A magic cube ball axis and its signal synchronization method

Abstract

The present invention discloses a magic cube ball axis, comprising a transmission shaft assembly, wherein the transmission shaft assembly comprises a bracket, a transmission shaft and an inner shell, wherein a circuit board is mounted on the bracket via a bracket column, and a contact sheet is mounted on the circuit board; a locking shell is fixedly mounted on the bottom end of the transmission shaft, and a spring sheet is fixedly mounted inside the locking shell, and the spring sheet is attached to the upper surface of the contact sheet; a signal synchronization method for a magic cube ball axis comprises the following steps: S1, rotation of an intelligent magic cube ball axis; S2, acquisition of rotation signal by the transmission shaft; S3, preprocessing of the rotation signal; S4, data transmission and delay compensation; S5, delay compensation mechanism; S6, prediction and optimization; the present invention generates a pulse signal by rotating the contact sheet through the spring sheet on the transmission shaft, transmits the signal through a delay compensation algorithm, and realizes synchronous transmission of the signal, thereby realizing simulated predicted rotation of the intelligent magic cube.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent Rubik's Cube, and more specifically, particularly relates to a Rubik's Cube ball axis. Meanwhile, the present invention also relates to a signal synchronization method of the Rubik's Cube ball axis. Background Art

[0002] A smart Rubik's Cube usually refers to a Rubik's Cube that combines technologies such as electronics, sensors, and intelligent algorithms on the basis of a traditional Rubik's Cube to provide richer functions and user interaction experience.

[0003] By introducing modern technology, the Smart Cube not only improves the entertainment and educational value of the Rubik's Cube, but also brings more interactions and challenges, suitable for users of all ages. From beginners to professional players, the Smart Cube can provide personalized help and guidance, and can continuously record and optimize players' performance, promoting the continuous progress of Rubik's Cube enthusiasts.

[0004] These smart cubes generally have the following characteristics:

[0005] Automatic Solving: The Smart Cube can automatically solve the Rubik's Cube using built-in sensors and algorithms. By analyzing the color distribution of each face, the system can quickly calculate a solution and automatically rotate the faces of the Rubik's Cube until it returns to its original single-color state.

[0006] Real-time status monitoring: Built-in sensors can track the rotation status of each face of the Rubik's Cube in real time, and transmit data to a mobile phone application or computer via Bluetooth or other wireless communication methods. Users can view each step of the Rubik's Cube rotation, or follow the solution steps provided by the application to complete the Rubik's Cube step by step.

[0007] Smart Guidance: Smart cubes are usually equipped with smartphone apps, through which users can get real-time guidance. The system will adjust suggestions in real time according to the user's operation to help users quickly complete the cube. The app usually displays the current status and gives the optimal steps and tips.

[0008] Game and challenge modes: In addition to the traditional Rubik's Cube solving function, the Smart Cube can also have multiple game modes built in. For example, users can solve the Rubik's Cube within a set time, or challenge it at different difficulty levels. In addition, some Smart Cubes can also simulate multiple different Rubik's Cube variants, such as the 4th-order Rubik's Cube, the 5th-order Rubik's Cube, etc.

[0009] Intelligent optimization and adaptive control: The intelligent Rubik's Cube uses integrated sensors and algorithms to analyze each round of rotation and state changes, and provides adaptive optimization strategies during the user's solution process. For example, by identifying whether the user has excessive rotation, the intelligent Rubik's Cube will adjust its movement mode to reduce unnecessary rotations, thereby improving the efficiency of solving the problem.

[0010] Multi-platform compatibility and data recording: The smart cube can be synchronized with a mobile phone or tablet via Bluetooth, recording the time and steps of each time the user solves the cube, and generating detailed data reports in the APP. Users can view their progress and find areas that need improvement through data analysis.

