A magic cube and its axis structure

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

Technical Field

[0001] The present invention relates to the technical field of a Rubik's Cube, in particular to a Rubik's Cube and an axis structure thereof. The Rubik's Cube in the present invention covers Rubik's Cube-type intellectual toys, specifically referring to all Rubik's Cube-type intellectual toys entering the WCA (World Rubik's Cube Association) competition, including 2- to 7-order Rubik's Cube, Pyramid Rubik's Cube, 12-sided 5-magic ball Rubik's Cube, Oblique Rubik's Cube and SQ Rubik's Cube. Background Art

[0002] The Rubik's Cube, also known as the Rubik's Cube, is called the Magic Cube in Taiwan, China, and the Twist Dice in Hong Kong, China. The English name is: Rubik's Cube. The Rubik's Cube was an intellectual toy that was popular all over the world in the 1980s. As a toy for developing intelligence, it is deeply loved by everyone. The restoration of the Rubik's Cube refers to the process of restoring the Rubik's Cube from a non-original state to its original state. It is a process that integrates observation, hands-on and imagination. It can well cultivate people's hands-on and brain-powered abilities, train memory, spatial imagination and judgment.

[0003] At present, the commonly used Rubik's Cube has relatively simple functions, cannot communicate with external electronic devices, and lacks fun. In order to improve the fun of Rubik's Cube operation, some electronic Rubik's Cubes have appeared in the prior art, that is, electronic components such as sensors are set on the Rubik's Cube to detect the surface rotation information of the Rubik's Cube, etc. However, due to the volume and area of ​​the sensor in the prior art, it is impossible to put it into the inner ball at the center of the Rubik's Cube, making the internal structure of the Rubik's Cube relatively complicated. For example, the Chinese invention patent application with publication number CN106110651A discloses an intelligent Rubik's Cube and a timing method of an inductive axis structure used therein, wherein a status signal sending group for generating a status signal, i.e., a sensor, is arranged on a tubular shaft in the center block of the Rubik's Cube outside an inner ball, and the data and electrical connections of the sensor and the inner ball are connected by threading through a hollow tubular shaft. During the rotation of the Rubik's Cube face, the tubular shaft and the status signal sending group thereon will also rotate together, which will inevitably cause the circuit inside the tubular shaft to twist. After the Rubik's Cube has been used for a certain period of time, the circuit inside the tubular shaft will be broken, thereby reducing the service life of the Rubik's Cube. In addition, since a status signal sending group needs to be arranged on the tubular shaft, the Rubik's Cube axis structure disclosed in the above invention patent application needs to be equipped with corresponding Rubik's Cube modules (including center blocks, corner blocks and edge blocks), and cannot be used in traditional Rubik's Cubes. Summary of the invention

[0004] The first purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art and to provide a Rubik's Cube axis structure with a simple structure, which increases the service life of the electronic Rubik's Cube and can be used in a traditional Rubik's Cube.

[0005] The second purpose of the present invention is to provide an intelligent Rubik's Cube.

[0006] The first object of the present invention is achieved by the following technical solution: an axis structure of a magic cube, including an inner hollow core, a plurality of central axes and a plurality of surface rotation sensors;

[0007] The surface of the core is provided with through holes having the same number as the central axis, and the through holes are evenly distributed on the surface of the core;

[0008] The rotation sensors of each surface are respectively installed on each central axis to detect the rotation angle of each central axis;

[0009] A stopper is provided at one end of each central shaft; after the rotation sensor is installed on each central shaft, the end of each central shaft without the stopper passes through each through hole on the surface of the inner core, so that the surface rotation sensor is confined inside the inner core and between the inner surface of the inner core and the stopper of the central shaft;

[0010] A power supply and a microcontroller are arranged inside the core, and the surface rotation sensor is connected to the microcontroller and the power supply respectively. The microcontroller determines the rotation angle of each central axis according to the signal transmitted by the surface rotation sensor.

[0011] Preferably, it also includes a body position sensor for detecting changes in the body position of the Rubik's Cube; the body position sensor is installed inside the core, and the body position sensor is connected to the microcontroller.

[0012] Preferably, it also includes a wireless communication module, which is installed inside the core and connected to the microcontroller.

[0013] Preferably, the surface rotation sensor is an encoder, including a code disk, a first rotor and a first brush; the surface rotation sensor is installed on the central axis through the code disk and the first rotor, and after the surface rotation sensor is installed on the central axis, the first rotor rotates following the central axis; the first brush is installed on the first rotor, and the first brush is driven to move relative to the code disk by the first rotor.

[0014] Furthermore, the axis structure of the Rubik's Cube also includes a first sleeve with the same number as the central axis; the surface rotation sensor in the axis structure of the Rubik's Cube also includes a second rotor and a second brush, the second brush is installed on the second rotor, and the second brush is driven by the second rotor to move relative to the code disk; the code disk and the first rotor of each surface rotation sensor are respectively installed on each central axis; after the code disk and the first rotor of each surface rotation sensor are installed on each central axis, each first sleeve is respectively sleeved on each central axis; the second rotor in the surface rotation sensor is installed on the first sleeve and rotates with the first sleeve; each central axis after being sleeved with the first sleeve and the first sleeve thereon pass through each through hole on the surface of the inner core together; wherein each central axis rotates respectively with the outer layer rotation surface of each central block connected to it in the Rubik's Cube, and each first sleeve rotates respectively with the inner layer rotation surface of each inner block connected to it in the Rubik's Cube; the axis structure of the above-mentioned Rubik's Cube is defined as the first structure;

[0015] Alternatively, the axis structure of the magic cube also includes a first sleeve and a second sleeve of the same number as the central axis; the surface rotation sensor in the axis structure of the magic cube also includes a second rotor, a second brush, a third rotor and a third brush, the second brush is installed on the second rotor, and the second brush is driven to move relative to the code disk by the second rotor, and the third brush is installed on the third rotor, and the third brush is driven to move relative to the code disk by the third rotor; the code disk and the first rotor of each surface rotation sensor are respectively installed on each central axis; after the code disk and the first rotor of each surface rotation sensor are installed on each central axis, each first sleeve is respectively sleeved on each central axis, and each second sleeve is respectively sleeved on the first sleeve; The second rotor in the rotation sensor is installed on the first sleeve and rotates with the first sleeve; the third rotor in the surface rotation sensor is installed on the second sleeve and rotates with the second sleeve; the central axes after the first sleeve and the second sleeve are sleeved pass through the through holes on the surface of the inner core together with the first sleeve and the second sleeve thereon; wherein, each central axis rotates with the corresponding outer rotating surfaces connected to it in the Rubik's Cube, and each first sleeve and the second sleeve rotates with the corresponding inner rotating surfaces connected to it in the Rubik's Cube; the inner layer of the Rubik's Cube connected to the second sleeve is closer to the center of the Rubik's Cube than the inner layer of the Rubik's Cube connected to the first sleeve; the axis structure of the above-mentioned Rubik's Cube is defined as the second structure.

[0016] Furthermore, the surface rotation sensor is an absolute encoder;

[0017] The code disc of the absolute encoder is provided with a first electrode and a second electrode, wherein:

[0018] The first electrode and the second electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the first circumference; the first brush is installed on the first rotor and arranged along the first circumference where the first electrode and the second electrode are located, and the first brush is driven by the first rotor to rotate relative to the first electrode and the second electrode along the first circumference; when the first brush rotates to the relative position of the first electrode, it contacts the first electrode; the first electrode includes a plurality of electrodes, and the number n of electrodes in the first electrode is set according to the angle detection accuracy of the surface rotation sensor for the magic aspect; the n electrodes in the first electrode are arranged respectively at 2 n On any n equal parts of the first circle; place the first brush along the above 2 n Divide any 2 of the first circle into equal parts n-1 The second electrode is arranged in equal parts; the second electrode is arranged on the first circumference so that the first brush contacts the second electrode when it rotates to any position; each electrode in the first electrode of the code disk forms a power-on circuit with the first brush, the second electrode and the power supply, and each electrode in the first electrode is connected to each IO port of the microcontroller respectively;

[0019] Alternatively, when the axis structure of the magic cube is the first structure; the code disk of the absolute encoder is provided with a first electrode, a second electrode, a third electrode and a fourth electrode; wherein:

[0020] The first electrode and the second electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the first circumference; the first brush is installed on the first rotor and arranged along the first circumference where the first electrode and the second electrode are located, and the first brush is driven by the first rotor to rotate relative to the first electrode and the second electrode along the first circumference; when the first brush rotates to the relative position of the first electrode, it contacts the first electrode; the first electrode includes a plurality of electrodes, and the number n of electrodes in the first electrode is set according to the angle detection accuracy of the surface rotation sensor for the magic aspect; the n electrodes in the first electrode are arranged respectively at 2 n On any n equal parts of the first circle; place the first brush along the above 2 n Divide any 2 of the first circle into equal parts n-1 The second electrodes are arranged in equal parts; the second electrodes are arranged on the first circumference so that the first brush contacts the second electrode when it rotates to any position; each electrode in the first electrode forms a power-on circuit with the first brush, the second electrode and the power supply, and each electrode in the first electrode is connected to each IO port of the microcontroller respectively;

[0021] The third electrode and the fourth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the second circumference; the second circumference is located outside the first circumference where the first electrode and the second electrode are located, and the second brush is installed on the second rotor, and is driven by the second rotor to rotate relative to the third electrode and the fourth electrode along the second circumference; when the second brush rotates to the relative position of the third electrode, it contacts the third electrode; the third electrode includes a plurality of electrodes, and the number n of electrodes in the third electrode is set according to the angle detection accuracy of the surface rotation sensor for the magic aspect; the n electrodes in the third electrode are arranged correspondingly at 2 n Place the second brush along the above 2 n Any 2 of the second circle n-1 The fourth electrode is arranged in equal parts; the fourth electrode is arranged on the second circumference so that the second brush contacts the fourth electrode when it rotates to any position; each electrode in the third electrode forms a power circuit with the second brush, the fourth electrode and the power supply, and each electrode in the first electrode and the third electrode is connected to each IO port of the microcontroller respectively;

[0022] Alternatively, when the axis structure of the magic cube is the second structure, the code disk 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:

[0023] The first electrode and the second electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the first circumference; the first brush is installed on the first rotor and arranged along the first circumference where the first electrode and the second electrode are located, and the first brush is driven by the first rotor to rotate relative to the first electrode and the second electrode along the first circumference; when the first brush rotates to the relative position of the first electrode, it contacts the first electrode; the first electrode includes a plurality of electrodes, and the number n of electrodes in the first electrode is set according to the angle detection accuracy of the surface rotation sensor for the magic aspect; the n electrodes in the first electrode are arranged respectively at 2 n On any n equal parts of the first circle; place the first brush along the above 2 n Divide any 2 of the first circle into equal parts n-1 The second electrodes are arranged in equal parts; the second electrodes are arranged on the first circumference so that the first brush contacts the second electrode when it rotates to any position; each electrode in the first electrode forms a power-on circuit with the first brush, the second electrode and the power supply, and each electrode in the first electrode is connected to each IO port of the microcontroller respectively;

[0024] The third electrode and the fourth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the second circumference; the second circumference is located outside the first circumference where the first electrode and the second electrode are located, and the second brush is installed on the second rotor, and is driven by the second rotor to rotate relative to the third electrode and the fourth electrode along the second circumference; when the second brush rotates to the relative position of the third electrode, it contacts the third electrode; the third electrode includes a plurality of electrodes, and the number n of electrodes in the third electrode is set according to the angle detection accuracy of the surface rotation sensor for the magic aspect; the n electrodes in the third electrode are arranged correspondingly at 2 n Place the second brush along the above 2 n Any 2 of the second circle n-1 The fourth electrode is arranged in equal parts; the fourth electrode is arranged on the second circumference so that the second brush contacts the fourth electrode when it rotates to any position; each electrode in the third electrode forms a power circuit with the second brush, the fourth electrode and the power supply, and each electrode in the first electrode and the third electrode is connected to each IO port of the microcontroller respectively;

[0025] The fifth electrode and the sixth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the third circumference. The third circumference is located outside the second circumference where the fifth electrode and the sixth electrode are located. The third brush is driven by the third rotor to rotate relative to the fifth electrode and the sixth electrode along the third circumference; when the third brush rotates to the relative position of the fifth electrode, it contacts the fifth electrode; the fifth electrode includes a plurality of electrodes, and the number n of electrodes in the fifth electrode is set according to the angle detection accuracy of the surface rotation sensor for the magic aspect; the n electrodes in the fifth electrode are arranged correspondingly at 2 nOn any n equal parts of the third circle; place the third brush along the above 2 n Any 2 of the third circle n-1 The sixth electrode is arranged on the third circumference so that the third brush contacts the sixth electrode when it rotates to any position; each electrode in the fifth electrode forms a power-on circuit with the third brush, the sixth electrode and the power supply, and each electrode in the fifth electrode is respectively connected to each IO port of the microcontroller.

