CN111939552B

CN111939552B - A magic cube and its axis structure

Info

Publication number: CN111939552B
Application number: CN201910416817.XA
Authority: CN
Inventors: 陈永煌; 刘寄; 张乐
Original assignee: Shantou Chenghai District Moyu Culture Co ltd
Current assignee: Shantou Chenghai District Moyu Culture Co ltd
Priority date: 2019-05-17
Filing date: 2019-05-17
Publication date: 2025-01-03
Anticipated expiration: 2039-05-17
Also published as: CN111939552A

Abstract

The invention discloses a Rubik's Cube axis structure, including an inner hollow core, a plurality of central axes and a plurality of surface rotation sensors; the surface of the core is provided with through holes having the same number as the central axes, and the through holes are evenly distributed on the surface of the core; the surface rotation sensors are respectively installed on the central axes to detect the rotation angles of the central axes; a stopper is provided at one end of each central axis; after the rotation sensors are installed on the central axes, the ends of the central axes without the stopper pass through the through holes on the surface of the core, and the surface rotation sensors are confined inside the core and between the inner surface of the core and the stopper of the central axis; the surface rotation sensors are respectively connected to a microcontroller and a power supply in the core, and the microcontroller determines the rotation angles of the central axes according to the signals transmitted by the surface rotation sensors. The axis structure of the invention has the advantage of strong compatibility, and the electronic Rubik's Cube can be obtained by disassembling the traditional Rubik's Cube accessories and assembling them on the axis structure of the invention, and the service life of the Rubik's Cube is improved.

Description

Magic cube and axle center structure thereof

Technical Field

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

Background

The magic square is also called as a Lubi square, taiwan in China is called as a magic square, hong Kong in China is called as a DietcSus dice, the English name is Rubik's Cube, the magic square is an intelligent toy which is popular in the eighties and is used for developing intelligence. The magic cube recovery refers to the process from a non-original state to an original state of the magic cube, is a process integrating observation, hand operation and imagination, and can well cultivate the hand operation, brain operation ability, training memory, space imagination and judgment of people.

At present, the magic square commonly used has single function, can not communicate with external electronic equipment, and lacks interestingness. In order to improve the interestingness of the magic cube operation, some electronic magic cubes are arranged in the prior art, namely, electronic elements such as a sensor are arranged on the magic cube to detect the surface rotation information and the like of the magic cube, but the internal structure of the magic cube is complex because the problems such as the volume and the area of the sensor cannot be placed in an inner sphere in the center of the magic cube in the prior art. For example, in the chinese patent application with publication number CN106110651a, an intelligent magic cube and a timing method of an induction axis structure used by the same are disclosed, in which a state signal transmitting group for generating a state signal, i.e. a sensor, is disposed on a central block of the magic cube located outside an inner sphere on a tubular shaft, the sensor is connected with data of the inner sphere and an electrical connection by using a hollow tubular shaft, and in the process of rotating a surface of the magic cube, the tubular shaft and the state signal transmitting group thereon can rotate together, which tends to cause twisting of a circuit in the tubular shaft, and after the magic cube is used for a certain period of time, the circuit in the tubular shaft is twisted, so that the service life of the magic cube is reduced.

Disclosure of Invention

The first object of the present invention is to overcome the drawbacks and disadvantages of the prior art and to provide a simple-structured magic cube with an improved service life and compatible use in conventional magic cubes.

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

The first object of the invention is realized by the following technical scheme that the axle center structure of the 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 shafts, 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;

after the upper rotary sensor is installed on each central shaft, one end of each central shaft without the stop block passes through each through hole on the surface of the inner core, and the surface rotary 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 inner core is internally provided with a power supply 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.

Preferably, the magic cube comprises a body position sensor for detecting the body position change of the magic cube, wherein the body position sensor is arranged in a core and is connected with a microcontroller.

Preferably, the wireless communication module is arranged 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, wherein the surface rotation sensor is arranged on a central shaft through the code disc and the first rotor, the first rotor rotates along with the central shaft after being arranged on the central shaft, and the first electric brush is arranged on the first rotor and drives the first electric brush to move relative to the code disc through the first rotor.

Furthermore, the axle center structure of the magic cube also comprises first sleeves with the same number as the central axle; the central surface rotation sensor of the axle center structure of the magic cube further comprises a second rotor and a second electric brush, wherein the second electric brush is arranged on the second rotor, and the second electric brush is driven to move relative to the code disc through the second rotor; the code disc and the first rotor of each surface rotation sensor are respectively arranged on each central shaft, each central shaft is respectively sleeved on each central shaft after the code disc and the first rotor of each surface rotation sensor are arranged, the second rotor in each surface rotation sensor is arranged on the first sleeve and rotates along with the first sleeve, each central shaft sleeved with the first sleeve and the first sleeve pass through each through hole on the surface of the inner core together, wherein each central shaft respectively rotates along with the outer layer rotation surface of each central block connected with the central shaft in the magic cube, and each first sleeve respectively rotates along with each inner layer rotation surface connected with the central block in the magic cube;

Or the axle center structure of the magic cube also comprises first sleeves and second sleeves, the number of which is the same as that of the central axle; the magic cube center axis structure center plane rotation sensor further comprises a second rotor, a second electric brush, a third rotor and a third electric brush, wherein the second electric brush is arranged on the second rotor, the second electric brush is driven to move relative to the code wheel through the second rotor, the third electric brush is arranged on the third rotor, the third electric brush is driven to move relative to the code wheel through the third rotor, the code wheel and the first rotor of each plane rotation sensor are respectively arranged on each central shaft, each central shaft is respectively sleeved on each central shaft after the code wheel and the first rotor of each plane rotation sensor are arranged, each second sleeve is respectively sleeved on the first sleeve, the second rotor of each plane rotation sensor is arranged on the first sleeve to rotate along with the first sleeve, each central shaft after the first sleeve and the second sleeve are sleeved and the first sleeve and the second sleeve pass through holes on the surface of the inner core, each central shaft is respectively connected with each outer layer of the magic cube in a corresponding way, each first sleeve is respectively connected with each inner layer of the magic cube in a corresponding way, and the magic cube center axes are respectively connected with each inner layer of the magic cube center axes, and the magic cube center axis is respectively connected with each magic cube center plane rotation sensor is more in a corresponding way, and the magic cube center structure is connected with the inner layer of the magic cube center structure.

Further, the surface rotation sensor is an absolute encoder;

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

The first electrode and the second electrode are arranged on the same circumference of the code disc surface and define the circumference as a first circumference, the first electric brush is arranged on the first rotor and along the first circumference where the first electrode and the second electrode are positioned, the first electric brush drives the first electric brush to rotate along the first circumference relative to the first electrode and the second electrode through the first rotor, when the first electric brush rotates to the relative position of the first electrode, the first electric brush contacts with the first electrode, the first electrode comprises a plurality of electrodes, the number n of the electrodes in the first electrode is set according to the angle detection precision of the magic aspect by the surface rotation sensor, the n electrodes in the first electrode are respectively and correspondingly arranged on any n equal parts of the first circumference of 2 ⁿ equal parts, the first electric brush is arranged along any 2 ^n-1 equal parts of the first circumference of 2 ⁿ equal parts, the second electrode is arranged on the first circumference, so that the first electric brush rotates to any position is contacted with the second electrode, each electrode in the first electrode in the code disc contacts with the first electrode, the second electrode and the power supply form an electrifying circuit, and each port in each first electrode is respectively connected with each micro controller;

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

The first electrode and the second electrode are arranged on the same circumference of the code surface and define the circumference as a first circumference, the first electric brush is arranged on the first rotor and is arranged along the first circumference where the first electrode and the second electrode are located, the first electric brush drives the first electric brush to rotate along the first circumference relative to the first electrode and the second electrode through the first rotor, when the first electric brush rotates to the relative position of the first electrode, the first electric brush contacts the first electrode, the first electrode comprises a plurality of electrodes, the number n of the electrodes in the first electrode is set according to the angle detection precision of the surface rotation sensor in terms of magic, the n electrodes in the first electrode are respectively and correspondingly arranged on any n equal parts of the first circumference in2 ⁿ equal parts, the first electric brush is arranged along any 2 ^n-1 equal parts of the first circumference in2 ⁿ equal parts, the second electrode is arranged on the first circumference, when the first electric brush rotates to any position, the first electric brush contacts the second electrode, each electrode in the first electrode, the second electrode and a power supply form an electrifying circuit, and each port IO in the first microcontroller is respectively connected with each electrode;

