Coaxial Rubik's Cube Robot

Abstract

The present invention provides a coaxial Rubik's Cube robot, which includes a third-order Rubik's Cube body, a control device, a mounting base, an internal driving device, and a first coaxial power unit, a second coaxial power unit, and a third coaxial power unit provided on the mounting base. The internal driving device is disposed in the internal space of the third-order Rubik's Cube body, and the internal driving device includes a central frame, a first driving shaft assembly, a second driving shaft assembly, and a third driving shaft assembly; the three driving shaft assemblies are connected to the six center blocks of the third-order Rubik's Cube body, and the three coaxial power units are respectively connected to the three driving shaft assemblies, so that the center blocks, edge blocks, and corner blocks on the six faces of the third-order Rubik's Cube body can be rotated, thereby demonstrating the restoration formula of the Rubik's Cube. Since the three surfaces of the Rubik's Cube are blank surfaces, and there is no need for relevant driving structures to continuously separate and combine with the Rubik's Cube to interfere with the line of sight, the movement process of the Rubik's Cube can be clearly demonstrated, which is beneficial to improving the teaching effect.

Description

Technical Field

[0001] The present invention relates to the technical field of Rubik's cubes, and particularly to a coaxial Rubik's cube robot. Background Art

[0002] A Rubik's cube, also known as a Rubik's Cube. The existing third-order Rubik's cube is a six-sided cube made of elastic hard plastic. The core is six axes and is composed of 26 small cubes. The third-order Rubik's cube includes six center blocks, each with only one side colored; eight corner blocks, with three different colors on three sides; and twelve edge blocks, with two different colors on two sides. When the toy is in the initial position, the arrangement of the small cubes makes each side of the large cube have the same color. These center blocks, edge blocks, and third-order corner blocks enclose an internal space. When a certain side of the large cube rotates translationally, the single color of its adjacent sides is destroyed, forming a new pattern cube. With further rotation, it changes again, resulting in each side being composed of small squares of different colors. The gameplay is to restore the scrambled cube to a single color on all six sides as quickly as possible by rotating.

[0003] There are now robots that can automatically restore Rubik's cubes. When the existing robots restore Rubik's cubes, there are mainly two structures. The first structure is provided with at least one robotic arm that can contact or separate from the Rubik's cube. When the robotic arm contacts the Rubik's cube, it can twist one side of the Rubik's cube. When the robotic arm separates from the Rubik's cube, the Rubik's cube can be rotated by a certain angle under the drive of other mechanisms, so that the robotic arm can twist other sides of the Rubik's cube. This structure requires many moving parts and has a complex structure, and cannot be used for Rubik's cube teaching.

[0004] The second structure is to set a rotating shaft on the outside of the Rubik's cube that is always connected to the center block of the Rubik's cube. When the rotating shaft drives the center block to rotate, it can drive the adjacent edge blocks and corner blocks to rotate simultaneously. The existing such structure requires at least four connected rotating shafts to be set on the four sides of the Rubik's cube. Due to the blocking effect of the rotating shafts on the line of sight, it cannot be used for Rubik's cube teaching well, and moreover, it is not conducive to demonstrating Rubik's cube restoration formulas. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art and provide a coaxial Rubik's cube robot for Rubik's cube teaching that can improve the teaching effect.

[0006] Additional aspects and advantages of the present invention will be partly set forth in the description below, and partly will become apparent from the description, or may be learned by practice of the present invention.

[0007] According to one aspect of the present invention, a coaxial Rubik's Cube robot includes a third-order Rubik's Cube body, which includes six center blocks, twelve edge blocks, and eight corner blocks. These center blocks, edge blocks, and corner blocks enclose an internal space. The six center blocks are the first center block, the second center block, the third center block, the fourth center block, the fifth center block, and the sixth center block. It is characterized in that the coaxial Rubik's Cube robot further includes a control device, a mounting base, an internal driving device, and a first coaxial power unit, a second coaxial power unit, and a third coaxial power unit provided on the mounting base:

[0008] The internal driving device is disposed in the internal space of the third-order Rubik's Cube body, and the internal driving device includes a central frame, a first driving shaft assembly, a second driving shaft assembly, and a third driving shaft assembly;

[0009] The first driving shaft assembly includes a first driving shaft and a first sleeve. The first sleeve is fixedly arranged on the central frame, and the first center block is rotatably arranged on the first sleeve; the first driving shaft is rotatably arranged on the central frame, the first end of the first driving shaft is fixedly connected to the second center block, and the second end is inserted into the first sleeve;