[0026] Furthermore, the surface rotation sensor is an incremental encoder;

[0027] The code disc of the incremental encoder is provided with a first electrode, a second electrode and a third electrode, wherein:

[0028] The first electrode, the second electrode and the third electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the first circumference; wherein, in the incremental encoder: the first brush includes three endpoints, namely the first endpoint, the second endpoint and the third endpoint, the first endpoint, the second endpoint and the third endpoint of the first brush are arranged along the first circumference and each two endpoints are separated by 2π / 3 radians; the first brush is installed on the first rotor, and the three endpoints of the first brush are driven by the first rotor to rotate relative to the first electrode, the second electrode and the third electrode along the first circumference, and the first brush contacts the first electrode, the second electrode and the third electrode through the three endpoints;

[0029] The arc occupied by the third electrode on the first circle is 2π / 3;

[0030] For the 3-pulse incremental surface rotation sensor, the first electrode and the second electrode each only include a pad portion; the arc occupied by the gap between the first electrode and the third electrode and between the second electrode and the third electrode on the first circumference is π / 6, and the arc occupied by the gap between the first electrode and the second electrode on the first circumference is π / 3; the arc occupied by the first electrode and the second electrode on the first circumference is π / 3;

[0031] For a 3n pulse incremental surface rotation sensor, n is a natural number greater than 1, the first electrode and the second electrode are both divided into equal parts of a pad portion and a non-pad portion, and the pad portion and the non-pad portion on the first electrode and the second electrode are adjacently distributed along the first circumference, and the arcs occupied by the pad portion and the non-pad portion in the first electrode and the second electrode on the first circumference are both π / 3n; on the first electrode and the second electrode, the number of pad portions is both 3n / 3, and the number of non-pad portions is both (3n / 3)-1; the arcs 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 are both π / 6n; the arcs occupied by the gaps between the first electrode and the second electrode on the first circumference are both π / 3n;

[0032] The first electrode, the first brush, the third electrode and the power supply form a power-on circuit, and the second electrode, the first brush, the third electrode and the power supply form a power-on circuit; the first electrode and the second electrode are respectively connected to two IO ports of the microcontroller;

[0033] Alternatively, when the axis structure of the magic cube is the first structure, the code disk 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:

[0034] The first electrode, the second electrode and the third electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the first circumference; wherein, in the incremental encoder: the first brush includes three endpoints, namely the first endpoint, the second endpoint and the third endpoint, the first endpoint, the second endpoint and the third endpoint of the first brush are arranged along the first circumference and the interval between each two endpoints is 2π / 3 radians; the first brush is installed on the first rotor, and the three endpoints of the first brush are driven by the first rotor to rotate relative to the first electrode, the second electrode and the third electrode along the first circumference, and the first brush contacts the first electrode, the second electrode and the third electrode through the three endpoints; the arc occupied by the third electrode on the first circumference is 2π / 3;

[0035] For the 3-pulse incremental surface rotation sensor, the first electrode and the second electrode only include the pad portion; the arc occupied by the gap between the first electrode and the third electrode and between the second electrode and the third electrode on the first circumference is π / 6, and the arc occupied by the gap between the first electrode and the second electrode on the first circumference is π / 3; the arc occupied by the first electrode and the second electrode on the first circumference is π / 3;

[0036] For a 3n pulse incremental surface rotation sensor, n is a natural number greater than 1, the first electrode and the second electrode are both divided into equal parts of a pad portion and a non-pad portion, and the pad portion and the non-pad portion on the first electrode and the second electrode are adjacently distributed along a first circumference, and the arcs occupied by the pad portion and the non-pad portion in the first electrode and the second electrode on the first circumference are both π / 3n; on the first electrode and the second electrode, the number of pad portions is both 3n / 3, and the number of non-pad portions is both (3n / 3)-1; the arcs 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 are both π / 6n; the arcs occupied by the gaps between the first electrode and the second electrode on the first circumference are both π / 3n;

[0037] The first electrode, the first brush, the third electrode and the power supply form a power-on circuit, and the second electrode, the first brush, the third electrode and the power supply form a power-on circuit; the first electrode and the second electrode are respectively connected to two IO ports of the microcontroller;

[0038] The fourth electrode, the fifth electrode and the sixth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the second circumference; the second circumference is on the outer circumference of the first circumference; the second brush includes three endpoints, namely the first endpoint, the second endpoint and the third endpoint, and the first endpoint, the second endpoint and the third endpoint of the second brush are arranged along the second circumference and the interval between each two endpoints is 2π / 3 radians; the second brush is installed on the second rotor, and the three endpoints of the second brush are driven by the second rotor to rotate relative to the fourth electrode, the fifth electrode and the sixth electrode along the second circumference, and the second brush contacts the fourth electrode, the fifth electrode and the sixth electrode through the three endpoints; the arc occupied by the sixth electrode on the second circumference is 2π / 3;

[0039] For the incremental surface rotation sensor with a pulse number of 3, the fourth electrode and the fifth electrode only include the pad portion; the arc occupied by the gap between the fourth electrode and the sixth electrode and between the fifth electrode and the sixth electrode on the second circumference is π / 6, and the arc occupied by the gap between the fourth electrode and the fifth electrode on the second circumference is π / 3; the arc occupied by the fourth electrode and the fifth electrode on the second circumference is π / 3;

[0040] For an incremental surface rotation sensor with a pulse number of 3n, n is a natural number greater than 1, the fourth electrode and the fifth electrode are divided into equal parts of a pad portion and a non-pad portion, and the pad portion and the non-pad portion on the fourth electrode and the fifth electrode are adjacently distributed along the second circumference, and the arcs occupied by the pad portion and the non-pad portion on the fourth electrode and the fifth electrode on the second circumference are both π / 3n; on the fourth electrode and the fifth electrode, the number of pad portions is 3n / 3, and the number of non-pad portions is (3n / 3)-1; the arcs occupied by the gaps between the fourth electrode and the sixth electrode and between the fifth electrode and the sixth electrode on the second circumference are both π / 6n; the arcs occupied by the gaps between the fourth electrode and the fifth electrode on the second circumference are both π / 3n;

[0041] The fourth electrode, the second brush, the sixth electrode and the power supply form a power-on circuit, and the fifth electrode, the second brush, the sixth electrode and the power supply form a power-on circuit; the fourth electrode and the fifth electrode are respectively connected to two IO ports of the microcontroller;

[0042] Alternatively, when the axis structure of the magic cube is the second structure, the code disk 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:

[0043] The first electrode, the second electrode and the third electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the first circumference; wherein, in the incremental encoder: the first brush includes three endpoints, namely the first endpoint, the second endpoint and the third endpoint, the first endpoint, the second endpoint and the third endpoint of the first brush are arranged along the first circumference and the interval between each two endpoints is 2π / 3 radians; the first brush is installed on the first rotor, and the three endpoints of the first brush are driven by the first rotor to rotate relative to the first electrode, the second electrode and the third electrode along the first circumference, and the first brush contacts the first electrode, the second electrode and the third electrode through the three endpoints; the arc occupied by the third electrode on the first circumference is 2π / 3;

[0044] For the 3-pulse incremental surface rotation sensor, the first electrode and the second electrode only include the pad portion; the arc occupied by the gap between the first electrode and the third electrode and between the second electrode and the third electrode on the first circumference is π / 6, and the arc occupied by the gap between the first electrode and the second electrode on the first circumference is π / 3; the arc occupied by the first electrode and the second electrode on the first circumference is π / 3;

[0045] For a 3n pulse incremental surface rotation sensor, n is a natural number greater than 1, the first electrode and the second electrode are both divided into equal parts of a pad portion and a non-pad portion, and the pad portion and the non-pad portion on the first electrode and the second electrode are adjacently distributed along a first circumference, and the arcs occupied by the pad portion and the non-pad portion in the first electrode and the second electrode on the first circumference are both π / 3n; on the first electrode and the second electrode, the number of pad portions is both 3n / 3, and the number of non-pad portions is both (3n / 3)-1; the arcs 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 are both π / 6n; the arcs occupied by the gaps between the first electrode and the second electrode on the first circumference are both π / 3n;

[0046] The first electrode, the first brush, the third electrode and the power supply form a power-on circuit, and the second electrode, the first brush, the third electrode and the power supply form a power-on circuit; the first electrode and the second electrode are respectively connected to two IO ports of the microcontroller;

[0047] The fourth electrode, the fifth electrode and the sixth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the second circumference; the second circumference is on the outer circumference of the first circumference; the second brush includes three endpoints, namely the first endpoint, the second endpoint and the third endpoint, and the first endpoint, the second endpoint and the third endpoint of the second brush are arranged along the second circumference and the interval between each two endpoints is 2π / 3 radians; the second brush is installed on the second rotor, and the three endpoints of the second brush are driven by the second rotor to rotate relative to the fourth electrode, the fifth electrode and the sixth electrode along the second circumference, and the second brush contacts the fourth electrode, the fifth electrode and the sixth electrode through the three endpoints; the arc occupied by the sixth electrode on the second circumference is 2π / 3;

[0048] For the incremental surface rotation sensor with a pulse number of 3, the fourth electrode and the fifth electrode only include the pad portion; the arc occupied by the gap between the fourth electrode and the sixth electrode and between the fifth electrode and the sixth electrode on the second circumference is π / 6, and the arc occupied by the gap between the fourth electrode and the fifth electrode on the second circumference is π / 3; the arc occupied by the fourth electrode and the fifth electrode on the second circumference is π / 3;

[0049] For an incremental surface rotation sensor with a pulse number of 3n, n is a natural number greater than 1, the fourth electrode and the fifth electrode are divided into equal parts of a pad portion and a non-pad portion, and the pad portion and the non-pad portion on the fourth electrode and the fifth electrode are adjacently distributed along the second circumference, and the arcs occupied by the pad portion and the non-pad portion on the fourth electrode and the fifth electrode on the second circumference are both π / 3n; on the fourth electrode and the fifth electrode, the number of pad portions is 3n / 3, and the number of non-pad portions is (3n / 3)-1; the arcs occupied by the gaps between the fourth electrode and the sixth electrode and between the fifth electrode and the sixth electrode on the second circumference are both π / 6n; the arcs occupied by the gaps between the fourth electrode and the fifth electrode on the second circumference are both π / 3n;

[0050] The fourth electrode, the second brush, the sixth electrode and the power supply form a power-on circuit, and the fifth electrode, the second brush, the sixth electrode and the power supply form a power-on circuit; the fourth electrode and the fifth electrode are respectively connected to two IO ports of the microcontroller;

[0051] The seventh electrode, the eighth electrode and the ninth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the third circumference; the second circumference is located outside the first circumference, and the third circumference is located outside the second circumference; the third brush includes three endpoints, namely, a first endpoint, a second endpoint and a third endpoint, and the first endpoint, the second endpoint and the third endpoint of the third brush are all arranged along the third circumference and each two endpoints are separated by 2π / 3 radians; the third brush is installed on the second rotor, and the three endpoints of the third brush are driven by the second rotor to rotate relative to the seventh electrode, the eighth electrode and the ninth electrode along the third circumference, and the third brush contacts the seventh electrode, the eighth electrode and the ninth electrode through the three endpoints; the arc occupied by the ninth electrode on the third circumference is 2π / 3;

[0052] For the incremental surface rotation sensor with a pulse number of 3, the seventh electrode and the eighth electrode both include only the pad portion; the arc occupied by the gap between the seventh electrode and the ninth electrode and between the eighth electrode and the ninth electrode on the third circumference is π / 6, and the arc occupied by the gap between the seventh electrode and the eighth electrode on the third circumference is π / 3; the arc occupied by the seventh electrode and the eighth electrode on the third circumference is π / 3;

[0053] For an incremental surface rotation sensor with a pulse number of 3n, n is a natural number greater than 1, the seventh electrode and the eighth electrode are both divided into equal parts of a pad portion and a non-pad portion, and the pad portion and the non-pad portion on the seventh electrode and the eighth electrode are adjacently distributed along the third circumference, and the arcs occupied by the pad portion and the non-pad portion on the seventh electrode and the eighth electrode on the third circumference are both π / 3n; on the seventh electrode and the eighth electrode, the number of pad portions is 3n / 3, and the number of non-pad portions is (3n / 3)-1; the arcs 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 are both π / 6n; the arcs occupied by the gaps between the seventh electrode and the eighth electrode on the third circumference are both π / 3n;

[0054] The seventh electrode, the third brush, the ninth electrode and the power supply form a power-on circuit, and the eighth electrode, the third brush, the tenth electrode and the power supply form a power-on circuit; the seventh electrode and the eighth electrode are respectively connected to two IO ports of the microcontroller.

[0055] Furthermore, the first rotor, the second rotor, the third rotor and the code disk of the surface rotation sensor are all provided with through holes; the surface rotation sensor is installed on the central axis in the following manner: the code disk and the first rotor of the surface rotation sensor pass through the central axis in sequence and are installed at the end where the stopper of the central axis is located; the inner wall of the through hole of the first rotor of the surface rotation sensor fits with the outer wall of the central axis and rotates with the central axis; the second rotor of the surface rotation sensor is installed at the bottom end of the first sleeve through the through hole; the inner wall of the through hole of the second rotor of the surface rotation sensor fits with the outer wall of the first sleeve and rotates with the first sleeve; the third rotor of the surface rotation sensor is installed at the bottom end of the second sleeve through the through hole; the inner wall of the through hole of the third rotor of the surface rotation sensor fits with the outer wall of the second sleeve and rotates with the second sleeve;

[0056] The axis structure of the magic cube also includes a spring washer, a first cover plate, a second cover plate and a third cover plate;

[0057] After the surface rotation sensor is installed on the central shaft, the code disc is close to the central shaft stopper, and a spring washer is arranged between the code disc of the surface rotation sensor and the central shaft stopper;

[0058] The first cover sheet is provided with a through hole. After the code disc of the surface rotation sensor and the first rotor are mounted on the central axis, the through hole of the first cover sheet passes through the central axis, the bottom edge of the first cover sheet is fixed on the code disc, and the first rotor is covered by the first cover sheet;

[0059] The second cover sheet is provided with a through hole. After the second rotor is mounted on the first sleeve, the through hole of the second cover sheet passes through the first sleeve. The bottom edge of the second cover sheet is fixed on the code disc, and the second rotor is covered by the second cover sheet.