The third electrode and the fourth electrode are arranged on the same circumference of the code surface and define the circumference as a second circumference, the second circumference is positioned on 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, the second electric brush is driven to rotate along the second circumference relative to the third electrode and the fourth electrode through the second rotor, when the second electric brush rotates to the relative position of the third electrode, the second electric brush contacts the third electrode, the third electrode comprises a plurality of electrodes, the number n of the electrodes in the third electrode is set according to the angle detection precision of the magic cube according to the surface rotation sensor, the n electrodes in the third electrode are respectively and correspondingly arranged on any n equal parts of 2 ⁿ equal parts, the second electric brush is arranged on any 2 ^n-1 equal parts of the second circumference of 2 ⁿ equal parts, the fourth electrode is arranged on the second circumference, when the second electric brush rotates to any position, each electrode in the third electrode contacts the fourth electrode, each electrode in the third electrode forms an electrifying loop with the second electrode, the fourth electrode and a power supply, and each micro controller IO (IO) is respectively connected to each port in the first electrode and the third electrode;

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

The fifth electrode and the sixth electrode are arranged on the same circumference of the code 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, the third brush drives the third brush to rotate along the third circumference relative to the fifth electrode and the sixth electrode through a third rotor, when the third brush rotates to the relative position of the fifth electrode, the fifth electrode contacts the fifth electrode, the fifth electrode comprises a plurality of electrodes, the number n of the electrodes in the fifth electrode is set according to the angle detection precision of the surface rotation sensor in terms of magic angle, n electrodes in the fifth electrode are respectively and correspondingly arranged on any n equal parts of the third circumference of 2 ⁿ equal parts, the third brush is arranged along any 2 ^n-1 equal parts of the third circumference of 2 ⁿ equal parts, the sixth electrode is arranged on the third circumference, each electrode in the fifth electrode contacts the sixth electrode when the third brush rotates to any position, each electrode in the fifth electrode is in contact with the third electrode, each electrode in the fifth electrode and each IO (input/output) circuit is formed by each electrode in the fifth electrode, and each power supply circuit is respectively connected with each port in the microcontroller.

Further, the surface rotation sensor is an incremental encoder;

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

The first electric brush comprises three endpoints, namely a first endpoint, a second endpoint and a third endpoint, which are respectively arranged along the first circumference and are separated by 2 pi/3 radian, the first electric brush is arranged on the first rotor, the three endpoints of the first electric brush are driven by the first rotor to rotate along the first circumference relative to the first electrode, the second electrode and the third electrode, and the first electric brush is contacted with the first electrode, the second electrode and the third electrode through the three endpoints;

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

Aiming at the 3-pulse increment type surface rotation sensor, the first electrode and the second electrode only comprise a bonding pad part, the radian of gaps between the first electrode and the third electrode and the radian of gaps between the second electrode and the third electrode on the first circumference are pi/6, the radian of gaps between the first electrode and the second electrode on the first circumference are pi/3, and the radian of the first electrode and the radian of gaps between the second electrode on the first circumference are pi/3;

For the 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 bonding pad part and a non-bonding pad part, the bonding pad part and the non-bonding pad part on the first electrode and the second electrode are adjacently distributed along a first circumference, radians occupied by the bonding pad part and the non-bonding pad part in the first circumference in the first electrode and the second electrode are pi/3 n, the number of the bonding pad parts in the first electrode and the second electrode is 3n/3, the number of the non-bonding pad part in the first electrode and the second electrode is (3 n/3) -1, radians occupied by gaps between the first electrode and the third electrode and between the second electrode and the third electrode in the first circumference are pi/6 n, and radians occupied by the gaps between the first electrode and the second electrode in the first circumference are pi/3 n;

The first electrode, the first electric brush, the third electrode and the power supply form an energizing circuit, and the second electrode, the first electric brush, the third electrode and the power supply form an energizing circuit;

Or when the axle center structure of the magic cube is a first structure, the 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:

The first electrode, the second electrode and the third electrode are arranged on the same circumference of the code surface and define the circumference 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 are separated by 2 pi/3 radian, the first brush is arranged on the first rotor, the three endpoints of the first brush are driven by the first rotor to rotate along the first circumference relative to the first electrode, the second electrode and the third electrode, the first brush is contacted with the first electrode, the second electrode and the third electrode through the three endpoints, and the radian occupied by the third electrode on the first circumference is 2 pi/3;

Aiming at the 3-pulse increment type surface rotation sensor, the first electrode and the second electrode only comprise a bonding pad part, the radian occupied by gaps between the first electrode and the third electrode and the radian occupied by gaps between the second electrode and the third electrode on the first circumference are pi/6, the radian occupied by gaps between the first electrode and the second electrode on the first circumference are pi/3, and the radian occupied by the first electrode and the radian occupied by the second electrode on the first circumference are 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 bonding pad part and a non-bonding pad part, the bonding pad part and the non-bonding pad part on the first electrode and the second electrode are adjacently distributed along a first circumference, radians occupied by the bonding pad part and the non-bonding pad part in the first circumference in the first electrode and the second electrode are pi/3 n, the number of the bonding pad parts is 3n/3, the number of the non-bonding pad part is (3 n/3) -1, radians occupied by gaps between the first electrode and the third electrode and between the second electrode and the third electrode in the first circumference are pi/6 n, and radians occupied by the gaps between the first electrode and the second electrode in the first circumference are pi/3 n;

The second electric brush comprises three endpoints, namely a first endpoint, a second endpoint and a third endpoint, wherein the first endpoint, the second endpoint and the third endpoint of the second electric brush are all arranged along the second circumference and are separated by 2 pi/3 radians, the second electric brush is arranged on a second rotor, the three endpoints of the second electric brush are driven by the second rotor to rotate along the second circumference relative to the fourth electrode, the fifth electrode and the sixth electrode, the second electric brush is in contact with the fourth electrode, the fifth electrode and the sixth electrode through the three endpoints, and the radian occupied by the sixth electrode on the second circumference is 2 pi/3;

Aiming at the incremental type surface rotation sensor with the pulse number of 3, the fourth electrode and the fifth electrode only comprise a bonding pad part, the radian of 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, the radian of gaps between the fourth electrode and the fifth electrode on the second circumference is pi/3, and the radian of the fourth electrode and the fifth electrode on the second circumference is pi/3;

For the incremental type surface rotation sensor with the pulse number of 3n, n is a natural number larger than 1, the fourth electrode and the fifth electrode are divided into equal parts of a bonding pad part and a non-bonding pad part, the bonding pad part and the non-bonding pad part on the fourth electrode and the fifth electrode are distributed adjacently along a second circumference, the radian occupied by the bonding pad part and the non-bonding pad part on the fourth electrode and the fifth electrode on the second circumference is pi/3 n, the number of the bonding pad parts on the fourth electrode and the fifth electrode is 3n/3, the number of the non-bonding pad part is (3 n/3) -1, the radian occupied by the gap between the fourth electrode and the sixth electrode and the radian occupied by the gap between the fifth electrode and the sixth electrode on the second circumference is pi/6 n, and the radian occupied by the gap between the fourth electrode and the fifth electrode on the second circumference is pi/3 n;

the fourth electrode, the second electric brush, the sixth electrode and the power supply form an energizing circuit, and the fifth electrode, the second electric brush, the sixth electrode and the power supply form an energizing circuit;

Or when the axle center structure of the magic cube is a second structure, the 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:

The third electric brush comprises three endpoints, namely a first endpoint, a second endpoint and a third endpoint, wherein the first endpoint, the second endpoint and the third endpoint of the third electric brush are respectively arranged along the third circumference and are separated by 2 pi/3 radian, the third electric brush is arranged on the second rotor, the third endpoint of the third electric brush is driven by the second rotor to rotate along the third circumference relative to the seventh electrode, the eighth electrode and the ninth electrode, the third electric brush is contacted with the seventh electrode, the eighth electrode and the ninth electrode through the three endpoints, and the radian occupied by the ninth electrode on the third circumference is 2 pi/3;

aiming at the incremental type surface rotation sensor with the pulse number of 3, the seventh electrode and the eighth electrode only comprise pad parts, the radian occupied by gaps between the seventh electrode and the ninth electrode and between the eighth electrode and the ninth electrode on a third circumference is pi/6, the radian occupied by gaps between the seventh electrode and the eighth electrode on the third circumference is pi/3, and the radian occupied by the seventh electrode and the eighth electrode on the third circumference is pi/3;