[0010] The second driving shaft assembly includes a second driving shaft, a second driven shaft, and a second sleeve. The second sleeve is fixedly arranged on the central frame, and the third center block is rotatably arranged on the second sleeve. The second driving shaft is arranged in the second sleeve. The second driven shaft is rotatably arranged on the central frame and is fixedly connected to the fourth center block. A first bevel gear and a second bevel gear with a transmission ratio of 1 are meshed between the second driving shaft and the second driven shaft;

[0011] The third driving shaft assembly includes a third driving shaft, a third driven shaft, and a third sleeve. The third sleeve is fixedly arranged on the central frame, and the fifth center block is rotatably arranged on the third sleeve. The third driving shaft is arranged in the third sleeve. The third driven shaft is rotatably arranged on the central frame and is fixedly connected to the sixth center block. A third bevel gear and a fourth bevel gear with a transmission ratio of 1 are meshed between the third driving shaft and the third driven shaft; the third bevel gear and the fourth bevel gear are larger in size than the first bevel gear and the second bevel gear;

[0012] The first coaxial power unit includes a first hollow driving shaft tube and a first inner driving shaft that can rotate independently under the drive of a motor respectively. The first inner driving shaft is inserted into the first hollow driving shaft tube; the end of the first hollow driving shaft tube is connected to the first center block to drive the first center block to rotate; the first inner driving shaft is connected to the first driving shaft to drive the first driving shaft to rotate;

[0013] The second coaxial power unit includes a second hollow drive shaft tube and a second inner drive shaft that can rotate independently under the drive of a motor respectively. The second inner drive shaft is inserted into the second hollow drive shaft tube. The end of the second hollow drive shaft tube is connected to the third central block to drive the third central block to rotate. The second inner drive shaft is connected to the second drive shaft to drive the second drive shaft to rotate.

[0014] The third coaxial power unit includes a third hollow drive shaft tube and a third inner drive shaft that can rotate independently under the drive of a motor respectively. The third inner drive shaft is inserted into the third hollow drive shaft tube. The end of the third hollow drive shaft tube is connected to the fifth central block to drive the fifth central block to rotate. The third inner drive shaft is connected to the third drive shaft to drive the third drive shaft to rotate.

[0015] The control device is arranged in the mounting base and can control the first coaxial power unit, the second coaxial power unit and the third coaxial power unit to generate actions.

[0016] According to an embodiment of the present invention, the connection between the first coaxial power unit and the first central block and the first drive shaft is detachable. The connection between the second coaxial power unit and the third central block and the second drive shaft is detachable. The connection between the third coaxial power unit and the fifth central block and the third drive shaft is detachable.

[0017] According to an embodiment of the present invention, a plurality of grooves are provided at the edge of the first central block, and a convex block capable of cooperating with the grooves on the first central block is provided at the end of the first hollow drive shaft tube. A plurality of grooves are provided at the edge of the third central block, and a convex block capable of cooperating with the grooves on the third central block is provided at the end of the second hollow drive shaft tube. A plurality of grooves are provided at the edge of the fifth central block, and a convex block capable of cooperating with the grooves on the fifth central block is provided at the end of the third hollow drive shaft tube.

[0018] According to an embodiment of the present invention, a magnetic connection assembly capable of connecting to each other is provided between the end of the first hollow drive shaft tube and the first central block. A magnetic connection assembly capable of connecting to each other is provided between the end of the second hollow drive shaft tube and the third central block. A magnetic connection assembly capable of connecting to each other is provided between the end of the third hollow drive shaft tube and the fifth central block.

[0019] According to an embodiment of the present invention, the first drive shaft is arranged vertically, and the second drive shaft and the third drive shaft are arranged horizontally and coaxially.

[0020] According to an embodiment of the present invention, the first driving shaft is vertically arranged, the second driving shaft and the third driving shaft are horizontally arranged, and the second driving shaft and the third driving shaft are perpendicular to each other.

[0021] According to an embodiment of the present invention, the control device includes a touch screen that is hingedly mounted on the mounting base and can be turned upward in a vertical state.

[0022] According to an embodiment of the present invention, the mounting base is located below the three - order Rubik's Cube body.

[0023] According to an embodiment of the present invention, the central frame is formed by splicing two hemispherical shells.

[0024] According to an embodiment of the present invention, the control device includes a voice module capable of receiving user voice input.

[0025] From the above technical solutions, the advantages and positive effects of the present invention are as follows:

[0026] The co - axial Rubik's Cube robot of the present invention connects and drives three faces of the three - order Rubik's Cube body through three co - axial power units, and can rotate the center blocks, edge blocks and corner blocks on the six faces of the three - order Rubik's Cube body, so as to demonstrate the usage method and restoration formula of the Rubik's Cube. During use, since the three surfaces of the Rubik's Cube are blank surfaces without connecting drive shaft components, and there is no need for relevant drive structures to continuously separate and combine with the Rubik's Cube to interfere with the line of sight, the action process of the Rubik's Cube can be clearly demonstrated, which is beneficial to improving the teaching effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] By referring to the accompanying drawings and describing its exemplary embodiments in detail, the above and other features and advantages of the present invention will become more obvious.