[0060] The third cover sheet is provided with a through hole. After the third rotor is mounted on the second sleeve, the through hole of the third cover sheet passes through the second sleeve. The bottom edge of the third cover sheet is fixed on the code disc, and the third rotor is covered by the third cover sheet.

[0061] The central axis is a screw rod, a nut at one end of the screw rod is a stopper on the central axis, and a thread is arranged at the other end of the screw rod.

[0062] Preferably, the central axis is made of a material with conductive properties; every two central axes form a pair, which are connected to the positive and negative poles of the power supply through wires, and the outside world charges the power supply through each pair of central axes; the central axis is connected to the port of the microcontroller through a wire, and the outside world sends signals to the microcontroller or receives signals sent by the microcontroller through the central axis.

[0063] The second object of the present invention is achieved through the following technical solution: a Rubik's Cube, including a plurality of center blocks and the Rubik's Cube axis structure described in the first object of the present invention, and a Rubik's Cube center block is correspondingly arranged on each center axis.

[0064] Compared with the prior art, the present invention has the following advantages and effects:

[0065] (1) The axis structure of the Rubik's Cube of the present invention includes 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 spaced on the surface of the core; the surface rotation sensors are respectively installed on the central axes for detecting 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 each central axis, the end of each central axis without the stopper passes through the through holes on the surface of the core, so that 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 each central axis according to the signals transmitted by the surface rotation sensors. As can be seen from the above, the surface rotation sensor for detecting the rotation of the magic cube face in the present invention is installed inside the core through the central axis, and all line connections are inside the core. The rotation of the central axis does not drive the rotation of the line in the core, so it can avoid the phenomenon of line breaking caused by the rotation of the central axis in the prior art, thereby improving the service life of the electronic magic cube; in addition, in the present invention, the part of each central axis in the axis structure extending from the through hole on the surface of the core is exactly the same as the central axis of the traditional magic cube in the prior art, except that the core replaces the central bracket of the traditional magic cube. Except for the core, all other accessories of the traditional magic cube that meet the size of the core can be installed on the core to become an electronic magic cube. Therefore, the axis structure of the present invention has the advantage of strong compatibility, and the traditional magic cube accessories can be disassembled and assembled on the axis structure of the present invention to obtain an electronic magic cube.

[0066] (2) The axis structure of the Rubik's Cube of the present invention also includes a body position sensor arranged in the core. When the Rubik's Cube is rolled over as a whole and changes its body position, the body position change information can be detected by the body position sensor of the present invention, so that the motion state of the Rubik's Cube can be more comprehensively monitored. In addition, a wireless communication module is also installed inside the core of the present invention, and the wireless communication module is connected to the microcontroller. The Rubik's Cube motion information detected by the microcontroller through the surface rotation sensor and the body position rotation sensor can be directly sent to the terminal and other devices outside the Rubik's Cube through the wireless communication module, which greatly facilitates the acquisition of the Rubik's Cube motion information.

[0067] (3) In the axis structure of the Rubik's Cube of the present invention, the surface rotation sensor is an encoder. When the encoder only includes a code disk, a first rotor and a first brush, the above-mentioned encoder of the present invention can only detect the rotation of the rotating surface of the Rubik's Cube with only an outer rotating surface, such as a 2nd-order, 3rd-order and 12-sided 5-ball Rubik's Cube. At this time, the number of surface rotation sensors and central axes in the axis structure of the Rubik's Cube is the same, and each surface rotation sensor is respectively installed on each central axis through the code disk and the first rotor; the first brush is installed on the first rotor, and the first brush is driven by the first rotor to move relative to the code disk; each central axis rotates along with the outer rotating surface of each central block connected to it in the Rubik's Cube, and at the same time, when the central axis rotates, it can drive the first rotor to rotate, thereby realizing the rotation detection of each outer rotating surface of the Rubik's Cube through the above-mentioned encoder.

[0068] (4) In the axis structure of the Rubik's Cube of the present invention, the surface rotation sensor is an encoder. When the encoder includes a code disk, a first rotor, a first brush, a second rotor and a second brush, and the axis structure also includes a first sleeve, the first rotor is driven to rotate by the rotation of the central axis, so that the first brush rotates relative to the code disk, and the second rotor is driven to rotate by the first sleeve, so that the second brush rotates relative to the code disk; therefore, the above structure of the present invention enables each surface rotation sensor to simultaneously realize the rotation detection of two rotating surfaces of the Rubik's Cube, including the outer rotating surface of the Rubik's Cube connected to the central axis and the inner rotating surface of the Rubik's Cube connected to the first sleeve, and is suitable for Rubik's Cubes of 4th order, 5th order, pyramid, etc. that include not only outer rotating surfaces but also inner rotating surfaces.

[0069] (5) In the axis structure of the magic cube of the present invention, the surface rotation sensor is an encoder. When the encoder includes a code disk, a first rotor, a first brush, a second rotor, a second brush, a third rotor and a third brush, and the axis structure also includes a first sleeve and a second sleeve, the first rotor is driven to rotate by the rotation of the central axis, so that the first brush rotates relative to the code disk, the second rotor is driven to rotate by the first sleeve, so that the second brush rotates relative to the code disk, and the third rotor is driven to rotate by the second sleeve, so that the third brush rotates relative to the code disk; therefore, the above structure of the present invention enables each surface rotation sensor to simultaneously realize the rotation detection of the three rotating surfaces of the magic cube, including the outer rotating surface of the magic cube connected to the central axis, the inner rotating surface of the magic cube connected to the first sleeve and adjacent to the outer rotating surface, and the inner rotating surface of the magic cube connected to the second sleeve, which is suitable for magic cubes of 6-order, 7-order, pyramid, etc. that include not only outer rotation but also two inner rotating surfaces on the same side as the outer rotating surface.

[0070] (6) In the axis structure of the magic cube of the present invention, the surface rotation sensor can be an absolute encoder, wherein the code disk of the absolute encoder is provided with a first electrode and a second electrode, and the first electrode and the second electrode are arranged on a first circumference of the code disk surface; the first brush is installed on the first rotor and arranged along the first circumference where the first electrode and the second electrode are located, and the first brush is driven by the first rotor to rotate relative to the first electrode and the second electrode along the first circumference; wherein the first electrode includes a plurality of electrodes, and n electrodes of the first electrode are arranged correspondingly on 2 n On any n equal parts of the first circle; place the first brush along the above 2 n Divide any 2 of the first circle into equal parts n-1 The first circumference is divided equally into two parts; the second electrode is arranged on the first circumference so that the first brush contacts the second electrode when it rotates to any position. In the face rotation sensor of the magic cube of the present invention, for the first circumference where the first electrode and the second electrode are located, the first brush is arranged along an arc that divides half of the first circumference equally, and each electrode in the first electrode is distributed at 2 n On any n equal parts of the first circumference, the remaining positions are provided with second electrodes. The position arrangement of the second electrodes allows the first brush to always be in contact with the second electrode during the process of being driven by the first rotor to rotate. Therefore, when the first brush contacts each of the first electrodes during the rotation process, the power circuit where the second electrode and the first electrode are located can be turned on. In the structure of the surface rotation sensor of the present invention, each electrode is on the same first circumference, that is, on the same plane; when realizing the surface rotation detection of the magic cube, it is not necessary to set multiple rings on the code disk. Compared with the absolute encoder in the prior art, the surface rotation sensor of the magic cube of the present invention has the advantages of simpler structure and smaller volume. In addition, when the magic cube includes one or two inner rotating surfaces, one or two more circumferential electrodes can be set on the code disk, and then the inner rotating surface can be detected in conjunction with the brush moving along the above-mentioned circle.

[0071] (7) In the axis structure of the Rubik's Cube of the present invention, the surface rotation sensor can be an incremental encoder, including a code disk, a first brush and a first rotor, the code disk is provided with a first electrode, a second electrode and a third electrode, and the first electrode, the second electrode and the third electrode are arranged on a first circumference of the code disk surface; the first brush includes three endpoints, the three endpoints are arranged along the first circumference and each two endpoints are separated by 2π / 3 radians. The first brush is mounted on the first rotor, and the three ends of the first brush are driven by the first rotor to rotate relative to the first electrode, the second electrode and the third electrode along the first circumference. The first brush contacts the first electrode, the second electrode and the third electrode through the three ends; the arc occupied by the third electrode on the first circumference is 2π / 3; in the present invention, the arc occupied by the gap between each two electrodes on the circumference, and the arc occupied by the first electrode and the second electrode themselves on the circumference are set according to the number of pulses to be realized by the sensor; the incremental surface rotation sensor of the magic cube of the present invention sets the corresponding parameters such as electrodes according to the number of pulses, and has the advantage of high angle detection accuracy. The surface rotation sensor is applied to the axis structure of the magic cube, which greatly improves the surface rotation detection accuracy of the magic cube, and makes the structure of the magic cube simpler and lower in cost. In addition, when the magic cube includes one or two inner rotating surfaces, one or two more circumferential electrodes can be set on the code disk, and then the inner rotating surface is detected in conjunction with the brush moving along the above-mentioned circle.

[0072] (8) In the axis structure of the magic cube of the present invention, the central axis is made of a material with conductive properties; every two central axes form a pair, and are connected to the positive and negative electrodes of the power supply through wires; in the present invention, the outside world can directly charge the power supply in the core through each pair of central axes, which has the advantage of convenient charging of the magic cube core power supply. In addition, the central axis of the present invention can be connected to the port of the microcontroller through a wire, and the outside world can directly send signals to the microcontroller through the central axis, and can also receive signals sent by the microcontroller through the central axis.

[0073] (9) In the axis structure of the Rubik's Cube of the present invention, the central axis can directly use a screw rod, and the nut at one end of the screw rod is the stopper on the central axis. The other end of the screw rod is provided with a thread, and the central block of the Rubik's Cube is installed on the central axis through the thread. This structure facilitates the adjustment of the tightness of each side of the Rubik's Cube. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 It is a cross-sectional view of the axis structure of the magic cube of embodiment 1 of the present invention.

[0075] Figure 2a and 2b It is a three-dimensional diagram of the axis structure of the magic cube of embodiment 1 of the present invention

[0076] Figures 3a to 3cIt is a schematic diagram of the positions of electrodes and brushes in the code disk of the surface rotation sensor in the axis structure of the magic cube in embodiment 1 of the present invention.

[0077] Figures 3d to 3f It is a schematic diagram of the structure of the three-order Rubik's Cube in Example 1 of the present invention.

[0078] Figure 4 It is a partial cross-sectional view of the axis structure of the magic cube of embodiment 2 of the present invention.

[0079] Figures 5a to 5b It is a schematic diagram of the positions of electrodes and brushes in the code disk of the surface rotation sensor in the axis structure of the magic cube in embodiment 2 of the present invention.

[0080] Figure 6 It is a partial cross-sectional view of the axis structure of the magic cube of embodiment 3 of the present invention.

[0081] Figures 7a to 7b It is a schematic diagram of the positions of electrodes and brushes in the code disk of the surface rotation sensor in the axis structure of the magic cube in embodiment 3 of the present invention. DETAILED DESCRIPTION

[0082] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0083] Example 1

[0084] This embodiment discloses a Rubik's Cube axis structure, which is used for a Rubik's Cube that only includes an outer rotating surface, such as Figure 1 and 2a As shown in 2b, it includes an inner hollow core 21, a plurality of central shafts 22 and a plurality of surface rotation sensors 23; the surface of the core is provided with through holes having the same number as the central shafts, and the through holes are evenly distributed on the surface of the core; the surface rotation sensors are respectively installed on the central shafts for detecting the rotation angles of the central shafts; a stopper 25 is provided at one end of each central shaft; after the rotation sensor is installed on each central shaft, the end of each central shaft without the stopper passes through the through holes on the surface of the core, so that the surface rotation sensor is confined inside the core and is located between the inner surface of the core and the stopper of the central shaft.

[0085] A power supply 24 and a microcontroller are provided inside the core. The surface rotation sensor is connected to the microcontroller and the power supply respectively. The microcontroller determines the rotation angle of each central axis according to the signal transmitted by the surface rotation sensor. A wireless communication module 26 and a body position sensor are also installed inside the core. The body position sensor is connected to the microcontroller to detect the body position change of the magic cube; the wireless communication module is connected to the microcontroller. The microcontroller can communicate wirelessly with terminals and other devices outside the magic cube through the wireless communication module. In this embodiment, the microcontroller can use a chip such as a single-chip microcomputer.