For the incremental type surface rotation sensor with the pulse number of 3n, n is a natural number larger than 1, the seventh electrode and the eighth electrode are divided into equal parts of a bonding pad part and a non-bonding pad part, the bonding pad part and the non-bonding pad part on the seventh electrode and the eighth electrode are adjacently distributed along a third circumference, the radians of the bonding pad part and the non-bonding pad part on the seventh electrode and the eighth electrode on the third circumference are pi/3 n, the number of the bonding pad parts on the seventh electrode and the eighth electrode is 3n/3, the number of the non-bonding pad part is (3 n/3) -1, the radians of gaps between the seventh electrode and the ninth electrode and between the eighth electrode and the ninth electrode on the third circumference are pi/6 n, and the radians of the gaps between the seventh electrode and the eighth electrode on the third circumference are pi/3 n;

the seventh electrode, the third electric brush, the ninth electrode and the power supply form an energizing circuit, the eighth electrode, the third electric brush, the tenth electrode and the power supply form an energizing circuit, and the seventh electrode and the eighth electrode are respectively connected with two IO ports of the microcontroller.

The first rotor, the second rotor, the third rotor and the code wheel of the surface rotation sensor are all provided with through holes, the surface rotation sensor is arranged on the central shaft in a way that the code wheel and the first rotor of the surface rotation sensor sequentially penetrate through the end of a stop block of the central shaft, which is arranged on the central shaft, the inner wall of the through hole of the first rotor of the surface rotation sensor is attached to the outer wall of the central shaft and rotates along with the central shaft, the second rotor of the surface rotation sensor is arranged at the bottom end of the first sleeve through the through holes, the inner wall of the through hole of the second rotor of the surface rotation sensor is attached to the outer wall of the first sleeve and rotates along with the first sleeve, the third rotor of the surface rotation sensor is arranged at the bottom end of the second sleeve through the through holes, and the inner wall of the through hole of the third rotor of the surface rotation sensor is attached to the outer wall of the second sleeve and rotates along with the second sleeve;

the axle center 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 code disc is close to the central shaft stop block, and a spring gasket is arranged between the code disc of the surface rotation sensor and the central shaft stop block;

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

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

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

Preferably, the central shafts are made of materials with conductive performance, every two central shafts form a pair, the central shafts are respectively connected with the anode and the cathode of the power supply through wires, the outside is charged by the power supply through the central shafts, the central shafts are connected with the ports of the microcontroller through wires, and the outside sends signals to the microcontroller or receives signals sent by micro control through the central shafts.

The second object of the invention is realized by the following technical scheme that the magic cube comprises a plurality of center blocks and the axle center structure of the magic cube according to the first object of the invention, and each center shaft is correspondingly provided with the center block of the magic cube.

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

(1) The axle center structure of the magic cube comprises an inner hollow core, a plurality of central shafts and a plurality of surface rotation sensors, wherein through holes the number of which is the same as that of the central shafts are formed in the surface of the inner core, the through holes are uniformly distributed on the surface of the inner core at intervals, the surface rotation sensors are respectively and correspondingly arranged on the central shafts and used for detecting the rotation angles of the central shafts, one end of each central shaft is provided with a stop block, after the upper rotation sensors are arranged on the central shafts, one end of each central shaft without the stop block passes through the through holes in the surface of the inner core, the surface rotation sensors are limited in the inner core and are positioned between the inner surface of the inner core and the stop block of the central shaft, the surface rotation sensors are respectively connected with a microcontroller and a power supply in the inner core, and the microcontroller determines the rotation angles of the central shafts according to signals transmitted by the surface rotation sensors. In addition, in the invention, the part of each central shaft in the shaft center structure extending out of the through hole on the surface of the inner core is identical with the central shaft of the traditional magic cube in the prior art, only the inner core is used for replacing the central support of the traditional magic cube, and all other accessories of the traditional magic cube meeting the size of the inner core except the inner core can be installed on the inner core to form the electronic magic cube.

(2) The axle center structure of the magic cube also comprises the body position sensor arranged in the inner core, when the magic cube is rolled integrally to change the body position, the body position sensor can detect the body position change information, and the movement state of the magic cube can be monitored more comprehensively. In addition, the wireless communication module is also arranged in the inner core of the magic cube, the wireless communication module is connected with the microcontroller, and 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 terminals outside the magic cube through the wireless communication module, so that great convenience is brought to the acquisition of the magic cube motion information.

(3) In the axle center 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 rotation surface of the magic cube with only outer rotation surfaces, for example, 2-step, 3-step and 12-surface body 5 magic balls, at the moment, the number of the surface rotation sensors and the number of the central shafts in the axle center structure of the magic cube are the same, 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, the first electric brush is driven to move relative to the code disc through the first rotor, each central shaft respectively rotates along with the outer rotation surface of each central block in the magic cube, which is correspondingly connected with the first electric brush, and simultaneously, the central shafts can drive the first rotor to rotate, so that the rotation detection of each outer rotation surface of the magic cube is realized through the encoder.

(4) The invention discloses a magic cube, which comprises a code disc, a first rotor, a first electric brush, a second rotor and a second electric brush, wherein when the encoder comprises the code disc, the first rotor, the first electric brush, the second rotor and the second electric brush, and the axle center structure further comprises a first sleeve, the first rotor is driven to rotate through the rotation of a central shaft, so that the first electric brush rotates relative to the code disc, and the second electric brush rotates relative to the code disc through the rotation of the electric second rotor of the first sleeve.

(5) The invention discloses a magic cube axial structure, which 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, wherein when the encoder comprises the code disc, the first rotor, the first electric brush, the second rotor, the second electric brush, the third rotor and the third electric brush, the first sleeve and the second sleeve are rotated through a 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, the second electric brush rotates relative to the code disc, the third rotor is driven to rotate through the second sleeve, and the third electric brush rotates relative to the code disc.

(6) In the axle center structure of the magic cube, the surface rotation sensor can be an absolute encoder, wherein a first electrode and a second electrode are arranged on a code disc of the absolute encoder, the first electrode and the second electrode are arranged on a first circumference of the code disc surface, a first electric brush is arranged on a first rotor and along the first circumference where the first electrode and the second electrode are located, the first electric brush drives the first electric brush to rotate relative to the first electrode and the second electrode along the first circumference through the first rotor, the first electrode comprises a plurality of electrodes, n electrodes in the first electrode are respectively and correspondingly arranged on any n equal parts of a 2 ⁿ equal parts of the first circumference, the first electric brush is arranged along any 2 ^n-1 equal parts of the first circumference of the 2 ⁿ equal parts, and the second electrode is arranged on the first circumference, so that the first electric brush is contacted with the second electrode when rotating to any position. In the magic cube surface rotation sensor, aiming at the first circumference where the first electrode and the second electrode are positioned, the first electric brush is arranged along the equal circular arc of one half of the first circumference, each electrode in the first electrode is distributed on any n equal parts of the 2 ⁿ equal parts of the first circumference, the second electrode is arranged at the rest positions, and the second electrode is arranged at the rest positions, so that the first electric brush is always contacted with the second electrode in the process of being driven to rotate by the first rotor, and therefore, the first electric brush can be conducted with an electrifying loop where each electrode in the first electrode is positioned when being contacted with each electrode in the first electrode in the rotating process. In addition, when the magic cube comprises one or two inner-layer rotating surfaces, one or two more circumferential 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 circumferences.