[0028] Figure 1 is a three - dimensional structure schematic diagram of the co - axial Rubik's Cube robot according to an embodiment of the present invention;

[0029] Figure 2 is Figure 1 a schematic diagram of the three - order Rubik's Cube body shown in

[0030] Figure 3 is Figure 2 a schematic diagram of the three - order Rubik's Cube body shown in

[0031] Figure 4 is a schematic diagram showing Figure 2 the internal drive device shown in

[0032] Figure 5 isFigure 4 Schematic diagram of the upper frame in

[0033] Figure 6 is Figure 4 Schematic diagram of the lower frame in

[0034] Figure 7 is Figure 4 Exploded decomposition schematic diagram of the internal drive device shown in

[0035] Figure 8 is Figure 4 Top view structural schematic diagram of the internal drive device shown in

[0036] Figure 9 is Figure 7 Schematic diagram of the first driving shaft in

[0037] Figure 10 is Figure 7 Schematic diagram of the structure of the first sleeve in

[0038] Figure 11 is Figure 3 Schematic diagram of the structure of the first central block in

[0039] Figure 12 is Figure 7 Schematic diagram of the structure of the second driving shaft in

[0040] Figure 13 is Figure 7 Schematic diagram of the structure of the second driven shaft in

[0041] Figure 14 is Figure 7 Schematic diagram of the structure of the third driving shaft in

[0042] Figure 15 is Figure 7 Schematic diagram of the structure of the third driven shaft in

[0043] Figure 16 is Figure 2 Schematic diagram of the structure of the prism block in

[0044] Figure 17 is Figure 2 Schematic diagram of the structure of the corner block in

[0045] Figure 18 is Figure 2 Schematic diagram of the structure of the second central block in

[0046] Figure 19 is Figure 18 Schematic diagram of the structure of the end cover on the second central block shown in

[0047] Figure 20Yes Figure 1 Schematic structural diagram of the first coaxial power unit in

[0048] Figure 21 Yes Figure 20 Exploded decomposition schematic diagram of the first coaxial power unit shown in

[0049] Figure 22 Yes Figure 1 Schematic structural diagram of the second coaxial power unit in

[0050] Figure 23 Yes Figure 1 Schematic structural diagram of the third coaxial power unit in

[0051] Figure 24 Schematic structural diagram of the coaxial Rubik's Cube robot according to another embodiment of the present invention.

[0052] In the figure: 1, three - order Rubik's Cube body; 11, first center block; 111, groove; 110, counterbore; 12, second center block; 121, end cap; 13, third center block; 14, fourth center block; 15, fifth center block; 16, sixth center block; 17, edge block; 18, corner block; 2, mounting base; 21, touch screen; 30, center frame; 301, upper frame; 3011, half - threaded hole; 3012, half - threaded hole; 3013, semi - light hole; 3014, semi - light hole; 3015, center light hole; 302, lower frame; 3021, half - threaded hole; 3022, half - threaded hole; 3023, semi - light hole; 3024, semi - light hole; 3025, center threaded hole; 311, first driving shaft; 3110, shaft shoulder; 312, first sleeve; 321, second driving shaft; 322, second driven shaft; 323, second sleeve; 324, first bevel gear; 325, second bevel gear; 331, third driving shaft; 332, third driven shaft; 333, third sleeve; 334, third bevel gear; 335, fourth bevel gear; 304, screw; 4, first coaxial power unit; 41, first hollow driving shaft tube; 42, first inner driving shaft; 43, first driving motor; 44, second driving motor; 45, convex block; 5, second coaxial power unit; 51, second hollow driving shaft tube; 52, second inner driving shaft; 53, third driving motor; 54, fourth driving motor; 55, convex block; 6, third coaxial power unit; 61, third hollow driving shaft tube; 62, third inner driving shaft; 63, fifth driving motor; 64, sixth driving motor; 65, convex block. Specific embodiments

[0053] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. Like reference numerals in the figures denote like or similar structures, and thus their detailed description will be omitted.

[0054] As Figures 1 to 20 shown, an embodiment of the present invention discloses a coaxial Rubik's Cube robot. This second-order six-axis Rubik's Cube learning machine can automatically rotate under the control of an operator, so as to automatically display Rubik's Cube movements for Rubik's Cube teaching.

[0055] This coaxial Rubik's Cube robot includes a third-order Rubik's Cube body 1, a control device; a mounting base 2, an internal driving device, and a first coaxial power unit 4, a second coaxial power unit 5, and a third coaxial power unit 6 provided on the mounting base 2.