[0011] However, there are some problems with the existing technology: when the existing intelligent Rubik's Cube is in use, the transmission shaft is detected through a large number of sensors, resulting in less internal structure of the intelligent Rubik's Cube, and it is easy to cause obstruction when the block rotates, and it is easy to cause delays in data information transmission, and it is impossible to achieve predictive rotation. Therefore, we propose a Rubik's Cube ball axis and its signal synchronization method. Summary of the invention

[0012] In view of the problems existing in the prior art, the purpose of the present invention is to provide a Rubik's Cube ball axis and its signal synchronization method, which realizes the rotation of the contact piece to generate a pulse signal through the spring piece on the transmission shaft, and transmits the signal through a delay compensation algorithm, thereby facilitating the rotation of the intelligent Rubik's Cube, and realizing the synchronous transmission of the signal, so as to facilitate the simulation and predictive rotation of the intelligent Rubik's Cube.

[0013] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a magic cube ball shaft, comprising a transmission shaft assembly, the transmission shaft assembly comprising a bracket, a transmission shaft and an inner shell, a battery is fixedly installed on the inner side of the bracket, a bracket column is provided on the bracket, a circuit board is installed on the bracket column, the circuit board is electrically connected to the battery, and a contact sheet is provided on the circuit board; a snap-fit ​​shell is fixedly provided at the bottom end of the transmission shaft, a spring sheet is fixedly installed inside the snap-fit ​​shell, the spring sheet is attached to the upper surface of the contact sheet and slides relative to the contact sheet;

[0014] The inner shell is fixed on the bracket column, and a limiting ring is provided on the inner shell. The engaging shell is movably located inside the limiting ring. The engaging shell is closely connected to the inner shell and is rotatable relative to the inner shell.

[0015] Specifically, the circuit board is connected between the bracket columns through a positioning groove, and a transmission shaft positioning hole is opened in the middle of the circuit board;

[0016] The transmission shaft is fixedly provided with a transmission shaft positioning column at the inner center of the locking shell, and the transmission shaft positioning column is movably located inside the transmission shaft positioning hole.

[0017] Specifically, an inner shell is fixedly installed on several of the bracket columns by screws, several shell limiting teeth are fixedly provided on the edge of the inner shell, several of the inner shells are mutually engaged and connected by several of the shell limiting teeth, three first magnet grooves are provided on the edge of the inner shell, and the first magnet grooves are fixedly installed inside.

[0018] Specifically, the transmission shaft passes through the inner shell, two limiting columns are fixedly provided on one side of the inner portion of the locking shell, and one side of the spring sheet is locked and connected to the two limiting columns.

[0019] Specifically, the outer side of the transmission shaft assembly is composed of a tilted Rubik's Cube body by combining a first edge block and a first center block, the inner side of the first edge block is provided with a first connecting plate, the inner side of the first center block is provided with a second connecting plate, the first edge block is clamped and connected to one end of the transmission shaft, and the first center block is clamped and connected through the first connecting plate and the second connecting plate.

[0020] Specifically, the outer side of the transmission shaft assembly is composed of a maple leaf magic cube body by combining a second edge block and a second center block, the inner side of the second edge block is provided with a first mounting frame, the interior of the first mounting frame is provided with an encoding wheel, one end of the transmission shaft is snap-connected to the encoding wheel, the inner side of the second center block is provided with a second mounting frame, and the second mounting frame is movably installed between the first mounting frames.

[0021] Specifically, a communication module is provided on the circuit board, and a charging hole is provided on the transmission shaft assembly.

[0022] The charger comprises a charging shell, a charging circuit board is fixedly installed inside the charging shell, a second magnet groove is fixedly provided on the inner edge of the charging shell, and a second magnet is fixedly installed inside the second magnet groove.

[0023] Specifically, a pole slot is fixedly provided in the middle of the charging shell, a charging cable socket is provided on one side of the charging shell, the charging cable socket is electrically connected to the charging circuit board, a charging pole is electrically connected in the middle of the charging circuit board, the charging pole is located inside the pole slot, and a placement groove is provided on the upper edge of the charging shell.

[0024] The signal synchronization method of the intelligent Rubik's Cube ball axis capable of synchronizing signals comprises the following steps:

[0025] S1. Transmission shaft collects rotation signal: When the transmission shaft rotates, the spring piece on the transmission shaft contacts the contact piece on the circuit board to generate a rotation signal;

[0026] S2. Data transmission: The circuit board transmits the generated rotation signal to the APP of the mobile device through the communication module.