(7) In the axle center 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 a first electrode, a second electrode and a third electrode are arranged on the code disc, the first electrode, the second electrode and the third electrode are arranged on the first circumference of the code disc, the first electric brush comprises three endpoints, the three endpoints are all arranged along the first circumference, and every two endpoints are separated by 2 pi/3 radians. The invention relates to a magic cube incremental type surface rotation sensor, which is characterized in that three endpoints of the first brush are arranged on a first rotor and drive the first brush to rotate along a first circumference relative to a first electrode, a second electrode and a third electrode, the first brush is contacted with the first electrode, the second electrode and the third electrode through the three endpoints, the radian occupied by the third electrode on the first circumference is 2 pi/3, the radian occupied by a gap between every two electrodes on the circumference and the radian occupied by the first electrode and the second electrode on the circumference are all set according to the number of pulses to be realized by the sensor, the incremental type surface rotation sensor of the magic cube is provided with corresponding parameters such as the electrodes according to the number of pulses, has the advantage of high angle detection precision, and is applied to the axle center structure of the magic cube, so that the surface rotation detection precision of the magic cube is greatly improved, and the structure of the magic cube is simpler and the cost is lower. In addition, when the magic cube comprises one or two inner-layer rotating surfaces, one or two more circumferential 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 circumferences.

(8) In the magic cube axle center structure, the central shafts are made of materials with conductive performance, every two central shafts form a pair, the central shafts are respectively connected with the positive electrode and the negative electrode of the power supply through wires, and the power supply in the inner core can be charged directly through the central shafts in each pair from the outside. In addition, the central shaft of the invention can be connected with the 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 signals sent by the microcontroller through the central shaft.

(9) In the axle center structure of the magic cube, the screw rod can be directly used by the central axle, the screw cap at one end of the screw rod is a stop block on the central axle, the other end of the screw rod is provided with threads, and the central block of the magic cube is arranged on the central axle through the threads.

Drawings

Fig. 1 is a sectional view of the axial structure of a magic cube according to embodiment 1 of the invention.

FIGS. 2a and 2b are perspective views showing the axial structure of a magic cube according to embodiment 1 of the invention

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

Fig. 3d to 3f are schematic views of the three-stage cube structure in embodiment 1 of the present invention.

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

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

Fig. 6 is a partial cross-sectional view of the axial structure of the cube according to embodiment 3 of the invention.

Fig. 7a to 7b are schematic views of positions of electrodes and brushes in a code wheel of a face rotation sensor in an axial structure of a 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 embodiments of the present invention are not limited thereto.

Example 1

The embodiment discloses an axle center structure of a magic cube, which is used for a magic cube only comprising an outer rotating surface, and comprises an inner core 21 with a hollow interior, a plurality of central shafts 22 and a plurality of surface rotating sensors 23, wherein through holes with the same number as the central shafts are arranged on the surface of the inner core, the through holes are uniformly distributed on the surface of the inner core at intervals, the surface rotating sensors are respectively and correspondingly arranged on the central shafts and used for detecting the rotating angle of the central shafts, one end of each central shaft is provided with a stop block 25, after the upper rotating sensors are arranged on the central shafts, one end of each central shaft without the stop block passes through each through hole on the surface of the inner core, and the surface rotating sensors are limited in the inner core and are positioned between the inner surface of the inner core and the stop block of the central shaft.

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 wireless communication module 26 and the body position sensor are also arranged in the inner core, the body position sensor is connected with the microcontroller and used for detecting the body position change of the magic cube, the wireless communication module is connected with the microcontroller, and the microcontroller can perform wireless communication with the terminal and other equipment outside the magic cube through the wireless communication module. In this embodiment, the microcontroller may use a chip such as a single-chip microcomputer.

As shown in fig. 2a, when the core housing is omitted, the axis structure of the magic cube of the present embodiment is a structure that facilitates the observation of the interior of the core, and the axis structure of the actual magic cube is a structure in which each central axis passes through a through hole on the surface of the core and the surface rotation sensor is located inside the core as shown in fig. 2 b.

In this 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 mounted on a central shaft through the code wheel and the first rotor, the first rotor rotates along with the central shaft after the surface rotation sensor is mounted on the central shaft, and the first brush is mounted on the first rotor and drives the first brush to move relative to the code wheel through the first rotor.

In the embodiment, the number of the surface rotation sensors and the number of the central shafts in the axial structure of the magic cube are the same, the surface rotation sensors are respectively arranged on the central shafts through the code disc and the first rotor, and the central shafts respectively rotate along with the outer layer rotation surfaces of the central blocks connected with the central blocks in the magic cube.

The first rotor and the code wheel of the surface rotation sensor are respectively provided with a through hole, the surface rotation sensor is arranged on the central shaft in a mode that the code wheel and the first rotor of the surface rotation sensor sequentially penetrate through the central shaft and are arranged at the end of a stop block of the central shaft, and the inner wall of the through hole of the first rotor 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 axial structure of the cube further includes a spring washer and a first cover plate 31.

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

The first cover plate is provided with a through hole, after the coded 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 bottom edge of the first cover plate is fixed on the coded disc, and the first rotor is covered by the first cover plate.

The center shaft is the screw rod, and the nut of screw rod one end is the epaxial dog of center, and the other end of screw rod is provided with the screw thread. In the embodiment, the central shafts are made of materials with conductive performance, every two central shafts form a pair, the central shafts are respectively connected with the anode and the cathode of the power supply through wires, the outside is charged by taking the central shafts as the power supply, the central shafts are connected with the ports of the microcontroller through wires, and the outside sends signals to the microcontroller or receives signals sent by micro control through the central shafts.

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

When the surface rotation sensor of this embodiment is an absolute encoder, a first electrode and a second electrode are disposed on a code disc of the absolute encoder, wherein:

The first and second electrodes are arranged on the same circumference of the code surface to define the circumference as a first circumference, the first brush is arranged on the first rotor and along the first circumference of the first electrode and the second electrode, 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 relative position of the first electrode, the first electrode contacts the first electrode, the first electrode comprises a plurality of electrodes, the number n of the electrodes in the first electrode is set according to the angle detection precision of the surface rotation sensor in terms of magic, the n electrodes in the first electrode are respectively arranged on any n equal parts of the first circumference of 2 ⁿ equal parts, the first brush is arranged along any 2 ^n-1 equal parts of the first circumference of 2 ⁿ equal parts, the second electrode is arranged on the first circumference so that the first brush rotates to any position and contacts the second electrode, and the first electrode is arranged on the first circumference according to the structure The first brush is arranged along the first circumferenceA kind of module is assembled in the module and the module is assembled in the module. When the face of the code wheel, on which the first electrode and the second electrode are arranged, is used as the upper face of the code wheel, for the code wheel, the first electric brush is positioned above the 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 contacted with the first electrode below;

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

For example, when 2 electrodes are arranged in the first electrode according to the angle detection precision pi/2 of the surface rotation sensor aiming at the magic aspect, the first circumference where the first electrode and the second electrode are arranged is divided into 4 equal parts, then 2 equal parts are selected randomly, the 2 electrodes in the first electrode are respectively and correspondingly arranged on the first circumferences of the selected 2 equal parts, the first electric brush is arranged along the first circumferences of any 2 equal parts in the first circumferences of the 4 equal parts, and the total arc length of the first electric brush occupies half of the arc length of the first circumference of the code wheel. For example, when the angle detection precision in the magic cube is pi/4, that is, 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 selected at will, the 3 electrodes in the first electrode are respectively and correspondingly arranged on the first circumferences of the 3 equal parts selected, and the first electric brush is arranged along the first circumferences of any 4 equal parts in the first circumferences of the 8 equal parts. As shown in fig. 3a to 3b, two positions of each electrode 101, 102, 103, the second electrode 104 and the first brush 2 in the first electrode in this embodiment are shown, wherein the first brush may be one segment or may be multiple segments, as shown in fig. 3a to 3b, the first brush is divided into two segments, namely a first segment brush and a second segment brush, and the first segment brush and the second segment brush are in an electrical connection relationship, wherein the first segment brush is arranged along 1 part of a first circumference of 8 parts, and the second segment brush is arranged along the other 3 parts of the first circumference of 8 parts.