[0056] The third-order Rubik's Cube body 1 includes six center blocks, twelve edge blocks 17, and eight corner blocks 18. These center blocks, edge blocks, and corner blocks enclose an internal space. These six center blocks are respectively a first center block 11, a second center block 12, a third center block 13, a fourth center block 14, a fifth center block 15, and a sixth center block 16. As Figures 1 to 4 shown, when observed at Figure 1 the angle shown, the first center block 11 and the second center block 12 are located on two opposite faces of the third-order Rubik's Cube body 1, specifically on the bottom face and the top face respectively; the third center block 13 and the fourth center block 14 are respectively located on two adjacent faces of the third-order Rubik's Cube body 1, specifically on the left face and the front face respectively; the fifth center block 15 and the sixth center block 16 are respectively located on two adjacent faces of the third-order Rubik's Cube body 1, specifically on the right face and the back face respectively.

[0057] In this embodiment, the mounting base 2 is located below the third-order Rubik's Cube body 1. The mounting base 2 can be placed on a tabletop or a display stand. In other embodiments of the present invention, the mounting base 2 can also be in other positions. For example, the mounting base 2 can be located above the third-order Rubik's Cube body 1 or flush with the third-order Rubik's Cube body 1, and can be used to hang the third-order Rubik's Cube body 1 on a wall or other positions. In this embodiment, the control device is arranged inside the mounting base 2, and the control device includes a touch screen 21 that is hingedly mounted on the mounting base 2 and can be turned upward in a vertical state.

[0058] The structure of the edge block 17 is as Figure 16 shown, and the structure of the corner block 18 is as Figure 17As shown. The connection relationships among these edge blocks 17, corner blocks 18 and center blocks are prior art. The internal driving device is arranged inside the third-order Rubik's Cube body 1. This internal driving device can drive the six center blocks to rotate, so as to drive the edge blocks 17 and corner blocks 18 on the same face as the center blocks to rotate through the rotation of the center blocks, achieving the purpose of automatically rotating the Rubik's Cube. Refer to Figures 4 to 15 , this internal driving device includes a center frame 30, a first drive shaft assembly, a second drive shaft assembly and a third drive shaft assembly.

[0059] In this embodiment, the center frame 30 is a spherical structure formed by splicing two hemispherical shells. These two hemispherical shells are the upper frame 301 and the lower frame 302 respectively. The upper frame 301 and the lower frame 302 can be connected together by screws, buckles, glue, etc. The upper frame 301 and the lower frame 302 can also be combined into other structures such as a square. The upper frame 301 is provided with a half-threaded hole 3011, a half-threaded hole 3012, a half-light hole 3013, a half-light hole 3014 and a center light hole 3015. The lower frame 302 is provided with a half-threaded hole 3021, a half-threaded hole 3022, a half-light hole 3023, a half-light hole 3024 and a center threaded hole 3025. After buckling the upper frame 301 and the lower frame 302 together, the half-threaded hole 3011 and the half-threaded hole 3021 are spliced into a complete threaded hole, and the half-threaded hole 3012 and the half-threaded hole 3022 are spliced into a complete threaded hole; the half-light hole 3013 and the half-light hole 3023 are spliced into a complete light hole; the half-light hole 3014 and the half-light hole 3024 are spliced into a complete light hole.

[0060] Such as Figure 7As shown, the first drive shaft assembly includes a first driving shaft 311 and a first sleeve 312. The first sleeve 312 is fixedly arranged on the central frame 30, and a first central block 11 is rotatably arranged on the first sleeve 312. The first driving shaft 311 is rotatably arranged on the central frame 30. A second central block 12 is fixedly connected to the first end of the first driving shaft 311, and the second end is inserted into the first sleeve 312. In this embodiment, the first driving shaft 311 is vertically arranged. One end of the first sleeve 312 is provided with an external thread, and the other end is provided with a baffle. The external thread of the first sleeve 312 matches the central threaded hole 3025 of the central frame 30. A counterbore 110 is provided on the first central block 11. After the first sleeve 312 passes through the counterbore 110, the baffle of the first sleeve 312 can cooperate with the counterbore 110 to prevent the first central block 11 from disengaging from the first sleeve 312, and the end of the first sleeve 312 with the external thread is screwed into the central threaded hole 3025. The first driving shaft 311 is inserted into the central light hole 3015, and a shaft shoulder 3110 for preventing the first driving shaft 311 from disengaging from the central light hole 3015 is provided on the first driving shaft 311. The second central block 12 is installed at one end of the first driving shaft 311 by a screw 304, and an end cover 121 is covered on the second central block 12.