[0086] like Figure 2aThe figure shows the axis structure of the Rubik's Cube of this embodiment when the core shell is ignored. This figure is for the convenience of observing the structure inside the core. The axis structure of the actual Rubik's Cube is as follows: Figure 2b The central axes shown pass through the through holes on the surface of the inner core and the surface rotation sensor is located inside the inner core.

[0087] In this embodiment, if Figure 1 As shown, the surface rotation sensor can use an encoder, including a code disk 1, a first brush 2 and a first rotor 3; the surface rotation sensor is installed on the central axis through the code disk and the first rotor, and after the surface rotation sensor is installed on the central axis, the first rotor rotates along with the central axis; the first brush is installed on the first rotor, and the first brush is driven to move relative to the code disk by the first rotor.

[0088] In this embodiment, the number of face rotation sensors and central axes in the axis structure of the Rubik's Cube is the same, and each face rotation sensor is respectively installed on each central axis through a code disk and a first rotor; each central axis rotates following the outer layer rotation surface of each central block connected thereto in the Rubik's Cube.

[0089] The first rotor and the code disc of the surface rotation sensor are both provided with through holes; the surface rotation sensor is installed on the central axis in the following manner: the code disc and the first rotor of the surface rotation sensor pass through the central axis in sequence and are installed at the end where the stopper of the central axis is located; the inner wall of the through hole of the first rotor of the surface rotation sensor is in contact with the outer wall of the central axis and rotates along with the central axis.

[0090] In this embodiment, the axis structure of the magic cube further includes a spring washer and a first cover plate 31 .

[0091] After the surface rotation sensor is installed on the central shaft, the code disc is close to the central shaft stopper, and a spring washer is arranged between the code disc of the surface rotation sensor and the central shaft stopper.

[0092] A through hole is provided on the first cover plate. After the code disk and the first rotor of the surface rotation sensor are installed on the central axis, the through hole of the first cover plate passes through the central axis, the bottom edge of the first cover plate is fixed on the code disk, and the first rotor is covered by the first cover plate.

[0093] The central axis is a screw, and the nut at one end of the screw is a stopper on the central axis, and the other end of the screw is provided with a thread. In this embodiment, the central axis is made of a conductive material; every two central axes form a pair, and are connected to the positive and negative electrodes of the power supply through wires, and the outside world charges the power supply through each pair of central axes; the central axis is connected to the port of the microcontroller through a wire, and the outside world sends a signal to the microcontroller or receives a signal sent by the microcontroller through the central axis.

[0094] In this embodiment, the surface rotation sensor is an absolute encoder or an incremental encoder.

[0095] When the surface rotation sensor of this embodiment is an absolute encoder, a first electrode and a second electrode are provided on the code disk of the absolute encoder, wherein:

[0096] The first electrode and the second electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the first circumference; the first brush is installed on the first rotor and arranged along the first circumference where the first electrode and the second electrode are located, and the first brush is driven by the first rotor to rotate relative to the first electrode and the second electrode along the first circumference; when the first brush rotates to the relative position of the first electrode, it contacts the first electrode; the first electrode includes a plurality of electrodes, and the number n of electrodes in the first electrode is set according to the angle detection accuracy of the surface rotation sensor for the magic aspect; the n electrodes in the first electrode are arranged respectively at 2 n On any n equal parts of the first circle; place the first brush along the above 2 n Divide any 2 of the first circle into equal parts n-1 The second electrode is arranged on the first circumference so that the first brush contacts the second electrode when it rotates to any position; according to the above structure of this embodiment; the arrangement of the positions of the electrodes in the first electrode on the first circumference is as follows: The first brush is arranged along the first circumference in the following manner: If the surface of the code disk where the first electrode and the second electrode are located is the top of the code disk, for the code disk, the first brush is located above the first circumference where the first electrode and the second electrode are located, and when the first brush rotates to the top of the corresponding first electrode, the first brush contacts the first electrode below;

[0097] In this embodiment, when the angle detection accuracy for the magic aspect is π / N, the number n of electrodes in the first electrode on the code disk of the absolute encoder is:

[0098]

[0099] For example, when the surface rotation sensor needs to set two electrodes in the first electrode for the magic angle detection accuracy π / 2, the first circle where the first electrode and the second electrode are located is divided into 4 equal parts, and then 2 equal parts are arbitrarily selected therefrom, and the two electrodes in the first electrode are respectively set on the 2 selected first circle parts; the first brush is arranged along any 2 equal parts of the first circle among the 4 equal parts, and the total arc length of the first brush occupies half of the arc length of the first circle of the code disk. For example, when the magic angle detection accuracy is π / 4, that is, the number of electrodes n in the first electrode is 3, the first circle where the first electrode and the second electrode are located is divided into 8 equal parts, and then 3 equal parts are arbitrarily selected therefrom, and the 3 electrodes in the first electrode are respectively set on the 3 selected first circle parts; the first brush is arranged along any 4 equal parts of the first circle among the 8 equal parts. Figures 3a to 3b FIG. 1 shows two positional arrangements of the electrodes 101, 102, 103, the second electrode 104 and the first brush 2 in the first electrode in this embodiment, wherein the first brush can be one segment or multiple segments, such as Figures 3a to 3b As shown, the first brush is divided into two sections, namely the first brush section and the second brush section. The first brush section and the second brush section are electrically connected, wherein the first brush section is arranged along one of the eight equal parts of the first circle, and the second brush section is arranged along the other three equal parts of the eight equal parts of the first circle.

[0100] In this embodiment, each electrode in the first electrode of the code disk forms a power-on circuit with the first brush, the second electrode and the power supply, and each electrode in the first electrode is respectively connected to each IO port of the microcontroller; in this embodiment, the second electrode is grounded, that is, connected to the positive end of the power supply, and each electrode in the first electrode is respectively connected to each IO port of the microcontroller. If the IO port connected to each electrode in the first electrode of the microcontroller has a pull-up resistor, each electrode in the first electrode is connected to the positive end of the power supply through the pull-up resistor of each IO port, and at this time, each electrode in the first electrode does not need to be connected to a resistor and a power supply separately; if the IO port connected to each electrode in the first electrode of the microcontroller does not have a pull-up resistor, each electrode in the first electrode is also connected to the positive end of the power supply through a resistor; each electrode in the first electrode is connected to the second electrode through a brush; for each electrode in the first electrode, when the first brush contacts the electrode, the power-on circuit where the electrode is located is energized, the electrode is a low-level signal (0), and the end of the microcontroller connected to the electrode receives the low-level signal; when the first brush does not contact the electrode, the electrode is equivalent to a suspended state, and the end of the microcontroller connected to the electrode receives a high-level signal (1). Therefore, in this embodiment, the microcontroller can determine the contact status of the first brush and each electrode in the first electrode according to the level signal received by each IO port; the rotation of the first brush will change the contact status of each electrode in the first electrode, so in this embodiment, the microcontroller can determine the rotation angle of the first brush according to the change of the level signal received by each IO port, thereby further determining the rotation angle of the magic side that drives the central axis to rotate. Of course, in this embodiment, the electrical connection mode of each electrode in the first electrode, the second electrode and the first brush can also be other, as long as the microcontroller corresponding IO port can receive two different level signals in the two cases of contact and non-contact between the first brush and the electrodes in the first electrode.

[0101] If the first electrode and the second electrode on the code disk are arranged as follows Figure 3aAs shown, when the detection accuracy of the surface rotation sensor is π / 4, that is, 45 degrees, the first electrode includes three electrodes 101, 102 and 103. When the brush rotates counterclockwise for one circle, the level signals received by the IO port of the microcontroller connected to the three electrodes 101, 102 and 103 in the first electrode will be: 011, 111, 100, 010, 110, 101, 001, 000 respectively. If the first brush is from Figure 3a The diagram shown in FIG. 1 starts to rotate. If the level signals currently received by the IO port of the microcontroller connected to the three electrodes 101, 102 and 103 in the first electrode are 011, 111, 100, it can be determined that the first brush has rotated 90 degrees counterclockwise compared to the beginning. According to the rotation angle of the first brush, it can be confirmed that the magic cube driving the central axis to rotate is currently rotating 90 degrees counterclockwise. Figure 3a and 3b In the case of the arrangement of electrodes and brushes in the code disk shown, each time the three binary bits received by the microcontroller change, it indicates that the first rotor drives the first brush to rotate 45 degrees.

[0102] When the surface rotation sensor in this embodiment is an incremental encoder, a first electrode, a second electrode and a third electrode are provided on the code disk of the incremental encoder in this embodiment, wherein:

[0103] The first electrode, the second electrode and the third electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the first circumference; wherein, in the incremental encoder: the first brush includes three endpoints, namely the first endpoint, the second endpoint and the third endpoint, the first endpoint, the second endpoint and the third endpoint of the first brush are arranged along the first circumference and each two endpoints are separated by 2π / 3 radians; the first brush is installed on the first rotor, and the three endpoints of the first brush are driven by the first rotor to rotate relative to the first electrode, the second electrode and the third electrode along the first circumference, and the first brush contacts the first electrode, the second electrode and the third electrode through the three endpoints;

[0104] The arc occupied by the third electrode on the first circle is 2π / 3;

[0105] For the 3-pulse incremental surface rotation sensor, the first electrode and the second electrode each only include a pad portion; the arc occupied by the gap between the first electrode and the third electrode and between the second electrode and the third electrode on the first circumference is π / 6, and the arc occupied by the gap between the first electrode and the second electrode on the first circumference is π / 3; the arc occupied by the first electrode and the second electrode on the first circumference is π / 3;

[0106] For a 3n pulse incremental surface rotation sensor, n is a natural number greater than 1, the first electrode and the second electrode are both divided into equal parts of a pad portion and a non-pad portion, and the pad portion and the non-pad portion on the first electrode and the second electrode are adjacently distributed along the first circumference, and the arcs occupied by the pad portion and the non-pad portion in the first electrode and the second electrode on the first circumference are both π / 3n; on the first electrode and the second electrode, the number of pad portions is both 3n / 3, and the number of non-pad portions is both (3n / 3)-1; the arcs 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 are both π / 6n; the arcs occupied by the gaps between the first electrode and the second electrode on the first circumference are both π / 3n;

[0107] The first electrode, the first brush, the third electrode and the power supply form a power-on circuit, and the second electrode, the first brush, the third electrode and the power supply form a power-on circuit; the first electrode and the second electrode are respectively connected to two IO ports of the microcontroller; the 3-pulse incremental surface rotation sensor refers to an incremental surface rotation sensor that can generate 3 pulses when the rotor rotates one circle; each pulse indicates that the rotor rotates 120 degrees. The 3n-pulse incremental surface rotation sensor refers to an incremental surface rotation sensor that can generate 3n pulses when the rotor rotates one circle; each pulse indicates that the rotor rotates 120 / n degrees.

[0108] In this embodiment, when the incremental surface rotation sensor is a 6-pulse incremental surface rotation sensor, that is, when n is 2, the arrangement of the brushes and the electrodes in the incremental surface rotation sensor is as follows: Figure 3c As shown. In the first electrode 105 and the second electrode 104, the number of pad parts is 2, the number of non-pad parts is 1, the arc occupied by each pad part and non-pad part 105-1 in the first electrode 105 on the first circumference is π / 6, and the arc occupied by each pad part and non-pad part 104-1 in the second electrode 104 on the first circumference is π / 6, that is, 30 degrees. Therefore, the arc occupied by the first electrode and the second electrode on the first circumference is π / 2, that is, 90 degrees. The arc occupied by the gap between the first electrode and the third electrode and between the second electrode and the third electrode on the first circumference is π / 12, that is, 15 degrees. The arc occupied by the gap between the first electrode and the second electrode on the first circumference is π / 6, that is, 30 degrees. The arc occupied by the third electrode 107 on the first circumference is 2π / 3, that is, 120 degrees.

[0109] In this embodiment, if the surface where the first electrode, the second electrode and the third electrode are located is used as the surface of the code disk, the first brush is located above the first circumference where the first electrode, the second electrode and the third electrode are located. In this embodiment, when each end point of the brush moves to the corresponding position of the first circumference where the pad part of the first electrode or the second electrode is located, the first brush contacts the pad part, that is, the first brush is electrically connected to the first electrode or the second electrode, and when each end point of the first brush moves to the corresponding position of the first circumference where the non-pad part of the first electrode or the second electrode is located, the first brush contacts the pad part, that is, the first brush is not electrically connected to the first electrode or the second electrode; in this embodiment, the three end points of the first brush are 120 degrees apart, and the arc of the first circumference occupied by the third electrode is 120 degrees, so during the rotation of the first brush, there is always an end point of the first brush in contact with the third electrode.