In the embodiment, each electrode in a first electrode in the code wheel forms an electrifying loop with a first electric brush, a second electrode and a power supply, each electrode in the first electrode is respectively connected with each IO port of the microcontroller, in the embodiment, each electrode in the first electrode is respectively connected with each IO port of the microcontroller, if the IO port connected with each electrode in the first electrode of the microcontroller is provided with a pull-up resistor, each electrode in the first electrode is connected with the positive power supply end through the pull-up resistor of each IO port, at the moment, each electrode in the first electrode is not connected with the resistor and the power supply any more, if the IO port connected with each electrode in the first electrode of the microcontroller is not provided with the pull-up resistor, each electrode in the first electrode is also connected with the positive power supply end through the resistor, each electrode in the first electrode is connected with the second electrode through the electric brush, the electrifying loop where the electrode is electrifying is, for each electrode in the first electrode, when the first electric brush is contacted with the electrode, the electrode is electrified, the electrode is provided with a low level signal (0), and when the microcontroller is connected with one end of the electrode, the low level signal is received, and when the first electrode is not contacted with the electric brush, the electrode is in a high state, and the signal is not connected with the microcontroller (1) at the end which is in a state of being in which the high state. Therefore, in the embodiment, the microcontroller can judge the contact condition of the first electric brush and each electrode in the first electrode according to the level signals received by each IO port, and the rotation of the first electric brush changes the contact condition of each electrode in the first electrode, so that the microcontroller can determine the rotation angle of the first electric brush according to the level signal change condition received by each IO port in the embodiment, and further determine the rotation angle of the magic cube driving the central shaft to rotate. Of course, in this embodiment, the electrical connection manner of each electrode in the first electrode, the second electrode and the first brush may be other, so long as the microcontroller can receive two different level signals corresponding to the IO port under two conditions of contact and non-contact of the electrodes in the first brush and the first electrode.

If the arrangement of the first electrode and the second electrode on the code wheel is shown in fig. 3a, that is, when the detection precision of the surface rotation sensor is pi/4, that is, 45 degrees, the first electrode includes three electrodes 101, 102 and 103, and when the electric brush rotates one turn anticlockwise, the level signals received by the IO ports of the microcontroller connected with the three electrodes 101, 102 and 103 in the first electrode are 011,111,100,010,110,101,001,000 respectively. If the first brush starts to rotate from the graph shown in fig. 3a, if the level signals currently received by the IO ports of the three electrodes 101, 102 and 103 in the first electrode connected by the microcontroller are 011,111 and 100, it can be determined that the first brush rotates 90 degrees counterclockwise compared with the beginning, and the magic cube driving the central shaft to rotate can be confirmed to rotate 90 degrees counterclockwise currently according to the rotation angle of the first brush. In the case of the arrangement of the electrodes and brushes in the code wheel shown in fig. 3a and 3b of this embodiment, each time a change is sent in the three-bit binary system received by the microcontroller, it means that the first rotor rotates the first brush by 45 degrees.

When the surface rotation sensor in the embodiment is an incremental encoder, a first electrode, a second electrode and a third electrode are disposed on a code disc of the incremental encoder, where:

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

The first electrode, the first brush, the third electrode and the power supply form an energizing circuit, the second electrode, the first brush, the third electrode and the power supply form an energizing circuit, the first electrode and the second electrode are respectively connected with two IO ports of the microcontroller, the 3-pulse incremental profile rotation sensor can generate 3 pulses when the incremental profile rotation sensor rotates for one circle, and each pulse represents that the rotor rotates by 120 degrees. The 3n pulse incremental profile rotation sensor refers to an incremental profile rotation sensor that is capable of generating 3n pulses when the rotor is rotated one revolution, wherein each pulse indicates that the rotor is rotated 120/n degrees.

In this embodiment, when the incremental profile rotation sensor is a 6-pulse incremental profile rotation sensor, that is, when n is 2, the positions of the brushes and the electrodes in the incremental profile rotation sensor are arranged as shown in fig. 3 c. Wherein the number of the pad portions is 2 and the number of the non-pad portions is 1 in the first electrode 105 and the second electrode 104, the radian of each pad portion and the non-pad portion 105-1 in the first electrode 105 is pi/6, and the radian of each pad portion and the non-pad portion 104-1 in the second electrode 104 in the first circumference is pi/6, namely 30 degrees, so that the radian of each pad portion and the non-pad portion 104-1 in the first circumference is pi/2, namely 90 degrees. The arc 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/12, namely 15 degrees. The arc of the gap between the first electrode and the second electrode on the first circumference is pi/6, namely 30 degrees. The third electrode 107 has an arc of 2 pi/3, i.e., 120 degrees, around the first circumference.

In this embodiment, if the face on which the first electrode, the second electrode, and the third electrode are disposed 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 the first circumference portion where the pad portion of the first electrode or the second electrode is located, the first brush contacts with the pad member, that is, the first brush is electrically connected with the first electrode or the second electrode, and when each end point of the first brush moves to a position corresponding to the first circumference portion where the non-pad portion of the first electrode or the second electrode is located, the first brush contacts with the pad member, that is, the first brush is not electrically connected with the first electrode or the second electrode, in this embodiment, three end points of the first brush are 120-degree intervals, and the third electrode occupies 120-degree radian of the first circumference, so that in the rotation process of the first brush, one end point of the first brush always contacts with the third electrode.

In the embodiment, the third electrode is grounded, namely connected with the negative end of the power supply, if the pull-up resistor exists in the IO ports connected with the first electrode and the second electrode by the microcontroller, the first electrode and the second electrode are connected with the positive end of the power supply through the pull-up resistor of each IO port, the first electrode and the second electrode are not additionally connected with the resistor and the power supply, if the pull-up resistor does not exist in the IO ports connected with the first electrode and the second electrode by the microcontroller, the first electrode and the second electrode are connected with the positive end of the power supply through the resistor, the first electrode and the second electrode are connected with the third electrode through the first electric brush, the power circuit where the electrode is electrified is arranged when the first electric brush is contacted with one electrode, the electrode is in a low-level signal (0), the end connected with the microcontroller receives the low-level signal (1) when the first electric brush is not contacted with the electrode, the electrode corresponds to a suspended state, and the end connected with the microcontroller receives the high-level signal (1). Therefore, in the embodiment, the microcontroller can judge the contact condition of the first electric brush and each electrode in the first electrode according to the level signals received by the two IO ports, and the rotation of the first electric brush changes the contact condition of each electrode in the first electrode, so that the microcontroller can determine the rotation angle of the first electric brush according to the level signal change condition received by each IO port in the embodiment, and further determine the rotation angle of the magic cube driving the central shaft to rotate. Of course, in this embodiment, the electrical connection manner 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 under the two conditions that the first brush is in contact with and non-contact with the first electrode and the second electrode.

If the arrangement of the first electrode, the second electrode and the third electrode on the code wheel is shown in fig. 3c, that is, the surface rotation sensor is a 6-pulse increment type surface rotation sensor, when the IO port connected with the first electrode 105 and the second electrode 104 by the microcontroller receives 01,00,10,11 times, a pulse signal is generated, it is determined that the first rotor drives the first brush to rotate clockwise for 60 degrees, when the microcontroller receives 01,00,10,11 times, 6 pulse signals are generated, and it is determined that the first rotor drives the first brush to rotate clockwise for 360 degrees. When the IO ports connected with the first electrode 105 and the second electrode 104 of the microcontroller receive 11,10,00,01 times, a pulse signal is generated, and the first rotor is judged to drive the first electric brush to rotate anticlockwise by 60 degrees. When the microcontroller receives 01,00,10,11 times, 6 pulse signals are generated, and the first rotor is judged to drive the first electric brush to rotate anticlockwise for 360 degrees.

The axial structure of the magic cube in this embodiment is suitable for application in magic cubes of 2-order, 3-order or 12-surface body 5 magic balls, and when the magic cube is applied in magic cubes of 2-order and 3-order, the number of central shafts in the axial structure of the magic cube in this embodiment is 6, the number of surface rotation sensors is 6, and the code wheel and the first rotor of each surface rotation sensor are respectively installed on each central shaft. When the device is applied to the magic cube of the 12-surface body 5 magic ball, the number of central shafts in the axle center structure of the magic cube in the embodiment is 12, the number of surface rotation sensors is 12, and the code disc and the first rotor of each surface rotation sensor are respectively arranged on each central shaft.

The present embodiment also discloses a magic cube, as shown in fig. 3d to 3f, which includes a plurality of center blocks and the axial center structure of the magic cube described in the present embodiment, where each center shaft 22 is correspondingly provided with a center block 27 of the magic cube. Fig. 3d is a schematic diagram of the magic cube according to the embodiment after the center block 27 of the magic cube is assembled on the axial structure of the magic cube in the process of assembling the magic cube, fig. 3e is a schematic diagram of the assembled magic cube according to fig. 3d after the corner blocks and the edge blocks are assembled, and fig. 3f is a final magic cube finally assembled in fig. 3 e.