[0061] The second drive shaft assembly includes a second driving shaft 321, a second driven shaft 322 and a second sleeve 323. The second sleeve 323 is fixedly arranged on the central frame 30, and a third central block 13 is rotatably arranged on the second sleeve 323. The second driving shaft 321 is arranged in the second sleeve 323. The second driven shaft 322 is rotatably arranged on the central frame 30 and fixedly connected to a fourth central block 14. A first bevel gear 324 and a second bevel gear 325 with a transmission ratio of 1 and meshing with each other are arranged between the second driving shaft 321 and the second driven shaft 322. The structure of the second sleeve 323 is the same as that of the first sleeve 312. The second sleeve 323 is installed in a complete threaded hole formed by splicing a half-threaded hole 3011 and a half-threaded hole 3021.

[0062] The third drive shaft assembly includes a third driving shaft 331, a third driven shaft 332, and a third sleeve 333. The third sleeve 333 is fixedly arranged on the central frame 30, and a fifth central block 15 is rotatably arranged on the third sleeve 333. The third driving shaft 331 is arranged inside the third sleeve 333. The third driven shaft 332 is rotatably arranged on the central frame 30 and is fixedly connected to a sixth central block 16. A third bevel gear 334 and a fourth bevel gear 335 with a transmission ratio of 1 and meshing with each other are arranged between the third driving shaft 331 and the third driven shaft 332. The sizes of the third bevel gear 334 and the fourth bevel gear 335 are larger than those of the first bevel gear 324 and the second bevel gear 325. The structure of the third sleeve 333 is the same as that of the first sleeve 312. The third sleeve 333 is installed in a complete threaded hole formed by splicing a half-threaded hole 3012 and a half-threaded hole 3022. In this embodiment, the second driving shaft 321 and the third driving shaft 331 are arranged horizontally and coaxially.

[0063] As Figure 20 and Figure 21 shown, the first coaxial power unit 4 includes a first hollow drive shaft tube 41 and a first inner drive shaft 42 that can rotate independently under the drive of a motor respectively. The first inner drive shaft 42 is inserted into the first hollow drive shaft tube 41. The end of the first hollow drive shaft tube 41 is connected to the first central block 11 to drive the first central block 11 to rotate. The first inner drive shaft 42 is connected to the first driving shaft 311 to drive the first driving shaft 311 to rotate. In this embodiment, the connection between the first coaxial power unit 4 and the first central block 11 and the first driving shaft 311 is detachable. More specifically, a plurality of grooves 111 are provided at the edge of the first central block 11, and a convex block 45 that can cooperate with the grooves on the first central block 11 is provided at the end of the first hollow drive shaft tube 41. A square groove is provided at the end of the first inner drive shaft 42, and the end of the first driving shaft 311 is a square handle, which is inserted into the square groove of the first inner drive shaft 42. A magnetic connection assembly capable of connecting to each other is further provided between the end of the first hollow drive shaft tube 41 and the first central block 11. The magnetic connection assembly can include two magnets, or one magnet and one magnetic block. The first hollow drive shaft tube 41 and the first central block 11 can also be connected by connecting pieces such as screws. The first hollow drive shaft tube 41 is driven by a first drive motor 43, and the two are driven by gear transmission. The first inner drive shaft 42 is driven by a second drive motor 44. The first drive motor 43 and the second drive motor 44 can be stepper motors, servo motors, or controllable motors such as continuously rotatable servos.

[0064] As Figure 22As shown, the structure of the second coaxial power unit 5 is the same as that of the first coaxial power unit 4. The second coaxial power unit 5 includes a second hollow drive shaft tube 51 and a second inner drive shaft 52 that can rotate independently under the drive of a motor respectively. The second inner drive shaft 52 is inserted into the second hollow drive shaft tube 51. The end of the second hollow drive shaft tube 51 is connected to the third central block 13 to drive the third central block 13 to rotate. The second inner drive shaft 52 is connected to the second drive shaft 321 to drive the second drive shaft 321 to rotate. In this embodiment, the connection between the second coaxial power unit 5 and the third central block 13 and the second drive shaft 321 is detachable. The structure of the third central block 13 is the same as that of the first central block 11. Specifically, a plurality of grooves are provided at the edge of the third central block 13, and a convex block 55 that can cooperate with the grooves on the third central block 13 is provided at the end of the second hollow drive shaft tube 51. A square groove is provided at the end of the second inner drive shaft 52, and the end of the second drive shaft 321 is a square handle, and the square handle is inserted into the square groove of the second inner drive shaft 52. A magnetic connection assembly capable of connecting to each other is further provided between the end of the second hollow drive shaft tube 51 and the third central block 13. The magnetic connection assembly may include two magnets, or one magnet and one magnetic block. The second hollow drive shaft tube 51 and the third central block 13 may also be connected by connecting members such as screws. The second hollow drive shaft tube 51 is driven by a third drive motor 53, and the two are driven by a gear. The second inner drive shaft 52 is driven by a fourth drive motor 54. The third drive motor 53 and the fourth drive motor 54 may be stepper motors, servo motors, or controllable motors such as continuously rotatable servos.