[0110] In this embodiment, the third electrode is grounded, that is, connected to the negative end of the power supply; if the IO ports of the microcontroller connected to the first electrode and the second electrode have pull-up resistors, the first electrode and the second electrode are connected to the positive end of the power supply through the pull-up resistors of each IO port, and the first electrode and the second electrode do not need to be connected to a resistor and a power supply separately; if the IO ports of the microcontroller connected to the first electrode and the second electrode do not have pull-up resistors, the first electrode and the second electrode are connected to the positive end of the power supply through the resistor; the first electrode and the second electrode are connected to the third electrode through the first brush; for the first electrode and the second electrode, when the first brush contacts a certain electrode, the power-on circuit where the electrode is located is energized, the electrode is a low-level signal (0), and the end of the microcontroller connected to the electrode receives the low-level signal; when the first brush does not contact the electrode, the electrode is equivalent to a suspended state, and the end of the microcontroller connected to the electrode receives a high-level signal (1). Therefore, in this embodiment, the microcontroller can determine the contact between the first brush and each electrode in the first electrode according to the level signals received by the two IO ports; the rotation of the first brush will change the contact between each electrode in the first electrode, so in this embodiment, the microcontroller can determine the rotation angle of the first brush according to the change of the level signals received by each IO port, thereby further determining the rotation angle of the magic side that drives the central axis to rotate. Of course, in this embodiment, the electrical connection mode of the first electrode 105, the first brush 2, and the third electrode 107, as well as the second electrode 104, the first brush 2, and the third electrode 107 can also be other, as long as the microcontroller corresponding IO port can receive two different level signals in the two cases of contact and non-contact between the first brush and the first electrode and the second electrode.

[0111] If the first electrode, the second electrode and the third electrode on the code disk are arranged as follows Figure 3cAs shown, the surface rotation sensor is a 6-pulse incremental surface rotation sensor. When the IO port connected to the microcontroller and the first electrode 105 and the second electrode 104 receives 01, 00, 10, 11 once, a pulse signal is generated to determine that the first rotor drives the first brush to rotate 60 degrees clockwise. When the microcontroller receives 01, 00, 10, 11 six times, 6 pulse signals will be generated to determine that the first rotor drives the first brush to rotate 360 ​​degrees clockwise. When the IO port connected to the microcontroller and the first electrode 105 and the second electrode 104 receives 11, 10, 00, 01 once, a pulse signal is generated to determine that the first rotor drives the first brush to rotate 60 degrees counterclockwise. When the microcontroller receives 01, 00, 10, 11 six times, 6 pulse signals will be generated to determine that the first rotor drives the first brush to rotate 360 ​​degrees counterclockwise.

[0112] The axis structure of the magic cube in this embodiment is suitable for application in a magic cube of 2nd order, 3rd order or 12-sided 5 magic balls. When applied in a magic cube of 2nd order and 3rd order, the number of central axes in the axis structure of the magic cube in this embodiment is 6, the number of face rotation sensors is 6, and the code disk and the first rotor of each face rotation sensor are respectively installed on each central axis. When applied in a magic cube of 12-sided 5 magic balls, the number of central axes in the axis structure of the magic cube in this embodiment is 12, the number of face rotation sensors is 12, and the code disk and the first rotor of each face rotation sensor are respectively installed on each central axis.

[0113] This embodiment also discloses a magic cube, such as Figures 3d to 3f As shown, the Rubik's Cube includes a plurality of center blocks and the axis structure of the Rubik's Cube described above in this embodiment, and a center block 27 of the Rubik's Cube is correspondingly arranged on each center axis 22. Figure 3d FIG. 2 is a schematic diagram showing the process of assembling the Rubik's Cube after the axial structure of the Rubik's Cube of this embodiment is installed with the center block 27 of the Rubik's Cube. Figure 3e Shown Figure 3d The schematic diagram of the Rubik's Cube assembly diagram after installing the corner blocks and edge blocks is shown in the figure. Figure 3f Shown Figure 3e The final Rubik's Cube is obtained after the final assembly.

[0114] Example 2

[0115] The present embodiment discloses an axis structure of a magic cube, the axis structure of the magic cube is used for the magic cube with outer rotating surfaces and inner rotating surfaces, and the number of inner rotating surfaces on the same side of the outer rotating surface is 1, and the inner rotating surface on the same side of the outer rotating surface refers to the inner rotating surface with the inner core as the boundary and the outer rotating surface belonging to the same side of the inner core; the axis structure of the magic cube in the present embodiment is different from the axis structure of the magic cube in embodiment 1 only in that: Figure 4As shown, the axis structure of this embodiment also includes the same number of first sleeves 40 as the central axis; each surface rotation sensor also includes a second rotor 4 and a second brush 5, the second brush is installed on the second rotor, and the second brush is driven by the second rotor to move relative to the code disk; the code disk and the first rotor of each surface rotation sensor are respectively installed on each central axis; after the code disk and the first rotor of each surface rotation sensor are installed, each first sleeve is respectively sleeved on each central axis; the second rotor in the surface rotation sensor is installed on the first sleeve and rotates with the first sleeve; each central axis after being sleeved with the first sleeve and the first sleeve thereon pass through each through hole on the surface of the inner core together; wherein, each central axis rotates respectively with the outer rotating surface of each central block connected to it in the magic cube, and each first sleeve rotates respectively with the inner rotating surface of each inner rotating surface connected to it in the magic cube; the axis structure of the magic cube of this embodiment is defined as the first structure.

[0116] In this embodiment, if Figure 4 As shown, each surface rotation sensor is also configured with a first cover plate 31 and a second cover plate 32. A through hole is provided on the first cover plate. After the code disk and the first rotor of the surface rotation sensor are installed on the central axis, the through hole of the first cover plate passes through the central axis, the bottom edge of the first cover plate is fixed on the code disk, and the first rotor is covered by the first cover plate. A through hole is provided on the second cover plate. After the second rotor of the surface rotation sensor is installed on the first sleeve, the through hole of the second cover plate passes through the first sleeve, the bottom edge of the second cover plate is fixed on the code disk, and the second rotor is covered by the second cover plate. The above-mentioned first cover plate and the second cover plate make the structure of the surface rotation sensor of this embodiment more compact, and also separate the first rotor and the first brush, the second rotor and the second brush from other components on the axis structure of the magic cube to avoid being affected by other parts.

[0117] In this embodiment, the surface rotation sensor is an absolute encoder or an incremental encoder.

[0118] When the surface rotation sensor of this embodiment is an absolute encoder, compared with the absolute encoder in Embodiment 1, the code disk of the absolute encoder of this embodiment is further provided with a third electrode and a fourth electrode; wherein:

[0119] The third electrode and the fourth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the second circumference; the second circumference is located outside the first circumference where the first electrode and the second electrode are located, and the second brush is installed on the second rotor, and is driven by the second rotor to rotate relative to the third electrode and the fourth electrode along the second circumference; when the second brush rotates to the relative position of the third electrode, it contacts the third electrode; the third electrode includes a plurality of electrodes, and the number n of electrodes in the third electrode is set according to the angle detection accuracy of the surface rotation sensor for the magic aspect; the n electrodes in the third electrode are arranged correspondingly at 2 nPlace the second brush along the above 2 n Any 2 of the second circle n-1 The fourth electrode is arranged on the second circumference so that the second brush contacts the fourth electrode when it rotates to any position.

[0120] Each electrode in the third electrode forms a power-on circuit with the second brush, the fourth electrode and the power supply, and each electrode in the third electrode is respectively connected to each IO port of the microcontroller; in this embodiment, the fourth electrode is grounded, and each electrode in the third electrode is respectively connected to each IO port of the microcontroller; if the IO port connected to the microcontroller and each electrode in the third electrode has a pull-up resistor, each electrode in the third electrode is connected to the power supply through the pull-up resistor of each IO port, and at this time, each electrode in the third electrode does not need to be connected to a resistor and a power supply separately; if the IO port connected to the microcontroller and each electrode in the third electrode does not have a pull-up resistor, each electrode in the third electrode is also connected to the power supply through a resistor; each electrode in the third electrode is connected to the fourth electrode through the second brush; for each electrode in the third electrode, when the second brush contacts the electrode, the power-on circuit where the electrode is located is energized, a low-level signal (0) is on the electrode, and the end of the microcontroller connected to the electrode receives the low-level signal; when the second brush does not contact the electrode, the electrode is equivalent to a suspended state, and the end of the microcontroller connected to the electrode receives a high-level signal (1). Therefore, in the present embodiment, the microcontroller can determine the contact status between the second brush and each electrode in the third electrode according to the level signal received by each IO port connected to each electrode in the third electrode; the rotation of the second brush will change the contact status of each electrode in the third electrode, so in the present embodiment, the microcontroller can determine the rotation angle of the second brush according to the change of the level signal received by each IO port, thereby further determining the rotation angle of the magic aspect that drives the first sleeve to rotate.

[0121] In this embodiment, the number of electrodes in the third electrode is the same as the number of electrodes in the first electrode. In this embodiment, when the angle detection accuracy of the magic aspect is π / 4, that is, the number of electrodes n in the first electrode and the third electrode is 3, the second circumference where the third electrode and the fourth electrode are located is divided into 8 equal parts, and then 3 equal parts are randomly selected from them, and the 3 electrodes in the third electrode are respectively set on the second circumference of the above 3 equal parts; the first brush is arranged along any 4 equal parts of the above 8 equal parts of the second circumference. Figure 5a , which is a positional arrangement diagram of the electrodes 301 , 302 , 303 , the fourth electrode 304 and the second brush 5 in the third electrode in this embodiment.

[0122] When the surface rotation sensor of this embodiment is an incremental encoder, compared with the incremental encoder in Embodiment 1, the code disk of the incremental encoder of this embodiment is further provided with a fourth electrode, a fifth electrode and a sixth electrode; wherein:

[0123] The fourth electrode, the fifth electrode and the sixth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the second circumference; the second circumference is on the outer circumference of the first circumference; the second brush includes three endpoints, namely the first endpoint, the second endpoint and the third endpoint, and the first endpoint, the second endpoint and the third endpoint of the second brush are arranged along the second circumference and the interval between each two endpoints is 2π / 3 radians; the second brush is installed on the second rotor, and the three endpoints of the second brush are driven by the second rotor to rotate relative to the fourth electrode, the fifth electrode and the sixth electrode along the second circumference, and the second brush contacts the fourth electrode, the fifth electrode and the sixth electrode through the three endpoints; the arc occupied by the sixth electrode on the second circumference is 2π / 3;

[0124] For the incremental surface rotation sensor with a pulse number of 3, the fourth electrode and the fifth electrode only include the pad portion; the arc occupied by the gap between the fourth electrode and the sixth electrode and between the fifth electrode and the sixth electrode on the second circumference is π / 6, and the arc occupied by the gap between the fourth electrode and the fifth electrode on the second circumference is π / 3; the arc occupied by the fourth electrode and the fifth electrode on the second circumference is π / 3;

[0125] For an incremental surface rotation sensor with a pulse number of 3n, n is a natural number greater than 1, the fourth electrode and the fifth electrode are divided into equal parts of a pad portion and a non-pad portion, and the pad portion and the non-pad portion on the fourth electrode and the fifth electrode are adjacently distributed along the second circumference, and the arcs occupied by the pad portion and the non-pad portion on the fourth electrode and the fifth electrode on the second circumference are both π / 3n; on the fourth electrode and the fifth electrode, the number of pad portions is 3n / 3, and the number of non-pad portions is (3n / 3)-1; the arcs occupied by the gaps between the fourth electrode and the sixth electrode and between the fifth electrode and the sixth electrode on the second circumference are both π / 6n; the arcs occupied by the gaps between the fourth electrode and the fifth electrode on the second circumference are both π / 3n;

[0126] The fourth electrode, the second brush, the sixth electrode and the power supply form a power-on circuit, and the fifth electrode, the second brush, the sixth electrode and the power supply form a power-on circuit; the fourth electrode and the fifth electrode are respectively connected to two IO ports of the microcontroller; in this embodiment, the sixth electrode is grounded, that is, connected to the negative end of the power supply; if the IO ports of the microcontroller connected to the fourth electrode and the fifth electrode have pull-up resistors, the fourth electrode and the fifth electrode are connected to the positive end of the power supply through the pull-up resistors of each IO port, and the fourth electrode and the fifth electrode do not need to be connected to the resistor and the power supply separately; if the IO ports of the microcontroller connected to the fourth electrode and the fifth electrode do not have pull-up resistors, When the resistor is connected, the fourth electrode and the fifth electrode are connected to the positive terminal of the power supply through the resistor; the fourth electrode and the fifth electrode are connected to the sixth electrode through the second brush; for the fourth electrode and the fifth electrode, when the second brush contacts a certain electrode (referring to the pad portion of the contact electrode), the power circuit where the electrode is located is energized, the electrode is a low-level signal (0), and the end of the microcontroller connected to the electrode receives the low-level signal; when the second brush does not contact the electrode (referring to the other part of the contact electrode except the pad portion), the electrode is equivalent to a suspended state, and the end of the microcontroller connected to the electrode receives a high-level signal (1). Therefore, in this embodiment, the microcontroller can determine the contact status of the second brush and each electrode in the fourth electrode according to the level signals received by the two IO ports; the rotation of the second brush will change the contact status of each electrode in the fourth electrode, so in this embodiment, the microcontroller can determine the rotation angle of the second brush according to the change of the level signal received by each IO port, thereby further determining the rotation angle of the magic side that drives the central axis to rotate. Of course, in the present embodiment, the electrical connection method of the fourth electrode, the second brush and the sixth electrode as well as the fifth electrode, the second brush and the sixth electrode may be other, as long as the corresponding IO port of the microcontroller can receive two different level signals in the two cases where the second brush and the fourth electrode and the fifth electrode are in contact or non-contact.