Example 2

The embodiment discloses an axle center structure of a magic cube, which is used for a magic cube with 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, the inner layer rotating surfaces on the same side of the outer layer rotating surface refer to inner layer rotating surfaces which are on the same side of the inner core by taking the inner core as a boundary, the axle center structure of the magic cube in the embodiment is different from that of the magic cube in the embodiment 1 only in that the axle center structure of the magic cube further comprises first sleeves 40 with the same number as central shafts, each surface rotating sensor further comprises a second rotor 4 and a second electric brush 5, the second electric brush is arranged on the second rotor, the second electric brush is driven by the second rotor to move relative to a code disc, the code disc and the first rotor of each surface rotating sensor are respectively arranged on each central shaft, each central shaft is respectively sleeved on each central shaft after the code disc and the first rotor of each surface rotating sensor are arranged, each first sleeve is arranged on each first sleeve of the surface rotating sensor and is connected with each inner core sleeve of each magic cube, each surface rotating sleeve is respectively, and each inner core rotating sleeve is respectively arranged on each surface rotating sleeve of each surface rotating sleeve and each surface rotating sleeve is respectively, and each inner sleeve is connected with each surface rotating sleeve of each magic cube.

In this embodiment, as shown in fig. 4, each of the face rotation sensors 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, and after the code wheel and the first rotor of the face rotation sensor are mounted on the central shaft, the through hole of the first cover plate 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 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 and other parts on the shaft center structure of the magic cube are separated, so that the influence of other parts is avoided.

When the face rotation sensor of this embodiment is an absolute type encoder, compared with the absolute type encoder of embodiment 1, the encoder of this embodiment is further provided with a third electrode and a fourth electrode, wherein:

The third electrode and the fourth electrode are arranged on the same circumference of the code surface and define the circumference as a second circumference, the second circumference is positioned on 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, the second electric brush is driven to rotate along the second circumference relative to the third electrode and the fourth electrode through the second rotor, when the second electric brush rotates to the relative position of the third electrode, the second electric brush contacts the third electrode, the third electrode comprises a plurality of electrodes, the number n of the electrodes in the third electrode is set according to the angle detection precision of the magic aspect by the surface rotation sensor, the n electrodes in the third electrode are respectively and correspondingly arranged on any n equal parts of 2 ⁿ equal parts, the second electric brush is arranged along any 2 ^n-1 equal parts of the second circumference of the 2 ⁿ equal parts, and the fourth electrode is arranged on the second circumference, so that the second electric brush contacts the fourth electrode when the second electric brush rotates to any position.

In the embodiment, each electrode in the third electrode is respectively connected with each IO port of the microcontroller, the fourth electrode is grounded, each electrode in the third electrode is respectively connected with each IO port of the microcontroller, if the pull-up resistor exists in the IO port connected with each electrode in the third electrode, each electrode in the third electrode is connected with the power supply through the pull-up resistor of each IO port, at the moment, each electrode in the third electrode is not connected with the resistor and the power supply any more, if the pull-up resistor does not exist in the IO port connected with each electrode in the third electrode, each electrode in the third electrode is also connected with the power supply through the resistor, each electrode in the third electrode is connected with the fourth electrode through the second brush, the current loop of each electrode in the third electrode is electrified, the electrode is a low-level signal (0) when the second brush is contacted with the electrode, one end connected with the electrode of the microcontroller receives the low-level signal, and when the second brush is not contacted with the electrode, the microcontroller receives the high-level signal corresponding to the one end connected with the electrode (1) in a suspended state. Therefore, in the embodiment, the microcontroller can judge the contact condition of the second electric brush and each electrode in the third electrode according to the level signals received by connecting each IO port with each electrode in the third electrode, and the rotation of the second electric brush changes the contact condition of each electrode in the third electrode, so that the microcontroller can determine the rotation angle of the second electric brush according to the level signal change condition received by each IO port in the embodiment, and further determine the rotation angle of the magic tape driving the first sleeve to rotate.

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 precision in the magic cube is pi/4, that is, the number n of the electrodes in the first electrode and the third electrode is 3, at this time, the second circumference where the third electrode and the fourth electrode are located is divided into 8 equal parts, then 3 equal parts are selected at will, the 3 electrodes in the third electrode are respectively and correspondingly arranged on the second circumferences of the 3 equal parts selected, and the first brush is arranged along any 4 equal parts in the second circumferences of the 8 equal parts. As shown in fig. 5a, a positional arrangement diagram 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 face rotation sensor of this embodiment is an incremental encoder, compared with the incremental encoder of embodiment 1, the encoder of this embodiment is further provided with a fourth electrode, a fifth electrode, and a sixth electrode, wherein:

The fourth electrode, the second brush, the sixth electrode and the power supply form an energizing circuit, the fifth electrode, the second brush, the sixth electrode and the power supply form an energizing circuit, 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, a negative end of the power supply is connected, if pull-up resistors exist in the IO ports connected with the fourth electrode and the fifth electrode by the microcontroller, the fourth electrode and the fifth electrode are connected with a positive end of the power supply through the pull-up resistors of the IO ports, at the moment, the fourth electrode and the fifth electrode are not connected with the other resistors, if the IO ports connected with the fourth electrode and the fifth electrode do not exist in the pull-up resistors, the fourth electrode and the fifth electrode are connected with a positive end of the power supply through the resistors, the fourth electrode and the fifth electrode are connected with the sixth electrode through the second brush, when the second brush is contacted with a certain electrode (a pad part of the contact electrode), the electrode is in the energizing circuit, a low-level signal (0) is arranged on the electrode, and the microcontroller is connected with the other high-level signal (the other than the pad part of the microcontroller is connected with the high signal) is received by the other electrode (the other end of the microcontroller is connected with the other electrode in a state). Therefore, in the embodiment, the microcontroller can judge the contact condition of each electrode in the second electric brush and the fourth electrode according to the level signals received by the two IO ports, and the rotation of the second electric brush changes the contact condition of each electrode in the fourth electrode, so that the microcontroller can determine the rotation angle of the second electric brush according to the level signal change condition received by each IO port in the embodiment, and further determine the rotation angle of the magic cube driving the central shaft to rotate. Of course, in this embodiment, the electrical connection manner of the fourth electrode, the second brush, and the sixth electrode, and the fifth electrode, the second brush, and the sixth electrode may also be other, 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 the fifth electrode.

In this embodiment, when the incremental profile rotation sensor is a 6-pulse incremental profile rotation sensor, that is, when n is 2, the positions of the second brush 5 and the respective electrodes in the incremental profile rotation sensor are arranged as shown in fig. 5 b. Wherein the number of the pad portions is 2, the number of the non-pad portions is 1, the radian of each of the pad portions and the non-pad portions 304-1 in the fourth electrode 304 is pi/6, and the radian of each of the pad portions and the non-pad portions 305-1 in the fifth electrode 305 is pi/6, i.e., 30 degrees, in the second circumference, so that the radian of each of the fourth electrode and the fifth electrode is pi/2, i.e., 90 degrees, in the second circumference. The radian of the gap between the fourth electrode and the sixth electrode and the gap between the fifth electrode and the sixth electrode on the second circumference is pi/12, namely 15 degrees. The radian of the gap between the fourth electrode and the fifth electrode on the second circumference is pi/6, namely 30 degrees. The sixth electrode 306 has an arc of 2 pi/3, i.e., 120 degrees, around the second circumference.

In this embodiment, if the face on which the fourth electrode, the fifth electrode, and the sixth electrode are disposed is taken as the upper face of the code wheel, the second brush is located above the second circumference on which the fourth electrode, the fifth electrode, and the sixth electrode are located with respect to the code wheel. In this embodiment, when each end point of the second brush moves to a position corresponding to the second circumferential portion where the 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 with the fourth electrode or the fifth electrode, and when each end point of the second brush moves to a position corresponding to the second circumferential portion where the 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 with the fourth electrode or the fifth electrode, in this embodiment, three end points of the second brush are spaced at intervals of 120 degrees, and the sixth electrode occupies an arc of 120 degrees of the second circumference, so that during rotation of the second brush, one end point of the second brush always contacts with the sixth electrode.