[0027] Specifically, the step S2 further includes the following steps:

[0028] S3, processing the rotation signal: using an error correction algorithm to adjust the motion trajectory of each transmission shaft to eliminate synchronization errors;

[0029] S4, Delay compensation mechanism: When the rotation signal is transmitted through the communication module, the delay compensation algorithm is used to compensate for the delay in the signal transmission process, thereby ensuring synchronization accuracy;

[0030] S5. Prediction and optimization: Optimize future movements through prediction models, prepare for the synchronous action of each drive shaft in advance, and reduce lags during the adjustment process.

[0031] Specifically, the delay compensation algorithm in S4 uses a phase-locked loop to synchronize the clock of the received signal with the local clock;

[0032] Phase Difference

[0033]

[0034] in, is the phase of the received signal, is the phase of the local clock;

[0035] Phase lock error:

[0036]

[0037] Control voltage V control (t):

[0038] V control (t) = Kgu(t),

[0039] Where K is a constant representing the gain of the PLL;

[0040] The control voltage is used to adjust the local clock to ensure it is synchronized with the received signal.

[0041] Specifically, the calculation formula of the prediction model in S5 is as follows:

[0042]

[0043] Among them, x(k|t) is the prediction of the future state at time t, x ref (k|t) is the desired rotation state, is the weighted quadratic error term of the state error, Q is the weight matrix, is the weighted quadratic error term of the control input, R is the weight matrix of the control input, u(k|t) is the rotation information at time t, and N is the number of steps in the prediction time domain, that is, when optimizing, the state and control input of the next N steps are considered.

[0044] Technical effects and advantages of the present invention:

[0045] The present invention realizes the combined installation of the intelligent Rubik's Cube through the transmission shaft assembly, improves the compact structure inside the transmission shaft assembly, and realizes the installation of the battery inside the bracket in the transmission shaft assembly to realize the power supply of the intelligent Rubik's Cube, and the transmission shaft is connected with the contact piece on the circuit board through the spring piece, and the pulse signal is generated between the spring piece and the contact piece through the rotation of the transmission shaft, and the circuit board processes and transmits the generated pulse signal, so that the pulse signal is transmitted to the APP of the mobile device, so that the APP of the mobile device can realize the real-time synchronous motion state of the rotation of the intelligent Rubik's Cube;

[0046] In addition, the transmission shaft assembly and the internal structure are installed through the inner shell in the transmission shaft assembly to maintain the tightness of the installation of the equipment, and the inner shell is installed and connected through the bracket column, and the shell limiting teeth on the edge of the inner shell are used to realize the snap connection between multiple inner shells, thereby improving the sealing of the transmission shaft assembly, and the transmission shaft is used for connecting the edge blocks, so that the rotation information of the edge blocks can be obtained through the transmission shaft, and the rotation information of the smart Rubik's Cube can be obtained;

[0047] And the rotation information of the smart Rubik's Cube is transmitted synchronously, so that the rotation information can be transmitted to the APP of the mobile device through the Bluetooth module, so that the APP of the mobile device can obtain the rotation status of the smart Rubik's Cube. The APP of the mobile device predicts the rotation of the smart Rubik's Cube through the prediction model, so as to provide users with fast prediction steps and assist users in using the smart Rubik's Cube.

[0048] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic diagram of the structure of the obliquely rotating Rubik's Cube provided by the present invention;

[0050] Figure 2 It is a schematic diagram of the structure of the Maple Leaf Rubik's Cube provided by the present invention;

[0051] Figure 3 It is a schematic diagram of the structure of the obliquely rotating Rubik's Cube provided by the present invention;

[0052] Figure 4 It is a schematic diagram of the structure of the Maple Leaf Rubik's Cube provided by the present invention;

[0053] Figure 5 is a schematic diagram of a transmission shaft assembly provided by the present invention;

[0054] Figure 6 is an internal schematic diagram of a transmission shaft assembly provided by the present invention;

[0055] Figure 7 It is a schematic diagram of the inner structure of the inner shell provided by the present invention;

[0056] Figure 8 It is a schematic diagram of the rotating shaft connection structure provided by the present invention;

[0057] Fig. 9 It is a schematic diagram of the rotating shaft structure provided by the present invention;

[0058] Fig.10 It is a schematic diagram of the charging structure of the rotating shaft assembly provided by the present invention;

[0059] Fig.11 It is a schematic diagram of the charging housing structure provided by the present invention;

[0060] Fig.12 It is a schematic diagram of the internal structure of the charging housing provided by the present invention;

[0061] Fig.13 It is a schematic diagram of the step flow provided by the present invention.