[0127] In this embodiment, when the incremental surface rotation sensor is a 6-pulse incremental surface rotation sensor, that is, when n is 2, the positions of the second brush 5 and the electrodes in the incremental surface rotation sensor are arranged as follows: Figure 5bAs shown. In the fourth electrode 304 and the fifth electrode 305, the number of pad parts is 2, the number of non-pad parts is 1, the arc occupied by each pad part and non-pad part 304-1 in the fourth electrode 304 on the second circumference is π / 6, and the arc occupied by each pad part and non-pad part 305-1 in the fifth electrode 305 on the second circumference is π / 6, that is, 30 degrees. Therefore, the arc occupied by the fourth electrode and the fifth electrode on the second circumference is π / 2, that is, 90 degrees. The arc occupied by the gap between the fourth electrode and the sixth electrode and between the fifth electrode and the sixth electrode on the second circumference is π / 12, that is, 15 degrees. The arc occupied by the gap between the fourth electrode and the fifth electrode on the second circumference is π / 6, that is, 30 degrees. The arc occupied by the sixth electrode 306 on the second circumference is 2π / 3, that is, 120 degrees.

[0128] In this embodiment, if the surface where the fourth electrode, the fifth electrode and the sixth electrode of the code disk are arranged is the surface of the code disk, for the code disk, the second brush is located above the second circumference where the fourth electrode, the fifth electrode and the sixth electrode are located. In this embodiment, when each end point of the second brush moves to the corresponding position of the second circumference where the pad part of the fourth electrode or the fifth electrode is located, the second brush contacts the pad part, that is, the second brush is electrically connected to the fourth electrode or the fifth electrode, and when each end point of the second brush moves to the corresponding position of the second circumference where the non-pad part of the fourth electrode or the fifth electrode is located, the second brush contacts the pad part, that is, the second brush is not electrically connected to the fourth electrode or the fifth electrode; in this embodiment, the three end points of the second brush are 120 degrees apart, and the arc of the second circumference occupied by the sixth electrode is 120 degrees, so during the rotation of the second brush, there is always an end point of the second brush in contact with the sixth electrode.

[0129] The axis structure of the Rubik's Cube in this embodiment is suitable for application in 4th and 5th order Rubik's Cubes that include outer rotating surfaces and inner rotating surfaces, wherein each central axis rotates driven by the outer rotating surfaces of the Rubik's Cube, and the first sleeve sleeved in each central axis rotates driven by the inner rotating surface of the outer layer connected to the central axis and located on the same side of the inner core.

[0130] This embodiment also discloses a Rubik's Cube, which includes a plurality of center blocks and the axis structure of the Rubik's Cube described above in this embodiment, and a center block of the Rubik's Cube is correspondingly arranged on each center axis.

[0131] Example 3

[0132] The present embodiment discloses an axis structure of a Rubik's Cube, the axis structure of the Rubik's Cube is used for an outer rotating surface and an inner rotating surface, and the number of inner rotating surfaces on the same side of the outer rotating surface is 2. The inner rotating surface on the same side of the outer rotating surface refers to the inner rotating surface with the inner core as the boundary and the outer rotating surface belonging to the same side of the inner core; the axis structure of the Rubik's Cube in the present embodiment is different from the axis structure of the Rubik's Cube in Example 2 only in that: the axis structure of the Rubik's Cube in the present embodiment also includes the same number of second sleeves 41 as the central axis and the first sleeve 40, and the surface rotation sensor also includes a third rotor 6 and a third brush 7; the third brush is installed on the third rotor, and the third brush is driven by the third rotor The brush moves relative to the code disk; each second sleeve is respectively sleeved on the first sleeve; the third rotor in the surface rotation sensor is installed on the second sleeve and rotates with the second sleeve; each central axis after the first sleeve and the second sleeve are sleeved passes through each through hole on the inner core surface together with the first sleeve and the second sleeve thereon; wherein each central axis rotates respectively with each outer rotating surface connected thereto correspondingly in the Rubik's Cube, and each first sleeve and the second sleeve rotates respectively with each inner rotating surface connected thereto correspondingly in the Rubik's Cube; the inner layer of the Rubik's Cube connected to the second sleeve is closer to the center of the Rubik's Cube than the inner layer of the Rubik's Cube connected to the first sleeve; the axis structure of the Rubik's Cube in this embodiment is defined as the second structure.

[0133] In this embodiment, each surface rotation sensor is also configured with a first cover plate 31, a second cover plate 32 and a third cover plate 33. The first cover plate is provided with a through hole. After the code disk and the first rotor of the surface rotation sensor are installed on the central axis, the through hole of the first cover plate passes through the central axis, and the bottom edge of the first cover plate is fixed on the code disk, 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 of the surface rotation sensor is installed on the first sleeve, the through hole of the second cover plate passes through the first sleeve, the bottom edge of the second cover plate is fixed on the code disk, and the second rotor is covered by the second cover plate; the third cover plate is provided with a through hole. After the third rotor is installed on the second sleeve, the through hole of the third cover plate passes through the second sleeve, the bottom edge of the third cover plate is fixed on the code disk, and the third rotor is covered by the third cover plate; the above-mentioned first cover plate, second cover plate and third cover plate make the structure of the surface rotation sensor of this embodiment more compact, and also separate the first rotor and the first brush, the second rotor and the second brush, the third rotor and the third brush from other components on the axis structure of the Rubik's Cube to avoid being affected by other parts.

[0134] In this embodiment, the rotation sensor is an incremental encoder or an absolute encoder.

[0135] When the surface rotation sensor is an incremental encoder, compared with the absolute encoder in Embodiment 2, the code disk of the absolute encoder in this embodiment is further provided with a fifth electrode and a sixth electrode; wherein:

[0136] In this embodiment, the fifth electrode and the sixth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the third circumference. The third circumference is located outside the second circumference where the fifth electrode and the sixth electrode are located. The third brush is driven by the third rotor to rotate relative to the fifth electrode and the sixth electrode along the third circumference; when the third brush rotates to the relative position of the fifth electrode, it contacts the fifth electrode; the fifth electrode includes a plurality of electrodes, and the number n of electrodes in the fifth electrode is set according to the angle detection accuracy of the surface rotation sensor for the magic aspect; the n electrodes in the fifth electrode are arranged correspondingly at 2 n On any n equal parts of the third circle; place the third brush along the above 2 n Any 2 of the third circle n-1 The sixth electrode is arranged on the third circumference so that the third brush contacts the sixth electrode when it rotates to any position.

[0137] Each electrode in the fifth electrode forms a power-on circuit with the third brush, the sixth electrode and the power supply, and each electrode in the fifth electrode is respectively connected to each IO port of the microcontroller. In this embodiment, the sixth electrode is grounded, and each electrode in the fifth electrode is respectively connected to each IO port of the microcontroller; if the IO port connected to each electrode in the fifth electrode has a pull-up resistor, each electrode in the fifth electrode is connected to the power supply through the pull-up resistor of each IO port, and at this time, each electrode in the fifth electrode does not need to be connected to a resistor and a power supply separately; if the IO port connected to each electrode in the fifth electrode has no pull-up resistor, each electrode in the fifth electrode is also connected to the power supply through a resistor; each electrode in the fifth electrode is connected to the sixth electrode through the third brush; for each electrode in the fifth electrode, when the third brush contacts the electrode, the power-on circuit where the electrode is located is energized, the electrode is a low-level signal (0), and the end of the microcontroller connected to the electrode receives the low-level signal; when the third brush does not contact the electrode, the electrode is equivalent to a suspended state, and the end of the microcontroller connected to the electrode receives a high-level signal (1). Therefore, in the present embodiment, the microcontroller can determine the contact status between the third brush and each electrode in the fifth electrode according to the level signals received by each IO port connected to each electrode in the fifth electrode; the rotation of the third brush will change the contact status of each electrode in the fifth electrode, so in the present embodiment, the microcontroller can determine the rotation angle of the third brush according to the change of the level signals received by each IO port, thereby further determining the rotation angle of the magic aspect that drives the second sleeve to rotate.

[0138] 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 accuracy of the magic aspect is π / 4, that is, the number n of electrodes in the first electrode, the third electrode and the fifth electrode is 3, the first circumference where the first electrode and the second electrode are located is divided into 8 equal parts, and then 3 equal parts are randomly selected therefrom, and the 3 electrodes in the first electrode are respectively correspondingly arranged on the first circumference of the above-selected 3 equal parts; the second circumference where the third electrode and the fourth electrode are located is divided into 8 equal parts, and then 3 equal parts are randomly selected therefrom, and the 3 electrodes in the third electrode are respectively correspondingly arranged on the second circumference of the above-selected 3 equal parts; the first brush is arranged along any 4 equal parts of the above-selected 8 equal parts of the second circumference, the third circumference where the fifth electrode and the sixth electrode are located is divided into 8 equal parts, and then 3 equal parts are randomly selected therefrom, and the 3 electrodes in the fifth electrode are respectively correspondingly arranged on the third circumference of the above-selected 3 equal parts; the third brush is arranged along any 4 equal parts of the above-selected 8 equal parts of the third circumference. Figure 7a , which is a positional arrangement diagram of the electrodes 501 , 502 , 503 in the fifth electrode, the sixth electrode 306 and the third brush 7 in this embodiment.

[0139] When the surface rotation sensor of this embodiment is an incremental encoder, compared with the incremental encoder in Embodiment 2, the code disk of the incremental encoder of this embodiment is further provided with a seventh electrode, an eighth electrode and a ninth electrode; wherein:

[0140] The seventh electrode, the eighth electrode and the ninth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the third circumference; the second circumference is outside the first circumference, and the third circumference is outside the second circumference. The third brush includes three endpoints, namely the first endpoint, the second endpoint and the third endpoint. The first endpoint, the second endpoint and the third endpoint of the third brush are all arranged along the third circumference and the interval between each two endpoints is 2π / 3 radians; the third brush is installed on the second rotor, and the three endpoints of the third brush are driven by the second rotor to rotate relative to the seventh electrode, the eighth electrode and the ninth electrode along the third circumference. The third brush contacts the seventh electrode, the eighth electrode and the ninth electrode through the three endpoints; the arc occupied by the ninth electrode on the third circumference is 2π / 3;

[0141] For the incremental surface rotation sensor with a pulse number of 3, the seventh electrode and the eighth electrode both include only the pad portion; the arc occupied by the gap between the seventh electrode and the ninth electrode and between the eighth electrode and the ninth electrode on the third circumference is π / 6, and the arc occupied by the gap between the seventh electrode and the eighth electrode on the third circumference is π / 3; the arc occupied by the seventh electrode and the eighth electrode on the third circumference is π / 3;

[0142] For an incremental surface rotation sensor with a pulse number of 3n, n is a natural number greater than 1, and the seventh electrode and the eighth electrode are divided into equal parts of a pad portion and a non-pad portion, and the pad portion and the non-pad portion on the seventh electrode and the eighth electrode are adjacently distributed along the third circumference, and the arcs occupied by the pad portion and the non-pad portion on the seventh electrode and the eighth electrode on the third circumference are both π / 3n; on the seventh electrode and the eighth electrode, the number of pad portions is 3n / 3, and the number of non-pad portions is (3n / 3)-1; the arcs 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 are both π / 6n; the arcs occupied by the gaps between the seventh electrode and the eighth electrode on the third circumference are both π / 3n.

[0143] The seventh electrode, the third brush, the ninth electrode and the power supply form a power-on circuit, and the eighth electrode, the third brush, the tenth electrode and the power supply form a power-on circuit; the seventh electrode and the eighth electrode are respectively connected to two IO ports of the microcontroller. In this embodiment, the nine electrodes are grounded, that is, connected to the negative end of the power supply; if the IO ports connected to the seventh and eighth electrodes of the microcontroller have pull-up resistors, the seventh and eighth electrodes are connected to the positive end of the power supply through the pull-up resistors of the IO ports, and the seventh and eighth electrodes do not need to be connected to resistors and power supplies separately; if the IO ports connected to the seventh and eighth electrodes of the microcontroller do not have pull-up resistors, the seventh and eighth electrodes are connected to the positive end of the power supply through resistors; the seventh and eighth electrodes are connected to the ninth electrode through the third brush; for the seventh and eighth electrodes, when the third brush contacts a certain electrode (referring to the pad portion of the contact electrode), the power-on circuit where the electrode is located is energized, the electrode is a low-level signal (0), and the end of the microcontroller connected to the electrode receives the low-level signal; when the third brush does not contact the electrode (referring to the other part of the contact electrode except the pad portion), the electrode is equivalent to a suspended state, and the end of the microcontroller connected to the electrode receives a high-level signal (1). Therefore, in this embodiment, the microcontroller can determine the contact between the third brush and each electrode in the seventh electrode according to the level signals received by the two IO ports; the rotation of the third brush will change the contact between each electrode in the seventh electrode, so in this embodiment, the microcontroller can determine the rotation angle of the third brush according to the change of the level signals received by each IO port, thereby further determining the rotation angle of the magic side that drives the central axis to rotate. Of course, in this embodiment, the electrical connection mode of the seventh electrode 301, the third brush 7, and the ninth electrode 303, as well as the eighth electrode 302, the third brush 7, and the ninth electrode 303 can also be other, as long as the corresponding IO port of the microcontroller can receive two different level signals in the two cases of contact and non-contact between the third brush and the seventh electrode and the eighth electrode.