The axle center structure of the magic cube in this embodiment is suitable for being applied to the magic cube of 4-step and 5-step, wherein each central shaft rotates under the drive of each outer layer rotating surface of the magic cube, and the first sleeve sleeved in each central shaft rotates under the drive of the inner layer rotating surface, which is connected with the central shaft and is positioned on the same side of the inner core, of the outer layer.

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

Example 3

The embodiment discloses an axle center structure of a magic cube, which is used for a magic cube with 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, the inner layer rotating surfaces on the same side of the outer layer rotating surface refer to inner layer rotating surfaces which take an inner core as a boundary and belong to the inner core side, the axle center structure of the magic cube in the embodiment is different from that of the magic cube in the embodiment 2 only in that the axle center structure of the magic cube further comprises second sleeves 41 which are the same as the central shaft and the first sleeves 40, the surface rotating sensor further comprises a third rotor 6 and a third brush 7, the third brush is arranged on the third rotor and drives the third brush to move relative to a code wheel, the second sleeves are respectively sleeved on the first sleeves, the third rotor in the surface rotating sensor is arranged on the second sleeves and rotates along with the second sleeves, the central shafts behind the first sleeves and the second sleeves penetrate through the first sleeves and the second inner core sleeves, and the surface rotating sensor is connected with the second sleeves corresponding to the second sleeves in the inner layer rotating structure of the magic cube, and the inner layer rotating sensor is connected with the second sleeves corresponding to the second sleeves.

In this embodiment, each of the face rotation sensors 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, and after the code wheel and the first rotor of the face rotation sensor are mounted on the central shaft, the through hole of the first cover plate 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, the second cover plate through hole penetrates through the first sleeve after the second rotor of the surface rotation sensor is mounted on the first sleeve, the bottom edge of the second cover plate is fixed on the code wheel and covers the second rotor through 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 mounted on the second sleeve and covers the third rotor through the third cover plate, and 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, the first electric brush, the second electric brush, the third rotor and the third electric brush are separated from other parts on the shaft center 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 absolute encoder of the embodiment is further provided with a fifth electrode and a sixth electrode on the code wheel, wherein:

In the embodiment, the fifth electrode and the sixth electrode are arranged on the same circumference of the code surface, the circumference is defined as a third circumference, the third circumference is located on the outer circumference of the second circumference where the fifth electrode and the sixth electrode are located, the third brush is driven by the third rotor to rotate along the third circumference relative to the fifth electrode and the sixth electrode, when the third brush rotates to the relative position of the fifth electrode, the third brush contacts the fifth electrode, the fifth electrode comprises a plurality of electrodes, the number n of the electrodes in the fifth electrode is set according to the angle detection precision of the surface rotation sensor in terms of magic, the n electrodes in the fifth electrode are respectively and correspondingly arranged on any n equal parts of the third circumference in 2 ⁿ equal parts, the third brush is arranged along any 2 ^n-1 equal parts of the third circumference in 2 ⁿ equal parts, and the sixth electrode is arranged on the third circumference, so that the third brush rotates to any position and contacts the sixth electrode.

Each electrode in the fifth electrode forms an energizing loop with the third electric brush, the sixth electrode and the power supply, and each electrode in the fifth electrode is respectively connected with each IO port of the microcontroller. In this embodiment, the sixth electrode is grounded, each of the fifth electrodes is connected to each IO port of the microcontroller, if the IO port connected to each of the fifth electrodes has a pull-up resistor, each of the fifth electrodes is connected to a power supply through the pull-up resistor of each IO port, at this time, each of the fifth electrodes is not connected to a resistor or a power supply in addition, if the IO port connected to each of the fifth electrodes by the microcontroller does not have a pull-up resistor, each of the fifth electrodes is also connected to the power supply through the resistor, each of the fifth electrodes is connected to the sixth electrode through the third brush, the current loop of each of the fifth electrodes is energized when the third brush is in contact with the electrode, the electrode is in a low-level signal (0), the end connected to the microcontroller receives the low-level signal, and when the third brush is not in contact with the electrode, the electrode corresponds to a suspended state, and the end connected to the microcontroller receives the high-level signal (1). Therefore, in the embodiment, the microcontroller can judge the contact condition of the third electric brush and each electrode in the fifth electrode according to the level signals received by connecting each IO port with each electrode in the fifth electrode, and the rotation of the third electric brush changes the contact condition of each electrode in the fifth electrode, so that in the embodiment, the microcontroller can determine the rotation angle of the third electric brush according to the level signal change condition received by each IO port, and further determine the rotation angle of the magic square for 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 electrode and the second electrode. When the angle detection precision of the magic cube is pi/4, namely the number n of the electrodes in the first electrode, the third electrode and the fifth electrode is 3, at the moment, the first circumference of the first electrode and the second electrode is divided into 8 equal parts, then 3 equal parts are selected randomly, 3 electrodes in the first electrode are respectively and correspondingly arranged on the first circumference of the 3 equal parts, at the moment, the second circumference of the third electrode and the fourth electrode is divided into 8 equal parts, then 3 equal parts are selected randomly, 3 electrodes in the third electrode are respectively and correspondingly arranged on the second circumference of the 3 equal parts, at the moment, the first electric brush is arranged along any 4 equal parts of the second circumference of the 8 equal parts, at the moment, the third circumference of the fifth electrode and the sixth electrode is divided into 8 equal parts, then 3 equal parts are selected randomly, 3 electrodes in the fifth electrode are respectively and correspondingly arranged on the third circumference of the 3 equal parts, and the third electric brush is arranged along any 4 equal parts of the third circumference of the 8 equal parts. As shown in fig. 7a, the positions of the electrodes 501, 502, 503, the sixth electrode 306, and the third brush 7 in the fifth electrode in the present embodiment are shown.

When the face rotation sensor of this embodiment is an incremental encoder, compared with the incremental encoder of embodiment 2, the encoder of this embodiment further includes a seventh electrode, an eighth electrode, and a ninth electrode, wherein:

The seventh electrode, the eighth electrode, and the ninth electrode are disposed on a same circumference of the code surface defining the circumference as a third circumference, the second circumference being at an outer circumference of the first circumference, the third circumference being at an outer circumference of the second circumference. The first end point, the second end point and the third end point of the third electric brush are all arranged along a third circumference and are separated by 2 pi/3 radian; the third electric brush is arranged on the second rotor, and drives three end points of the third electric brush to rotate relative to the seventh electrode, the eighth electrode and the ninth electrode along the third circumference through the second rotor, and the third electric brush is contacted with the seventh electrode, the eighth electrode and the ninth electrode through the three end points, wherein the radian of the ninth electrode on the third circumference is 2 pi/3;

For the incremental type surface rotation sensor with the pulse number of 3n, n is a natural number larger than 1, the seventh electrode and the eighth electrode are divided into equal parts of a bonding pad part and a non-bonding pad part, the bonding pad part and the non-bonding pad part on the seventh electrode and the eighth electrode are adjacently distributed along a third circumference, radians occupied by the bonding pad part and the non-bonding pad part on the seventh electrode and the eighth electrode on the third circumference are pi/3 n, the number of the bonding pad parts on the seventh electrode and the eighth electrode is 3n/3, the number of the non-bonding pad part is (3 n/3) -1, radians occupied by gaps between the seventh electrode and the ninth electrode and between the eighth electrode and the ninth electrode on the third circumference are pi/6 n, and radians occupied by the gaps between the seventh electrode and the eighth electrode on the third circumference are pi/3 n.