[0062] In the figure: 1. Oblique Cube; 101. First Edge Block; 102. First Center Block; 103. First Connecting Plate; 104. Second Connecting Plate; 2. Maple Leaf Cube; 201. Second Edge Block; 202. Second Center Block; 203. Second Mounting Bracket; 204. First Mounting Bracket; 3. Transmission Shaft Assembly; 301. Bracket; 302. Bracket Column; 303. Inner Support Positioning Block; 304. Circuit Board; 305. Contact Plate; 306. Transmission Shaft Positioning Hole; 307. Inner Shell; 308 , screw; 309, first magnet; 310, transmission shaft; 311, first magnet slot; 312, housing limit teeth; 313, locking shell; 314, limit ring; 315, spring; 316, transmission shaft positioning column; 317, battery; 318, limit column; 319, charging port; 4, encoding wheel; 5, charging housing; 6, charging cable socket; 7, anti-slip pad; 8, charging pole; 9, placement slot; 10, connecting column; 11, second magnet slot; 12, second magnet; 13, pole slot. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0064] like Figures 1 to 10 As shown, a magic cube ball shaft provided by an embodiment of the present invention includes a transmission shaft assembly 3, the transmission shaft assembly 3 includes a bracket 301, a transmission shaft 310 and an inner shell 307, a battery 317 is fixedly installed on the inner side of the bracket 301, a bracket column 302 is arranged on the bracket 301, a circuit board 304 is installed on the bracket column 302, the circuit board 304 is electrically connected to the battery 317, and a contact sheet 305 is arranged on the circuit board 304; a snap-fit ​​shell 313 is fixedly arranged at the bottom end of the transmission shaft 310, a spring sheet 315 is fixedly installed inside the snap-fit ​​shell 313, and the spring sheet 315 is attached to the upper surface of the contact sheet 305 and slides relative to the contact sheet 305;

[0065] The inner shell 307 is fixed on the bracket column 302, and the inner shell 307 is provided with a limiting ring 314. The locking shell 313 is movable inside the limiting ring 314, and the locking shell 313 is tightly connected to the inner shell 307. The setting of the locking shell 313 is used to limit the inner shell 307, maintain the stability of the inner shell 307 in rotation, and can rotate relative to the inner shell 307.

[0066] In this embodiment, preferably, the circuit board 304 is connected between the bracket columns 302 through the positioning groove, a transmission shaft positioning hole 306 is opened in the middle of the circuit board 304, and an inner support positioning block 303 is fixedly installed on one of the circuit boards 304;

[0067] The transmission shaft 310 is fixedly provided with a transmission shaft positioning column 316 at the inner center of the engaging shell 313, and the transmission shaft positioning column 316 is movable inside the transmission shaft positioning hole 306;

[0068] It should be noted that the transmission shaft positioning column 316 is installed and connected through the transmission shaft positioning hole 306, the Rubik's Cube ball shaft contacts the circuit board 304 through the transmission shaft 310 and the contact piece 305, and the inner shell 307 is supported by the transmission shaft 310. The other circuit board 304 is a charging circuit board, and the inner shell 307 is supported by the internal support positioning block 303. The setting of the internal support positioning block 303 is convenient for protecting the circuit board 304 and supporting and fixing the inner shell 307.

[0069] In this embodiment, preferably, an inner shell 307 is fixedly installed on a plurality of bracket columns 302 by screws 308, a plurality of shell limiting teeth 312 are fixedly installed on the edge of the inner shell 307, and a plurality of inner shells 307 are mutually engaged and connected by the plurality of shell limiting teeth 312, and three first magnet grooves 311 are provided on the edge of the inner shell 307, and a first magnet 309 is fixedly installed inside the first magnet groove 311;

[0070] It should be noted that the inner shell 307 is fixedly installed on the bracket column 302 by screws 308 to maintain the stability of the inner shell 307, and each inner shell 307 is respectively engaged and connected by shell limiting teeth 312. The setting of the first magnet slot 311 and the first magnet 309 facilitates the connection of the adsorbed external structure.