[0065] As Figure 23As shown in the figure, the third coaxial power unit 6 includes a third hollow drive shaft tube 61 and a third inner drive shaft 62 that can rotate independently under the drive of a motor respectively. The third inner drive shaft 62 is inserted into the third hollow drive shaft tube 61. The end of the third hollow drive shaft tube 61 is connected to the fifth central block 15 to drive the fifth central block 15 to rotate. The third inner drive shaft 62 is connected to the third driving shaft 331 to drive the third driving shaft 331 to rotate. In this embodiment, the connection between the third coaxial power unit 6 and the fifth central block 15 and the third driving shaft 331 is detachable. The structure of the fifth central block 15 is the same as that of the first central block 11. Specifically, a plurality of grooves are provided at the edge of the fifth central block 15, and a convex block 65 that can cooperate with the grooves on the fifth central block 15 is provided at the end of the third hollow drive shaft tube 61. A square groove is provided at the end of the third inner drive shaft 62, and the end of the third driving shaft 331 is a square handle, and the square handle is inserted into the square groove of the third inner drive shaft 62. A magnetic connection assembly capable of connecting to each other is further provided between the end of the third hollow drive shaft tube 61 and the fifth central block 15. The magnetic connection assembly may include two magnets, or one magnet and one magnetic block. The third hollow drive shaft tube 61 and the fifth central block 15 may also be connected by connecting members such as screws. The third hollow drive shaft tube 61 is driven by a fifth drive motor 63, and the two are driven by a gear. The third inner drive shaft 62 is driven by a sixth drive motor 64. The fifth drive motor 63 and the sixth drive motor 64 may be a stepper motor, a servo motor, or a controllable motor such as a continuously rotating servo.

[0066] The control device can control the first coaxial power unit 4, the second coaxial power unit 5, and the third coaxial power unit 6 to generate actions, so as to drive the three - order Rubik's Cube body 1 to rotate. The control device may include automatic control components such as a single - chip microcomputer. The user can send control instructions to the control device through the touch screen 21, and the control device then controls the first coaxial power unit 4, the second coaxial power unit 5, and the third coaxial power unit 6 to generate actions. The control device can also communicate with intelligent devices such as smart phones or tablet computers through a Bluetooth module, a wifi module, etc., and the user sends control instructions to the control device through the intelligent device. The control device may also include a voice module capable of receiving user voice input.

[0067] The following introduces the specific action process of this coaxial Rubik's Cube robot.

[0068] Since the first hollow drive shaft tube 41 of the first coaxial power unit 4 is connected to the first central block 11 and the first inner drive shaft 42 is connected to the first driving shaft 311, under the control of the control device, when the first drive motor 43 rotates, it can drive the first inner drive shaft 42 to rotate. The first inner drive shaft 42 then drives the first driving shaft 311 to rotate. When the first driving shaft 311 rotates, it drives the second central block 12 to rotate. When the second drive motor 44 rotates, it can drive the first hollow drive shaft tube 41 to rotate. The first hollow drive shaft tube 41 then drives the first central block 11 to rotate. That is to say, the first coaxial power unit 4 can drive the first central block 11 and the second central block 12 to rotate, and then the first central block 11 and the second central block 12 drive the surrounding edge blocks and corner blocks to rotate.

[0069] Since the second hollow drive shaft tube 51 of the second coaxial power unit 5 is connected to the third central block 13 and the second inner drive shaft 52 is connected to the second driving shaft 321, under the control of the control device, when the third drive motor 53 rotates, it can drive the second inner drive shaft 52 to rotate. The second inner drive shaft 52 then drives the second driving shaft 321 to rotate. When the second driving shaft 321 rotates, it drives the second driven shaft 322 to rotate. The second driven shaft 322 then drives the fourth central block 14 to rotate. When the fourth drive motor 54 rotates, it can drive the second hollow drive shaft tube 51 to rotate. The second hollow drive shaft tube 51 then drives the third central block 13 to rotate. That is to say, the second coaxial power unit 5 can drive the third central block 13 and the fourth central block 14 to rotate, and then the third central block 13 and the fourth central block 14 drive the surrounding edge blocks and corner blocks to rotate.