[0144] In this embodiment, when the incremental surface rotation sensor is a 6-pulse incremental surface rotation sensor, that is, when n is 2, the position arrangement of the third brush 7 and each electrode in the incremental surface rotation sensor is as follows: Figure 7b As shown. In the seventh electrode 307 and the eighth electrode 308, the number of pad parts is 2, the number of non-pad parts is 1, the arc occupied by each pad part and non-pad part 307-1 in the seventh electrode 307 on the third circumference is π / 6, and the arc occupied by each pad part and non-pad part 308-1 in the eighth electrode 308 on the third circumference is π / 6, that is, 30 degrees. Therefore, the arc occupied by the seventh electrode and the eighth electrode on the second circumference is π / 2, that is, 90 degrees. The arc occupied by the gap between the seventh electrode and the ninth electrode and between the eighth electrode and the ninth electrode on the third circumference is π / 12, that is, 15 degrees. The arc occupied by the gap between the seventh electrode 307 and the eighth electrode 308 on the third circumference is π / 6, that is, 30 degrees. The arc occupied by the ninth electrode 309 on the third circumference is 2π / 3, that is, 120 degrees.

[0145] The axis structure of the Rubik's Cube in this embodiment is suitable for use in 6-order and 7-order Rubik's Cubes including outer rotating surfaces and inner rotating surfaces, wherein there are two inner rotating surfaces on the same side as the outer rotating surfaces in the Rubik's Cube. The axis structure of the Rubik's Cube includes 6 central axes, 6 first sleeves, and 6 second sleeves.

[0146] Each central axis rotates under the drive of the outer rotating surfaces of the Rubik's Cube, and the first sleeve sleeved in each central axis rotates under the drive of the inner rotating surface of the outer layer connected to the central axis and located on the same side of the inner core; the second sleeve sleeved in each central axis rotates under the drive of the inner rotating surface of the outer layer connected to the central axis and located on the same side of the inner core.

[0147] This embodiment also discloses a Rubik's Cube, which includes a plurality of center blocks and the axis structure of the Rubik's Cube described above in this embodiment, and a center block of the Rubik's Cube is correspondingly arranged on each center axis.

[0148] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. An axis structure of a Rubik's Cube, characterized in that: It includes a hollow inner 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 axis, and the through holes are evenly distributed on the surface of the core; The rotation sensors of each surface are respectively installed on each central axis to detect the rotation angle of each central axis; A stopper is provided at one end of each central shaft; after the rotation sensor is installed on each central shaft, the end of each central shaft without the stopper passes through each through hole on the surface of the inner core, so that the surface rotation sensor is confined inside the inner core and between the inner surface of the inner core and the stopper of the central shaft; A power supply and a microcontroller are provided inside the core, and the surface rotation sensor is connected to the microcontroller and the power supply respectively. The microcontroller determines the rotation angle of each central axis according to the signal transmitted by the surface rotation sensor; It also includes a wireless communication module, which is installed inside the core and connected to the microcontroller; The surface rotation sensor is an encoder, including a code disc, a first rotor and a first brush; the surface rotation sensor is installed on the central axis through the code disc and the first rotor, and after the surface rotation sensor is installed on the central axis, the first rotor rotates along with the central axis; the first brush is installed on the first rotor, and the first brush is driven by the first rotor to move relative to the code disc; The surface rotation sensor is an absolute encoder; The code disc 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 disk surface, and the circumference is defined as the first circumference; the first brush is installed on the first rotor and arranged along the first circumference where the first electrode and the second electrode are located, and the first brush is driven by the first rotor to rotate relative to the first electrode and the second electrode along the first circumference; when the first brush rotates to the relative position of the first electrode, it contacts the first electrode; the first electrode includes a plurality of electrodes, and the number n of electrodes in the first electrode is set according to the angle detection accuracy of the surface rotation sensor for the magic aspect; the n electrodes in the first electrode are arranged respectively at 2 n On any n equal parts of the first circle; place the first brush along the above 2 n Divide any 2 of the first circle into equal parts n-1 The second electrode is arranged on the above-mentioned first circumference so that the first brush contacts the second electrode when it rotates to any position; each electrode in the first electrode of the code disk forms a power-on circuit with the first brush, the second electrode and the power supply, and each electrode in the first electrode is respectively connected to each IO port of the microcontroller.

2. The axial structure of the magic cube according to claim 1, characterized in that: It also includes a body position sensor for detecting changes in the body position of the magic cube; the body position sensor is installed inside the core and is connected to a microcontroller.

3. The axis structure of the magic cube according to claim 1, characterized in that: The axis structure of the magic cube also includes the same number of first sleeves as the central axis; the surface rotation sensor in the axis structure of the magic cube also includes a second rotor and a second brush, the second brush is installed on the second rotor, and the second brush is driven by the second rotor to move relative to the code disk; the code disk and the first rotor of each surface rotation sensor are respectively installed on each central axis; after the code disk and the first rotor of each surface rotation sensor are installed on each central axis, each first sleeve is respectively sleeved on each central axis; the second rotor in the surface rotation sensor is installed on the first sleeve and rotates with the first sleeve; each central axis after being sleeved with the first sleeve and the first sleeve thereon pass through each through hole on the inner core surface together; wherein each central axis rotates respectively with the outer layer rotation surface of each central block connected thereto in the magic cube, and each first sleeve rotates respectively with the inner layer rotation surface of each central block connected thereto in the magic cube; the above-mentioned axis structure of the magic cube is defined as the first structure; Alternatively, the axis structure of the magic cube also includes a first sleeve and a second sleeve of the same number as the central axis; the surface rotation sensor in the axis structure of the magic cube also includes a second rotor, a second brush, a third rotor and a third brush, the second brush is installed on the second rotor, and the second brush is driven to move relative to the code disk by the second rotor, and the third brush is installed on the third rotor, and the third brush is driven to move relative to the code disk by the third rotor; the code disk and the first rotor of each surface rotation sensor are respectively installed on each central axis; after the code disk and the first rotor of each surface rotation sensor are installed on each central axis, each first sleeve is respectively sleeved on each central axis, and each second sleeve is respectively sleeved on the first sleeve; The second rotor in the rotation sensor is installed on the first sleeve and rotates with the first sleeve; the third rotor in the surface rotation sensor is installed on the second sleeve and rotates with the second sleeve; the central axes after the first sleeve and the second sleeve are sleeved pass through the through holes on the surface of the inner core together with the first sleeve and the second sleeve thereon; wherein, each central axis rotates with the corresponding outer rotating surfaces connected to it in the Rubik's Cube, and each first sleeve and the second sleeve rotates with the corresponding inner rotating surfaces connected to it in the Rubik's Cube; the inner layer of the Rubik's Cube connected to the second sleeve is closer to the center of the Rubik's Cube than the inner layer of the Rubik's Cube connected to the first sleeve; the axis structure of the above-mentioned Rubik's Cube is defined as the second structure.

4. The axis structure of the magic cube according to claim 3, characterized in that: When the axis structure of the magic cube is the first structure; the code disk of the absolute encoder is provided with a first electrode, a second electrode, a third electrode and a fourth electrode; wherein: The first electrode and the second electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the first circumference; the first brush is installed on the first rotor and arranged along the first circumference where the first electrode and the second electrode are located, and the first brush is driven by the first rotor to rotate relative to the first electrode and the second electrode along the first circumference; when the first brush rotates to the relative position of the first electrode, it contacts the first electrode; the first electrode includes a plurality of electrodes, and the number n of electrodes in the first electrode is set according to the angle detection accuracy of the surface rotation sensor for the magic aspect; the n electrodes in the first electrode are arranged respectively at 2 n On any n equal parts of the first circle; place the first brush along the above 2 n Divide any 2 of the first circle into equal parts n-1 Arrange in equal parts; The second electrode is arranged on the first circumference so that the first brush contacts the second electrode when it rotates to any position; each electrode in the first electrode forms a power circuit with the first brush, the second electrode and the power supply, and each electrode in the first electrode is connected to each IO port of the microcontroller respectively; The third electrode and the fourth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the second circumference; the second circumference is located outside the first circumference where the first electrode and the second electrode are located, and the second brush is installed on the second rotor, and is driven by the second rotor to rotate relative to the third electrode and the fourth electrode along the second circumference; when the second brush rotates to the relative position of the third electrode, it contacts the third electrode; the third electrode includes a plurality of electrodes, and the number n of electrodes in the third electrode is set according to the angle detection accuracy of the surface rotation sensor for the magic aspect; the n electrodes in the third electrode are arranged correspondingly at 2 n Place the second brush along the above 2 n Any 2 of the second circle n-1 The fourth electrode is arranged in equal parts; the fourth electrode is arranged on the second circumference so that the second brush contacts the fourth electrode when it rotates to any position; each electrode in the third electrode forms a power circuit with the second brush, the fourth electrode and the power supply, and each electrode in the first electrode and the third electrode is connected to each IO port of the microcontroller respectively; Alternatively, when the axis structure of the magic cube is the second structure, the code disk 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 first electrode and the second electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the first circumference; the first brush is installed on the first rotor and arranged along the first circumference where the first electrode and the second electrode are located, and the first brush is driven by the first rotor to rotate relative to the first electrode and the second electrode along the first circumference; when the first brush rotates to the relative position of the first electrode, it contacts the first electrode; the first electrode includes a plurality of electrodes, and the number n of electrodes in the first electrode is set according to the angle detection accuracy of the surface rotation sensor for the magic aspect; the n electrodes in the first electrode are arranged respectively at 2 n On any n equal parts of the first circle; place the first brush along the above 2 n Divide any 2 of the first circle into equal parts n-1 Arrange in equal parts; The second electrode is arranged on the first circumference so that the first brush contacts the second electrode when it rotates to any position; each electrode in the first electrode forms a power circuit with the first brush, the second electrode and the power supply, and each electrode in the first electrode is connected to each IO port of the microcontroller respectively; The third electrode and the fourth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the second circumference; the second circumference is located outside the first circumference where the first electrode and the second electrode are located, and the second brush is installed on the second rotor, and is driven by the second rotor to rotate relative to the third electrode and the fourth electrode along the second circumference; when the second brush rotates to the relative position of the third electrode, it contacts the third electrode; the third electrode includes a plurality of electrodes, and the number n of electrodes in the third electrode is set according to the angle detection accuracy of the surface rotation sensor for the magic aspect; the n electrodes in the third electrode are arranged correspondingly at 2 n Place the second brush along the above 2 n Any 2 of the second circle n-1 The fourth electrode is arranged in equal parts; the fourth electrode is arranged on the second circumference so that the second brush contacts the fourth electrode when it rotates to any position; each electrode in the third electrode forms a power circuit with the second brush, the fourth electrode and the power supply, and each electrode in the first electrode and the third electrode is connected to each IO port of the microcontroller respectively; The fifth electrode and the sixth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the third circumference. The third circumference is located outside the second circumference where the fifth electrode and the sixth electrode are located. The third brush is driven by the third rotor to rotate relative to the fifth electrode and the sixth electrode along the third circumference; when the third brush rotates to the relative position of the fifth electrode, it contacts the fifth electrode; the fifth electrode includes a plurality of electrodes, and the number n of electrodes in the fifth electrode is set according to the angle detection accuracy of the surface rotation sensor for the magic aspect; the n electrodes in the fifth electrode are arranged correspondingly at 2 n On any n equal parts of the third circle; place the third brush along the above 2 n Any 2 of the third circle n-1 The sixth electrode is arranged on the third circumference so that the third brush contacts the sixth electrode when it rotates to any position; each electrode in the fifth electrode forms a power-on circuit with the third brush, the sixth electrode and the power supply, and each electrode in the fifth electrode is respectively connected to each IO port of the microcontroller.