[0071] In this embodiment, preferably, the transmission shaft 310 passes through the inner housing 307, two limiting posts 318 are fixedly provided on one side of the inner portion of the locking shell 313, and one side of the spring 315 is locked and connected to the two limiting posts 318;

[0072] It should be noted that the setting of the limiting ring 314 facilitates the locking installation of the locking shell 313, maintains the installation stability of the locking shell 313, and facilitates the stable connection between the spring piece 315 and the contact piece 305, and the setting of the limiting column 318 facilitates the fixed installation of the spring piece 315, and maintains the installation stability of the spring piece 315.

[0073] In this embodiment, preferably, the outer side of the transmission shaft assembly 3 is formed into an oblique rubik's cube body 1 by combining the first edge block 101 and the first center block 102, the inner side of the first edge block 101 is provided with a first connecting plate 103, the inner side of the first center block 102 is provided with a second connecting plate 104, the first edge block 101 is engaged with one end of the transmission shaft 310, and the first center block 102 is engaged with the first connecting plate 103 and the second connecting plate 104;

[0074] The outer side of the transmission shaft assembly 3 is combined with the second edge block 201 and the second center block 202 to form a maple leaf magic cube body 2. The inner side of the second edge block 201 is provided with a first mounting frame 204. The first mounting frame 204 is provided with a coding wheel 4 inside. One end of the transmission shaft 310 is connected to the coding wheel 4 by snapping. The inner side of the second center block 202 is provided with a second mounting frame 203. The second mounting frame 203 is movably installed between the first mounting frames 204.

[0075] It should be noted that, by connecting the transmission shaft assembly 3 with different edge blocks and the center block, it is convenient to combine into a variety of Rubik's Cube products, such as oblique rotation, maple leaf, magic tower, pyramid and other Rubik's Cubes.

[0076] In this embodiment, preferably, a communication module is provided on the circuit board 304, and a charging hole 319 is provided on the transmission shaft assembly 3;

[0077] It should be noted that the communication module enables the Rubik's Cube ball axis to transmit the data of the rotation of the transmission shaft assembly 3, and the battery 317 is charged through the charging port 319.

[0078] like Figure 11 to Figure 12 As shown, the charger includes a charging housing 5, a charging circuit board is fixedly installed inside the charging housing 5, a second magnet groove 11 is fixedly provided on the inner edge of the charging housing 5, and a second magnet 12 is fixedly installed inside the second magnet groove 11;

[0079] It should be noted that the setting of the charging circuit board is used to adjust the charging voltage, and the setting of the second magnet slot 11 and the second magnet 12 is used to achieve adsorption and connection of the transmission shaft assembly 3.

[0080] In this embodiment, preferably, a pole slot 13 is fixedly provided in the middle of the charging housing 5, a charging line socket 6 is provided on one side of the charging housing 5, the charging line socket 6 is electrically connected to the charging circuit board, a charging pole 8 is electrically connected in the middle of the charging circuit board, the charging pole 8 is located inside the pole slot 13, and a placement slot 9 is provided on the upper edge of the charging housing 5;

[0081] It should be noted that the charging cable is connected through the charging cable socket 6, and the pole slot 13 facilitates the insertion of the charging pole 8 to realize charging of the transmission shaft assembly 3.

[0082] refer to Fig.13 , a signal synchronization method for a magic cube ball axis, comprising the following steps:

[0083] S1. The transmission shaft 310 collects a rotation signal: When the transmission shaft 310 rotates, the spring piece 315 on the transmission shaft 310 contacts the contact piece 305 on the circuit board 304 to generate a rotation signal;

[0084] S2. Data transmission: The circuit board 304 transmits the generated rotation signal to the APP of the mobile device through the communication module.