[0070] Since the third hollow drive shaft tube 61 of the third coaxial power unit 6 is connected to the fifth central block 15 and the third inner drive shaft 62 is connected to the third driving shaft 331, under the control of the control device, when the fifth drive motor 63 rotates, it can drive the third inner drive shaft 62 to rotate. The third inner drive shaft 62 then drives the third driving shaft 331 to rotate. When the third driving shaft 331 rotates, it drives the third driven shaft 332 to rotate. The third driven shaft 332 then drives the sixth central block 16 to rotate. When the sixth drive motor 64 rotates, it can drive the third hollow drive shaft tube 61 to rotate. The third hollow drive shaft tube 61 then drives the fifth central block 15 to rotate. That is to say, the third coaxial power unit 6 can drive the fifth central block 15 and the sixth central block 16 to rotate, and then the fifth central block 15 and the sixth central block 16 drive the surrounding edge blocks and corner blocks to rotate.

[0071] As can be seen from the above description, by connecting and driving three faces of the Rubik's Cube body 1 with three coaxial power units, the central blocks, edge blocks, and corner blocks on the six faces of the Rubik's Cube body 1 can be rotated, thereby demonstrating the usage method and restoration formula of the Rubik's Cube. During use, since the three surfaces of the Rubik's Cube are blank surfaces without connecting drive shaft components, and there is no need for relevant drive structures to continuously separate and combine with the Rubik's Cube to interfere with the line of sight, the movement process of the Rubik's Cube can be clearly demonstrated, which is beneficial to improving the teaching effect.

[0072] Next, taking the most basic technique "up, turn back, down, turn back" in demonstrating the restoration of the Rubik's Cube as an example, the movement process of this coaxial Rubik's Cube robot will be described again. The so-called up, turn back, down, turn back technique refers to the following process for the Rubik's Cube user: The first step: Use the right hand to rotate the right side of the Rubik's Cube upward by 90 degrees; The second step: Rotate the top surface of the Rubik's Cube clockwise by 90 degrees; The third step: Use the right hand to rotate the right side of the Rubik's Cube downward by 90 degrees; The fourth step: Rotate the top surface of the Rubik's Cube counterclockwise by 90 degrees. The corresponding demonstration of this movement process by this coaxial Rubik's Cube robot is as follows: The first step, driven by the sixth drive motor 64 of the third coaxial power unit 6, the third hollow drive shaft tube 61 drives the fifth central block 15 located on the right side of the Rubik's Cube body 1 to rotate clockwise by 90 degrees. At this time, the edge blocks and corner blocks on the right side of the Rubik's Cube body 1 rotate upward by 90 degrees; The second step, driven by the second drive motor 44 of the first coaxial power unit 4, the first inner drive shaft 42 drives the second central block 12 located on the top of the Rubik's Cube body 1 to rotate clockwise by 90 degrees; The third step, driven by the sixth drive motor 64 of the third coaxial power unit 6, the third hollow drive shaft tube 61 drives the fifth central block 15 located on the right side of the Rubik's Cube body 1 to rotate counterclockwise by 90 degrees; The fourth step, driven by the second drive motor 44 of the first coaxial power unit 4, the first inner drive shaft 42 drives the second central block 12 located on the top of the Rubik's Cube body 1 to rotate counterclockwise by 90 degrees.

[0073] As Figure 24 can be seen, in addition to the T-shaped layout according to Figure 1 , the three coaxial power units of the coaxial Rubik's Cube robot of the present invention can also be in a mutually perpendicular layout. In this case, only the positions of the third driving shaft 331 and the third driven shaft 332 need to be interchanged. At this time, the first driving shaft 311 is still vertically arranged, the second driving shaft 321 and the third driving shaft 331 are horizontally arranged, and the second driving shaft 321 and the third driving shaft 331 are perpendicular to each other.