The seventh electrode, the third electric brush, the ninth electrode and the power supply form an energizing circuit, the eighth electrode, the third electric brush, the tenth electrode and the power supply form an energizing circuit, and the seventh electrode and the eighth electrode are respectively connected with two IO ports of the microcontroller. In this embodiment, the nine electrode is grounded, i.e., connected to the negative end of the power supply, if the IO ports of the microcontroller connected to the seventh electrode and the eighth electrode are both in pull-up resistance, the seventh electrode and the eighth electrode are connected to the positive end of the power supply through the pull-up resistance of each IO port, at this time, the seventh electrode and the eighth electrode are not connected to the resistance and are connected to the positive end of the power supply through the resistance, if the IO ports of the microcontroller connected to the seventh electrode and the eighth electrode are not in pull-up resistance, the seventh electrode and the eighth electrode are connected to the ninth electrode through the third brush, when the third brush is in contact with a certain electrode (refer to a pad portion of the contact electrode), the current loop of the electrode is energized, the electrode is in a low level signal (0), the end of the microcontroller connected to the electrode receives the low level signal, when the third brush is not in contact with the electrode (refer to other portions except the pad portion), the microcontroller receives the high level signal (1). Therefore, in the embodiment, the microcontroller can judge the contact condition of each electrode in the third electric brush and the seventh electrode according to the level signals received by the two IO ports, and the rotation of the third electric brush changes the contact condition of each electrode in the seventh electrode, so that in the embodiment, the microcontroller can determine the rotation angle of the third electric brush according to the change condition of the level signals received by each IO port, and further determine the rotation angle of the magic cube driving the central shaft to rotate. Of course, in this embodiment, the electrical connection manner 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 the case where the third brush is in contact with and not in contact with the seventh electrode and the eighth electrode.

In the present embodiment, when the incremental profile rotation sensor is a 6-pulse incremental profile rotation sensor, that is, when n is 2, the positions of the third brush 7 and the respective electrodes in the incremental profile rotation sensor are arranged as shown in fig. 7 b. Wherein the number of pad portions is 2 in the seventh electrode 307 and the number of non-pad portions is 1 in the eighth electrode 308, the radian occupied by each of the pad portions and the non-pad portions 307-1 in the seventh electrode 307 on the third circumference is pi/6, and the radian occupied by each of the pad portions and the non-pad portions 308-1 in the eighth electrode 308 on the third circumference is pi/6, namely 30 degrees, so that the radian occupied by each of the seventh electrode and the eighth electrode on the second circumference is pi/2, namely 90 degrees. The arc 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/12, namely 15 degrees. The arc of the gap between the seventh electrode 307 and the eighth electrode 308 on the third circumference is pi/6, i.e., 30 degrees. The ninth electrode 309 occupies a curvature of 2 pi/3, i.e., 120 degrees, on the third circumference.

The axle center structure of the magic cube in the embodiment is suitable for being applied to the magic cube which comprises an outer rotating surface and an inner rotating surface, wherein the number of the inner rotating surfaces which are positioned on the same side with the outer rotating surface in the magic cube is 2. The axle center structure of the magic cube comprises 6 central axles, 6 first sleeves and 6 second sleeves.

The first sleeve sleeved in each central shaft rotates under the drive of the inner layer rotating surface of the same side of the inner core as the outer layer connected with the central shaft, and the second sleeve sleeved in each central shaft rotates under the drive of the inner layer rotating surface of the same side of the inner core as the outer layer connected with the central shaft.

The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.

Claims

1. The axle center structure of the magic cube is characterized by comprising an inner hollow core, a plurality of central axles and a plurality of surface rotation sensors;

The inner core is internally provided with a power supply 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 wireless communication module is arranged in the inner core and is connected with the microcontroller;

The surface rotation sensor is an encoder and comprises a code disc, a first rotor and a first electric brush, wherein the surface rotation sensor is arranged on a central shaft through the code disc and the first rotor, and the first rotor rotates along with the central shaft after being arranged on the central shaft;

The surface rotation sensor is an absolute encoder;

The first electrode and the second electrode are arranged on the same circumference of the code disc surface and define the circumference as a first circumference, the first electric brush is arranged on the first rotor and is arranged along the first circumference where the first electrode and the second electrode are located, the first electric brush drives the first electric brush to rotate along the first circumference relative to the first electrode and the second electrode through the first rotor, when the first electric brush rotates to the relative position of the first electrode, the first electric brush contacts with the first electrode, the first electrode comprises a plurality of electrodes, the number n of the electrodes in the first electrode is set according to the angle detection precision of the magic cube according to the surface rotation sensor, the n electrodes in the first electrode are respectively arranged on any n equal parts of the first circumference in a 2 ⁿ equal parts, the first electric brush is arranged along any 2 ^n-1 equal parts of the first circumference in a 2 ⁿ equal parts, the second electrode is arranged on the first circumference, when the first electric brush rotates to any position, the first electric brush contacts with the second electrode, each electrode in the first electrode in the code disc contacts with each electrode, the second electrode and the power supply form an electrifying circuit, and each electrode in the first circuit is respectively connected with each micro controller.

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

3. The magic cube axial center structure according to claim 1, wherein the magic cube axial center structure further comprises first sleeves, the number of which is the same as that of the central shafts, the surface rotation sensor in the magic cube axial center structure further comprises a second rotor and a second electric brush, the second electric brush is arranged on the second rotor, the second electric brush is driven by the second rotor to move relative to the code disc, the code disc and the first rotor of each surface rotation sensor are respectively arranged on each central shaft, each first sleeve is respectively sleeved on each central shaft after the code disc and the first rotor of each surface rotation sensor are arranged, each second rotor of each surface rotation sensor is arranged on the first sleeve to rotate along with the first sleeve, each central shaft sleeved with the first sleeve and the first sleeve on the central shaft pass through each through hole in the surface of the inner core, each central shaft respectively rotates along with each outer layer rotation surface of the magic cube corresponding to each central block connected with the central shaft, each first sleeve respectively rotates along with each inner layer rotation surface connected with the central block, and the first sleeve respectively rotates along with each inner layer rotation surface of the central block corresponding to each central block connected with the central block;

4. A magic cube axial structure according to claim 3, characterized in that,

When the axle center structure of the magic cube is a first structure, a first electrode, a second electrode, a third electrode and a fourth electrode are arranged on a code disc of the absolute encoder, wherein:

The first electrode and the second electrode are arranged on the same circumference of the code surface and define the circumference as a first circumference, the first electric brush is arranged on the first rotor and is arranged along the first circumference where the first electrode and the second electrode are positioned, the first electric brush drives the first electric brush to rotate along the first circumference relative to the first electrode and the second electrode through the first rotor, when the first electric brush rotates to the relative position of the first electrode, the first electric brush contacts with the first electrode, the first electrode comprises a plurality of electrodes, the number n of the electrodes in the first electrode is set according to the angle detection precision of the surface rotation sensor in terms of magic, the n electrodes in the first electrode are respectively and correspondingly arranged on any n equal parts of the first circumference of 2 ⁿ equal parts, and the first electric brush is arranged along any 2 ^n-1 equal parts of the first circumference of the 2 ⁿ equal parts;

The first electrode is arranged on the first circumference, so that the first electric brush is contacted with the second electrode when rotating to any position, each electrode in the first electrode, the first electric brush, the second electrode and the power supply form an electrified loop, and each electrode in the first electrode is respectively connected with each IO port of the microcontroller;

5. A puzzle cube axial structure in accordance with claim 3, wherein said face rotation sensor is an incremental encoder;

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

6. The magic cube axle center structure according to claim 3, wherein the first rotor, the second rotor, the third rotor and the code wheel of the surface rotation sensor are provided with through holes, the surface rotation sensor is arranged on the central axle by enabling the code wheel and the first rotor of the surface rotation sensor to sequentially penetrate through the end of the central axle where the stop block is arranged, the inner wall of the through hole of the first rotor of the surface rotation sensor is attached to the outer wall of the central axle and rotate along with the central axle, the second rotor of the surface rotation sensor is arranged at the bottom end of the first sleeve through the through holes, the inner wall of the through hole of the second rotor of the surface rotation sensor is attached to the outer wall of the first sleeve and rotate along with the first sleeve, the third rotor of the surface rotation sensor is arranged at the bottom end of the second sleeve through the through holes, the inner wall of the through hole of the third rotor of the surface rotation sensor is attached to the outer wall of the second sleeve and rotate along with the second sleeve;

7. The magic cube axial center structure according to claim 1, wherein the central shafts are made of conductive materials, each two central shafts form a pair, are respectively connected with the positive and negative poles of a power supply through wires, the outside world charges the power supply through each pair of central shafts, the central shafts are connected with the ports of the microcontroller through wires, and the outside world sends signals to the microcontroller or receives signals sent by micro control through the central shafts.

8. A cube comprising a plurality of central blocks and the cube's axle center structure of any one of claims 1-7, wherein each central axle is correspondingly provided with a cube's central block.