[0085] In this embodiment, preferably, S2 further includes the following steps:

[0086] S3, processing the rotation signal: using an error correction algorithm to adjust the motion trajectory of each transmission shaft 310 to eliminate synchronization errors;

[0087] S4, Delay compensation mechanism: When the rotation signal is transmitted through the communication module, the delay compensation algorithm is used to compensate for the delay in the signal transmission process, thereby ensuring synchronization accuracy;

[0088] S5, prediction and optimization: optimizing future movements through the prediction model, preparing the synchronous movement of each transmission shaft 310 in advance, and reducing the lag in the adjustment process;

[0089] It should be noted that the delay in signal transmission is compensated through the interjection compensation mechanism to ensure synchronization accuracy, and future movements are optimized through the prediction model to reduce the lag in the adjustment process.

[0090] In this embodiment, preferably, the delay compensation algorithm in S5 uses a phase-locked loop to synchronize the clock of the received signal with the local clock;

[0091] Phase Difference

[0092]

[0093] in, is the phase of the received signal, is the phase of the local clock;

[0094] Phase lock error:

[0095]

[0096] Control voltage V control (t):

[0097] V control (t) = Kgu(t),

[0098] Where K is a constant representing the gain of the PLL;

[0099] Used to control the voltage used to adjust the local clock to ensure that it is synchronized with the received signal;

[0100] It should be noted that the phase-locked loop is used to recover the clock signal of the transmitter from the received data stream, ensuring that the receiver can correctly decode and process the received signal. Through the phase-locked loop, the accurate clock signal can be recovered from the received data stream, ensuring accurate decoding and synchronous transmission of the data.

[0101] In this embodiment, preferably, the calculation formula of the prediction model in S6 is as follows:

[0102]

[0103] Among them, x(kt) is the prediction of the future state at time t, x ref (kt) is the desired rotation state, is the weighted quadratic error term of the state error, Q is the weight matrix, is the weighted quadratic error term of the control input, R is the weight matrix of the control input, u(kt) is the rotation information at time t, and N is the number of steps in the prediction time domain, that is, when optimizing, the state and control input of the next N steps are considered;

[0104] It should be noted that the prediction model is used to predict the rotation of the smart cube, so that the APP of the mobile device can predict the correct steps of the smart cube, thereby assisting the user to rotate the smart cube.

[0105] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A magic cube ball axis, characterized in that: The invention comprises a transmission shaft assembly (3), wherein the transmission shaft assembly (3) comprises a bracket (301), a transmission shaft (310) and an inner shell (307); a battery (317) is fixedly mounted on the inner side of the bracket (301); a bracket column (302) is provided on the bracket (301); a circuit board (304) is mounted on the bracket column (302); the circuit board (304) is electrically connected to the battery (317); and a contact sheet (305) is provided on the circuit board (304); a snap-fit ​​shell (313) is fixedly mounted on the bottom end of the transmission shaft (310); a spring sheet (315) is fixedly mounted inside the snap-fit ​​shell (313); the spring sheet (315) is attached to the upper surface of the contact sheet (305) and slides relative to the contact sheet (305); The inner shell (307) is fixed on the bracket column (302), and the inner shell (307) is provided with a limit ring (314). The locking shell (313) is movably located inside the limit ring (314). The locking shell (313) is closely connected to the inner shell (307) and is rotatable relative to the inner shell (307).

2. The magic cube ball shaft according to claim 1, characterized in that: The circuit board (304) is connected between the bracket columns (302) by snapping together through a positioning groove, and a transmission shaft positioning hole (306) is provided in the middle of the circuit board (304); The transmission shaft (310) is fixedly provided with a transmission shaft positioning column (316) at the inner center of the locking shell (313), and the transmission shaft positioning column (316) is movably located inside the transmission shaft positioning hole (306).

3. The magic cube ball shaft according to claim 1, characterized in that: An inner shell (307) is fixedly mounted on a plurality of the bracket columns (302) by means of screws (308); a plurality of shell limiting teeth (312) are fixedly mounted on the edge of the inner shell (307); the plurality of inner shells (307) are mutually engaged and connected by means of the plurality of shell limiting teeth (312); three first magnet grooves (311) are arranged on the edge of the inner shell (307); a first magnet (309) is fixedly mounted inside the first magnet groove (311).