[0074] The above has specifically shown and described the exemplary embodiments of the present invention. It should be understood that the present invention is not limited to the disclosed embodiments. On the contrary, the present invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A coaxial Rubik's Cube robot, comprising a third-order Rubik's Cube body, the third-order Rubik's Cube body including six center blocks, twelve edge blocks and eight corner blocks, the center blocks, edge blocks and corner blocks enclosing an internal space, the six center blocks being a first center block, a second center block, a third center block, a fourth center block, a fifth center block and a sixth center block, characterized in that, The coaxial Rubik's cube robot also includes a control device, a mounting base, an internal drive device, and a first coaxial power unit, a second coaxial power unit, and a third coaxial power unit arranged on the mounting base to support the three-order Rubik's cube body on the mounting base; The internal drive device is arranged in the internal space of the three-order magic cube body, and the internal drive device includes a central frame, a first drive shaft assembly, a second drive shaft assembly and a third drive shaft assembly; The first drive shaft assembly includes a first driving shaft and a first sleeve, wherein the first sleeve is fixedly arranged on the central frame, and the first central block is rotatably arranged on the first sleeve; the first driving shaft is rotatably arranged on the central frame, the first end of the first driving shaft is fixedly connected to the second central block, and the second end is inserted into the first sleeve; The second drive shaft assembly includes a second driving shaft, a second driven shaft and a second sleeve, the second sleeve is fixedly arranged on the central frame, and the third central block is rotatably arranged on the second sleeve, the second driving shaft is arranged in the second sleeve, the second driven shaft is rotatably arranged on the central frame and fixedly connected to the fourth central block, and a first bevel gear and a second bevel gear with a transmission ratio of 1 that mesh with each other are arranged between the second driving shaft and the second driven shaft; The third driving shaft assembly comprises a third driving shaft, a third driven shaft and a third sleeve, the third sleeve is fixedly arranged on the central frame, and the fifth central block is rotatably arranged on the third sleeve, the third driving shaft is arranged in the third sleeve, the third driven shaft is rotatably arranged on the central frame and is fixedly connected to the sixth central block, and a third bevel gear and a fourth bevel gear with a transmission ratio of 1 that mesh with each other are arranged between the third driving shaft and the third driven shaft; the sizes of the third bevel gear and the fourth bevel gear are larger than the first bevel gear and the second bevel gear; The first coaxial power unit comprises a first hollow drive shaft tube and a first inner drive shaft which can rotate autonomously under the drive of a motor respectively, wherein the first inner drive shaft is inserted into the first hollow drive shaft tube; an end of the first hollow drive shaft tube is connected to the first center block to drive the first center block to rotate; the first inner drive shaft is connected to the first driving shaft to drive the first driving shaft to rotate; The second coaxial power unit comprises a second hollow drive shaft tube and a second inner drive shaft which can rotate autonomously under the drive of a motor respectively, and the second inner drive shaft is inserted in the second hollow drive shaft tube; the end of the second hollow drive shaft tube is connected to the third center block to drive the third center block to rotate; the second inner drive shaft is connected to the second driving shaft to drive the second driving shaft to rotate; The third coaxial power unit comprises a third hollow drive shaft tube and a third inner drive shaft which can rotate autonomously under the drive of a motor respectively, and the third inner drive shaft is inserted in the third hollow drive shaft tube; the end of the third hollow drive shaft tube is connected to the fifth center block to drive the fifth center block to rotate; the third inner drive shaft is connected to the third driving shaft to drive the third driving shaft to rotate; The control device is arranged in the mounting base, and can control the first coaxial power unit, the second coaxial power unit and the third coaxial power unit to produce actions.

2. The coaxial Rubik's Cube robot according to claim 1, wherein The first coaxial power unit is detachably connected to the first center block and the first driving shaft; the second coaxial power unit is detachably connected to the third center block and the second driving shaft; and the third coaxial power unit is detachably connected to the fifth center block and the third driving shaft.

3. The coaxial Rubik's Cube robot according to claim 2, characterized in that, Several grooves are provided at the edge of the first center block, and a protrusion that can cooperate with the grooves on the first center block is provided at the end of the first hollow drive shaft tube; several grooves are provided at the edge of the third center block, and a protrusion that can cooperate with the grooves on the third center block is provided at the end of the second hollow drive shaft tube; several grooves are provided at the edge of the fifth center block, and a protrusion that can cooperate with the grooves on the fifth center block is provided at the end of the third hollow drive shaft tube.

4. The coaxial Rubik's Cube robot according to claim 3, characterized in that, A magnetic connection component that can be connected to each other is provided between the end of the first hollow drive shaft tube and the first center block; a magnetic connection component that can be connected to each other is provided between the end of the second hollow drive shaft tube and the third center block; a magnetic connection component that can be connected to each other is provided between the end of the third hollow drive shaft tube and the fifth center block.

5. The coaxial Rubik's Cube robot according to claim 1, wherein The first driving shaft is arranged vertically, and the second driving shaft and the third driving shaft are arranged horizontally coaxially.

6. The coaxial Rubik's Cube robot according to claim 1, characterized in that The first driving shaft is arranged vertically, the second driving shaft and the third driving shaft are arranged horizontally, and the second driving shaft and the third driving shaft are perpendicular to each other.

7. The coaxial Rubik's Cube robot according to claim 1, wherein The control device comprises a touch screen hingedly mounted on the mounting base and capable of flipping upward in a vertical state.

8. The coaxial Rubik's Cube robot according to claim 1, characterized in that, The mounting base is located below the three-order Rubik's Cube body.

9. The coaxial Rubik's Cube robot according to claim 1, wherein The central frame is composed of two hemispherical shells.

10. The coaxial Rubik's Cube robot according to claim 1, wherein, The control device includes a voice module capable of receiving a user's voice input.

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