endpoint, the second endpoint and the third endpoint of the third electric brush are all arranged along a third circle, and every two endpoints are separated by 2 pi/3 radian; the third brush is arranged on the second rotor, the second rotor drives three endpoints of the third brush to rotate relative to the seventh electrode, the eighth electrode and the ninth electrode along the third circumference, and the third brush is in contact with the seventh electrode, the eighth electrode and the ninth electrode through the three endpoints; the radian of the ninth electrode on the third circumference is 2 pi/3;

for an incremental profile rotation sensor with a pulse count of 3, the seventh electrode and the eighth electrode each comprise only a pad portion; the radian of the gap between the seventh electrode and the ninth electrode and the radian of the gap between the eighth electrode and the ninth electrode on the third circumference are both pi/6, and the radian of the gap between the seventh electrode and the eighth electrode on the third circumference are both pi/3; the radian occupied by the seventh electrode and the eighth electrode on the third circumference is pi/3;

aiming at the incremental profile rotation sensor with the pulse number of 3n, wherein n is a natural number greater than 1, the seventh electrode and the eighth electrode are divided into equal parts of a pad part and a non-pad part, the pad part and the non-pad part on the seventh electrode and the eighth electrode are adjacently distributed along a third circumference, and radians occupied by the pad part and the non-pad part on the seventh electrode and the eighth electrode on the third circumference are pi/3 n; on the seventh electrode and the eighth electrode, the number of the welding pad parts is 3n/3, and the number of the non-welding pad parts is (3n/3) -1; the radian occupied by the gaps between the seventh electrode and the ninth electrode and between the eighth electrode and the ninth electrode on the third circumference is pi/6 n; the radian of the gap between the seventh electrode and the eighth electrode on the third circumference is pi/3 n;

8. The axial center structure of a magic cube according to claim 5, wherein the first rotor, the second rotor, the third rotor and the code disc of the surface rotation sensor are provided with through holes; the surface rotation sensor is mounted on the central shaft in the following way: a coded disc of the surface rotation sensor and the first rotor sequentially penetrate through the central shaft and are arranged at the end of the central shaft where the stop block is located; the inner wall of a first rotor through hole of the surface rotation sensor is attached to the outer wall of the central shaft and rotates along with the central shaft; a second rotor of the surface rotation sensor is arranged at the bottom end of the first sleeve through a through hole; the inner wall of a through hole of a second rotor of the surface rotation sensor is attached to the outer wall of the first sleeve and rotates along with the first sleeve; a third rotor of the surface rotation sensor is arranged at the bottom end of the second sleeve through a through hole; the inner wall of a third rotor through hole of the surface rotation sensor is attached to the outer wall of the second sleeve and rotates along with the second sleeve;

9. The axial center structure of a magic cube according to claim 1, wherein the central shaft is made of a material with conductive performance; every two central shafts form a pair and are respectively connected with the anode and the cathode of a power supply through leads, and the outside charges the power supply through each pair of central shafts; the central shaft is connected with a port of the microcontroller through a wire, and the outside sends a signal to the microcontroller or receives a signal sent by the microcontroller through the central shaft.

10. A puzzle cube, comprising a plurality of central pieces and a central structure of the puzzle cube according to any one of claims 1 to 9, wherein each central piece is provided with a central piece of the puzzle cube.