4. The magic cube ball shaft according to claim 1, characterized in that: The transmission shaft (310) passes through the inner shell (307), and two limiting columns (318) are fixedly provided on one side of the interior of the locking shell (313), and one side of the spring sheet (315) is locked and connected to the two limiting columns (318).

5. The magic cube ball shaft according to claim 1, characterized in that: The outer side of the transmission shaft assembly (3) is formed into an obliquely rotating Rubik's Cube (1) by combining a first edge block (101) and a first center block (102); a first connecting plate (103) is provided on the inner side of the first edge block (101); a second connecting plate (104) is provided on the inner side of the first center block (102); the first edge block (101) is snap-connected to one end of the transmission shaft (310); and the first center block (102) is snap-connected to the first connecting plate (103) and the second connecting plate (104).

6. The magic cube ball shaft according to claim 1, characterized in that: The outer side of the transmission shaft assembly (3) is combined with a second edge block (201) and a second center block (202) to form a maple leaf magic cube (2); the inner side of the second edge block (201) is provided with a first mounting frame (204); the interior of the first mounting frame (204) is provided with an encoding wheel (4); one end of the transmission shaft (310) is snap-connected to the encoding wheel (4); the inner side of the second center block (202) is provided with a second mounting frame (203); the second mounting frame (203) is movably mounted between the first mounting frames (204).

7. The magic cube ball axis according to claim 1, characterized in that: A communication module is provided on the circuit board (304), and a charging hole (319) is provided on the transmission shaft assembly (3).

8. A charger matching the magic cube shaft according to any one of claims 1 to 7, characterized in that: The charger comprises a charging shell (5), a charging circuit board is fixedly mounted inside the charging shell (5), a second magnet groove (11) is fixedly mounted on the inner edge of the charging shell (5), and a second magnet (12) is fixedly mounted inside the second magnet groove (11).

9. The charger according to claim 8, characterized in that: A pole slot (13) is fixedly provided in the middle of the charging shell (5), a charging line socket (6) is provided on one side of the charging shell (5), the charging line socket (6) is electrically connected to the charging circuit board, a charging pole (8) is electrically connected in the middle of the charging circuit board, the charging pole (8) is located inside the pole slot (13), and a placement slot (9) is provided on the upper edge of the charging shell (5).

10. A signal synchronization method for a magic cube axis according to any one of claims 1 to 7, characterized in that: The following steps are included: S1. The transmission shaft (310) collects a rotation signal: when the transmission shaft (310) rotates, the spring piece (315) on the transmission shaft (310) contacts the contact piece (305) on the circuit board (304) to generate a rotation signal; S2. Data transmission: The circuit board (304) transmits the generated rotation signal to the APP of the mobile device through the communication module.

11. A signal synchronization method for a magic cube axis according to claim 10, characterized in that: The S2 also includes the following steps: S3, processing the rotation signal: using an error correction algorithm to adjust the motion trajectory of each transmission shaft (310) to eliminate synchronization errors; S4, Delay compensation mechanism: When the rotation signal is transmitted through the communication module, the delay compensation algorithm is used to compensate for the delay in the signal transmission process, thereby ensuring synchronization accuracy; S5, prediction and optimization: optimize future movements through the prediction model, prepare the synchronous movement of each transmission shaft (310) in advance, and reduce the lag in the adjustment process.

12. A signal synchronization method for a magic cube axis according to claim 10, characterized in that: The delay compensation algorithm in S4 uses a phase-locked loop to synchronize the clock of the received signal with the local clock; Phase Difference in, is the phase of the received signal, is the phase of the local clock; Phase lock error: Control voltage V control (t): V control (t)=Kgu(t), Where K is a constant representing the gain of the PLL; The control voltage is used to adjust the local clock to ensure it is synchronized with the received signal.

13. The signal synchronization method of a magic cube axis according to claim 10, characterized in that: The calculation formula of the prediction model in S5 is as follows: Among them, x(k|t) is the prediction of the future state at time t, x ref (k|t) is the desired rotation state, is the weighted quadratic error term of the state error, Q is the weight matrix, is the weighted quadratic error term of the control input, R is the weight matrix of the control input, u(k|t) is the rotation information at time t, and N is the number of steps in the prediction time domain, that is, when optimizing, the state and control input of the next N steps are considered.

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