5. The axis structure of the magic cube according to claim 3, characterized in that: The surface rotation sensor is an incremental encoder; The code disc of the incremental encoder is provided with a first electrode, a second electrode and a third electrode, wherein: The first electrode, the second electrode and the third electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the first circumference; wherein, in the incremental encoder: the first brush includes three endpoints, namely the first endpoint, the second endpoint and the third endpoint, the first endpoint, the second endpoint and the third endpoint of the first brush are arranged along the first circumference and each two endpoints are separated by 2π / 3 radians; the first brush is installed on the first rotor, and the three endpoints of the first brush are driven by the first rotor to rotate relative to the first electrode, the second electrode and the third electrode along the first circumference, and the first brush contacts the first electrode, the second electrode and the third electrode through the three endpoints; The arc occupied by the third electrode on the first circle is 2π / 3; For the 3-pulse incremental surface rotation sensor, the first electrode and the second electrode each only include a pad portion; the arc occupied by the gap between the first electrode and the third electrode and between the second electrode and the third electrode on the first circumference is π / 6, and the arc occupied by the gap between the first electrode and the second electrode on the first circumference is π / 3; the arc occupied by the first electrode and the second electrode on the first circumference is π / 3; For a 3n pulse incremental surface rotation sensor, n is a natural number greater than 1, the first electrode and the second electrode are both divided into equal parts of a pad portion and a non-pad portion, and the pad portion and the non-pad portion on the first electrode and the second electrode are adjacently distributed along the first circumference, and the arcs occupied by the pad portion and the non-pad portion in the first electrode and the second electrode on the first circumference are both π / 3n; on the first electrode and the second electrode, the number of pad portions is both 3n / 3, and the number of non-pad portions is both (3n / 3)-1; the arcs 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 are both π / 6n; the arcs occupied by the gaps between the first electrode and the second electrode on the first circumference are both π / 3n; The first electrode, the first brush, the third electrode and the power supply form a power-on circuit, and the second electrode, the first brush, the third electrode and the power supply form a power-on circuit; the first electrode and the second electrode are respectively connected to two IO ports of the microcontroller; Alternatively, when the axis structure of the magic cube is the first structure, the code disk 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 disk surface, and the circumference is defined as the first circumference; wherein, in the incremental encoder: the first brush includes three endpoints, namely the first endpoint, the second endpoint and the third endpoint, the first endpoint, the second endpoint and the third endpoint of the first brush are arranged along the first circumference and the interval between each two endpoints is 2π / 3 radians; the first brush is installed on the first rotor, and the three endpoints of the first brush are driven by the first rotor to rotate relative to the first electrode, the second electrode and the third electrode along the first circumference, and the first brush contacts the first electrode, the second electrode and the third electrode through the three endpoints; the arc occupied by the third electrode on the first circumference is 2π / 3; For the 3-pulse incremental surface rotation sensor, the first electrode and the second electrode only include the pad portion; the arc occupied by the gap between the first electrode and the third electrode and between the second electrode and the third electrode on the first circumference is π / 6, and the arc occupied by the gap between the first electrode and the second electrode on the first circumference is π / 3; the arc occupied by the first electrode and the second electrode on the first circumference is π / 3; For a 3n pulse incremental surface rotation sensor, n is a natural number greater than 1, the first electrode and the second electrode are both divided into equal parts of a pad portion and a non-pad portion, and the pad portion and the non-pad portion on the first electrode and the second electrode are adjacently distributed along a first circumference, and the arcs occupied by the pad portion and the non-pad portion in the first electrode and the second electrode on the first circumference are both π / 3n; on the first electrode and the second electrode, the number of pad portions is both 3n / 3, and the number of non-pad portions is both (3n / 3)-1; the arcs 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 are both π / 6n; the arcs occupied by the gaps between the first electrode and the second electrode on the first circumference are both π / 3n; The first electrode, the first brush, the third electrode and the power supply form a power-on circuit, and the second electrode, the first brush, the third electrode and the power supply form a power-on circuit; the first electrode and the second electrode are respectively connected to two IO ports of the microcontroller; The fourth electrode, the fifth electrode and the sixth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the second circumference; the second circumference is on the outer circumference of the first circumference; the second brush includes three endpoints, namely the first endpoint, the second endpoint and the third endpoint, and the first endpoint, the second endpoint and the third endpoint of the second brush are arranged along the second circumference and the interval between each two endpoints is 2π / 3 radians; the second brush is installed on the second rotor, and the three endpoints of the second brush are driven by the second rotor to rotate relative to the fourth electrode, the fifth electrode and the sixth electrode along the second circumference, and the second brush contacts the fourth electrode, the fifth electrode and the sixth electrode through the three endpoints; the arc occupied by the sixth electrode on the second circumference is 2π / 3; For the incremental surface rotation sensor with a pulse number of 3, the fourth electrode and the fifth electrode only include the pad portion; the arc occupied by the gap between the fourth electrode and the sixth electrode and between the fifth electrode and the sixth electrode on the second circumference is π / 6, and the arc occupied by the gap between the fourth electrode and the fifth electrode on the second circumference is π / 3; the arc occupied by the fourth electrode and the fifth electrode on the second circumference is π / 3; For an incremental surface rotation sensor with a pulse number of 3n, n is a natural number greater than 1, the fourth electrode and the fifth electrode are divided into equal parts of a pad portion and a non-pad portion, and the pad portion and the non-pad portion on the fourth electrode and the fifth electrode are adjacently distributed along the second circumference, and the arcs occupied by the pad portion and the non-pad portion on the fourth electrode and the fifth electrode on the second circumference are both π / 3n; on the fourth electrode and the fifth electrode, the number of pad portions is 3n / 3, and the number of non-pad portions is (3n / 3)-1; the arcs occupied by the gaps between the fourth electrode and the sixth electrode and between the fifth electrode and the sixth electrode on the second circumference are both π / 6n; the arcs occupied by the gaps between the fourth electrode and the fifth electrode on the second circumference are both π / 3n; The fourth electrode, the second brush, the sixth electrode and the power supply form a power-on circuit, and the fifth electrode, the second brush, the sixth electrode and the power supply form a power-on circuit; the fourth electrode and the fifth electrode are respectively connected to two IO ports of the microcontroller; Alternatively, when the axis structure of the magic cube is the second structure, the code disk 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 first electrode, the second electrode and the third electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the first circumference; wherein, in the incremental encoder: the first brush includes three endpoints, namely the first endpoint, the second endpoint and the third endpoint, the first endpoint, the second endpoint and the third endpoint of the first brush are arranged along the first circumference and the interval between each two endpoints is 2π / 3 radians; the first brush is installed on the first rotor, and the three endpoints of the first brush are driven by the first rotor to rotate relative to the first electrode, the second electrode and the third electrode along the first circumference, and the first brush contacts the first electrode, the second electrode and the third electrode through the three endpoints; the arc occupied by the third electrode on the first circumference is 2π / 3; For the 3-pulse incremental surface rotation sensor, the first electrode and the second electrode only include the pad portion; the arc occupied by the gap between the first electrode and the third electrode and between the second electrode and the third electrode on the first circumference is π / 6, and the arc occupied by the gap between the first electrode and the second electrode on the first circumference is π / 3; the arc occupied by the first electrode and the second electrode on the first circumference is π / 3; For a 3n pulse incremental surface rotation sensor, n is a natural number greater than 1, the first electrode and the second electrode are both divided into equal parts of a pad portion and a non-pad portion, and the pad portion and the non-pad portion on the first electrode and the second electrode are adjacently distributed along a first circumference, and the arcs occupied by the pad portion and the non-pad portion in the first electrode and the second electrode on the first circumference are both π / 3n; on the first electrode and the second electrode, the number of pad portions is both 3n / 3, and the number of non-pad portions is both (3n / 3)-1; the arcs 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 are both π / 6n; the arcs occupied by the gaps between the first electrode and the second electrode on the first circumference are both π / 3n; The first electrode, the first brush, the third electrode and the power supply form a power-on circuit, and the second electrode, the first brush, the third electrode and the power supply form a power-on circuit; the first electrode and the second electrode are respectively connected to two IO ports of the microcontroller; The fourth electrode, the fifth electrode and the sixth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the second circumference; the second circumference is on the outer circumference of the first circumference; the second brush includes three endpoints, namely the first endpoint, the second endpoint and the third endpoint, and the first endpoint, the second endpoint and the third endpoint of the second brush are arranged along the second circumference and the interval between each two endpoints is 2π / 3 radians; the second brush is installed on the second rotor, and the three endpoints of the second brush are driven by the second rotor to rotate relative to the fourth electrode, the fifth electrode and the sixth electrode along the second circumference, and the second brush contacts the fourth electrode, the fifth electrode and the sixth electrode through the three endpoints; the arc occupied by the sixth electrode on the second circumference is 2π / 3; For the incremental surface rotation sensor with a pulse number of 3, the fourth electrode and the fifth electrode only include the pad portion; the arc occupied by the gap between the fourth electrode and the sixth electrode and between the fifth electrode and the sixth electrode on the second circumference is π / 6, and the arc occupied by the gap between the fourth electrode and the fifth electrode on the second circumference is π / 3; the arc occupied by the fourth electrode and the fifth electrode on the second circumference is π / 3; For an incremental surface rotation sensor with a pulse number of 3n, n is a natural number greater than 1, the fourth electrode and the fifth electrode are divided into equal parts of a pad portion and a non-pad portion, and the pad portion and the non-pad portion on the fourth electrode and the fifth electrode are adjacently distributed along the second circumference, and the arcs occupied by the pad portion and the non-pad portion on the fourth electrode and the fifth electrode on the second circumference are both π / 3n; on the fourth electrode and the fifth electrode, the number of pad portions is 3n / 3, and the number of non-pad portions is (3n / 3)-1; the arcs occupied by the gaps between the fourth electrode and the sixth electrode and between the fifth electrode and the sixth electrode on the second circumference are both π / 6n; the arcs occupied by the gaps between the fourth electrode and the fifth electrode on the second circumference are both π / 3n; The fourth electrode, the second brush, the sixth electrode and the power supply form a power-on circuit, and the fifth electrode, the second brush, the sixth electrode and the power supply form a power-on circuit; the fourth electrode and the fifth electrode are respectively connected to two IO ports of the microcontroller; The seventh electrode, the eighth electrode and the ninth electrode are arranged on the same circumference of the code disk surface, and the circumference is defined as the third circumference; the second circumference is located outside the first circumference, and the third circumference is located outside the second circumference; the third brush includes three endpoints, namely, a first endpoint, a second endpoint and a third endpoint, and the first endpoint, the second endpoint and the third endpoint of the third brush are all arranged along the third circumference and each two endpoints are separated by 2π / 3 radians; the third brush is installed on the second rotor, and the three endpoints of the third brush are driven by the second rotor to rotate relative to the seventh electrode, the eighth electrode and the ninth electrode along the third circumference, and the third brush contacts the seventh electrode, the eighth electrode and the ninth electrode through the three endpoints; the arc occupied by the ninth electrode on the third circumference is 2π / 3; For the incremental surface rotation sensor with a pulse number of 3, the seventh electrode and the eighth electrode both include only the pad portion; the arc occupied by the gap between the seventh electrode and the ninth electrode and between the eighth electrode and the ninth electrode on the third circumference is π / 6, and the arc occupied by the gap between the seventh electrode and the eighth electrode on the third circumference is π / 3; the arc occupied by the seventh electrode and the eighth electrode on the third circumference is π / 3; For an incremental surface rotation sensor with a pulse number of 3n, n is a natural number greater than 1, the seventh electrode and the eighth electrode are both divided into equal parts of a pad portion and a non-pad portion, and the pad portion and the non-pad portion on the seventh electrode and the eighth electrode are adjacently distributed along the third circumference, and the arcs occupied by the pad portion and the non-pad portion on the seventh electrode and the eighth electrode on the third circumference are both π / 3n; on the seventh electrode and the eighth electrode, the number of pad portions is 3n / 3, and the number of non-pad portions is (3n / 3)-1; the arcs 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 are both π / 6n; the arcs occupied by the gaps between the seventh electrode and the eighth electrode on the third circumference are both π / 3n; The seventh electrode, the third brush, the ninth electrode and the power supply form a power-on circuit, and the eighth electrode, the third brush, the tenth electrode and the power supply form a power-on circuit; the seventh electrode and the eighth electrode are respectively connected to two IO ports of the microcontroller.

6. The axis structure of the magic cube according to claim 3, characterized in that: The first rotor, the second rotor, the third rotor and the code disc of the surface rotation sensor are all provided with through holes; the surface rotation sensor is installed on the central axis in the following manner: the code disc and the first rotor of the surface rotation sensor pass through the central axis in sequence and are installed at the end where the stopper of the central axis is located; the inner wall of the through hole of the first rotor of the surface rotation sensor fits with the outer wall of the central axis and rotates with the central axis; the second rotor of the surface rotation sensor is installed at the bottom end of the first sleeve through the through hole; the inner wall of the through hole of the second rotor of the surface rotation sensor fits with the outer wall of the first sleeve and rotates with the first sleeve; the third rotor of the surface rotation sensor is installed at the bottom end of the second sleeve through the through hole; the inner wall of the through hole of the third rotor of the surface rotation sensor fits with the outer wall of the second sleeve and rotates with the second sleeve; The axis structure of the magic cube also includes a spring washer, a first cover plate, a second cover plate and a third cover plate; After the surface rotation sensor is installed on the central shaft, the code disc is close to the central shaft stopper, and a spring washer is arranged between the code disc of the surface rotation sensor and the central shaft stopper; The first cover sheet is provided with a through hole. After the code disc of the surface rotation sensor and the first rotor are mounted on the central axis, the through hole of the first cover sheet passes through the central axis, the bottom edge of the first cover sheet is fixed on the code disc, and the first rotor is covered by the first cover sheet; The second cover sheet is provided with a through hole. After the second rotor is mounted on the first sleeve, the through hole of the second cover sheet passes through the first sleeve. The bottom edge of the second cover sheet is fixed on the code disc, and the second rotor is covered by the second cover sheet. The third cover sheet is provided with a through hole. After the third rotor is mounted on the second sleeve, the through hole of the third cover sheet passes through the second sleeve. The bottom edge of the third cover sheet is fixed on the code disc, and the third rotor is covered by the third cover sheet. The central axis is a screw rod, a nut at one end of the screw rod is a stopper on the central axis, and a thread is arranged at the other end of the screw rod.

7. The axis structure of the magic cube according to claim 1, characterized in that: The central axis is made of a conductive material; every two central axes form a pair, which are connected to the positive and negative poles of a power source through wires, and the outside world charges the power source through each pair of central axes; the central axis is connected to the port of a microcontroller through a wire, and the outside world sends signals to the microcontroller or receives signals sent by the microcontroller through the central axis.

8. A magic cube, characterized in that: The invention comprises a plurality of center blocks and an axis structure of a magic cube as claimed in any one of claims 1 to 7, wherein a center block of the magic cube is correspondingly arranged on each center axis.

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