Self-driven rotation detection sensor and detection method

Abstract

The application discloses a self-driven rotary detection sensor and a detection method, wherein a transmission distribution mechanism is used for transmitting rotary motion to a first speed increasing mechanism and a second speed increasing mechanism respectively according to the steering of the input rotary motion to accelerate the rotary motion; a first rolling friction power generation motion pair or a second rolling friction power generation motion pair is used for receiving the accelerated rotary motion and outputting a first triboelectric signal or a second triboelectric signal to a detection unit, so as to calculate the motion parameters of the rotary motion. The transmission distribution mechanism can accurately distinguish the steering of the rotary motion, and the triboelectric signal can be obtained without external power supply through the triboelectric technology, so that the motion parameters of the rotary motion can be measured.

Description

Technical Field

[0001] This invention relates to a self-driven rotation detection sensor and detection method, belonging to the field of motion detection technology. Background Technology

[0002] The motion parameters of a rotating body mainly include angular displacement, angular velocity, and angular acceleration. Sensors capable of accurately detecting these motion parameters primarily include encoders, Hall effect sensors, rotary potentiometers, and gyroscopes. Although these sensors operate on different principles, they share a common characteristic: they require a power source to operate. This can reduce the battery life of devices with limited self-powered capabilities, such as wearable electronic products. On the other hand, with the rapid development of triboelectric materials technology in recent years, researchers have proposed some rotational motion sensors based on triboelectric generation. These sensors are self-driving, meaning they can generate electrical signals containing motion information without consuming electrical energy.

[0003] It should be noted that existing motion sensors based on triboelectric generation operate by contact separation or relative sliding between kinematic pairs. Sliding friction inevitably causes wear on the material surface, thus limiting the lifespan of these sensors. Furthermore, although these motion sensors can detect information such as angular displacement and angular velocity relatively well, existing technologies still fail to effectively distinguish the rotation direction of a rotating body.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a self-driven rotation detection sensor and detection method. Through the transmission distribution mechanism, the direction of rotational motion can be accurately distinguished; through triboelectric technology, triboelectric signals can be obtained without external power supply, thereby measuring the motion parameters of rotational motion.

[0006] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0007] On one hand, this invention discloses a self-driven rotary detection sensor, which includes a transmission distribution mechanism, a first speed-increasing mechanism, a second speed-increasing mechanism, a first rolling friction-generating kinematic pair, a second rolling friction-generating kinematic pair, and a detection unit.

[0008] The transmission distribution mechanism is used to transmit rotational motion to the first speed-increasing mechanism and the second speed-increasing mechanism respectively according to the direction of the input rotational motion; wherein, the input counterclockwise rotational motion is transmitted to the first speed-increasing mechanism and the clockwise rotational motion is transmitted to the second speed-increasing mechanism.

[0009] The first speed-increasing mechanism is used to accelerate the counterclockwise rotational motion; the first rolling friction-generating kinematic pair is used to receive the accelerated counterclockwise rotational motion and output a first frictional electrical signal to the detection unit.

[0010] The second speed-increasing mechanism is used to accelerate the clockwise rotational motion; the second rolling friction-generating kinematic pair is used to receive the accelerated clockwise rotational motion and output a second frictional electrical signal to the detection unit.

[0011] The detection unit is used to output motion parameters for counterclockwise rotation based on the first triboelectric signal, and to output motion parameters for clockwise rotation based on the second triboelectric signal.

[0012] Furthermore, the transmission distribution mechanism includes an input shaft, a driving wheel, a transmission wheel, an output shaft, a first one-way bearing, a first driven wheel, a second one-way bearing, and a second driven wheel;

[0013] The input shaft is fixedly connected to the drive wheel, and the output shaft is fixedly connected to the transmission wheel. The drive wheel and the transmission wheel are meshed and connected for transmission.

[0014] The first one-way bearing is embedded in the first driven wheel and is mounted on the output shaft in a clockwise locking manner; the second one-way bearing is embedded in the second driven wheel and is mounted on the output shaft in a counterclockwise locking manner.

[0015] Furthermore, the first growth mechanism and the second growth mechanism are symmetrically arranged;

[0016] The first speed-increasing mechanism includes at least one set of stepped combination wheels consisting of a first front wheel and a first rear wheel, and the second speed-increasing mechanism includes at least one set of stepped combination wheels consisting of a second front wheel and a second rear wheel;

[0017] The first front-stage wheel is movably connected to the first driven wheel, and the first front-stage wheel is fixedly connected to the first rear-stage wheel;

[0018] The second front wheel is movably connected to the second driven wheel, and the second front wheel is fixedly connected to the second rear wheel.

[0019] Furthermore, the diameter of the first front stage wheel is smaller than the diameter of the first driven wheel, and the diameter of the first rear stage wheel is larger than the diameter of the first front stage wheel;

[0020] The diameter of the second front stage wheel is smaller than the diameter of the second driven wheel, and the diameter of the second rear stage wheel is larger than the diameter of the second front stage wheel.

[0021] Furthermore, the first rolling friction power generation kinematic pair and the second rolling friction power generation kinematic pair are symmetrically arranged;

[0022] The first rolling friction power generation kinematic pair includes a first drive wheel and a first friction wheel. The first drive wheel is movably connected to a first rear wheel, and the first drive wheel is fixedly connected to the first friction wheel.

[0023] The second rolling friction power generation kinematic pair includes a second drive wheel and a second friction wheel. The second drive wheel is movably connected to the second rear wheel, and the second drive wheel is fixedly connected to the second friction wheel.

[0024] Furthermore, the first rolling friction power generation kinematic pair also includes a first friction pad, and the first friction wheel is frictionally connected to the first friction pad;

[0025] The second rolling friction power generation kinematic pair also includes a second friction pad, and the second friction wheel is frictionally connected to the second friction pad.

[0026] Furthermore, the first friction wheel has multiple arc-shaped protrusions evenly distributed around its periphery, and the first friction pad has multiple metal beads on its inner surface; the first friction pad is used to output the first triboelectric signal generated by the friction between the arc-shaped protrusions and the metal beads to the detection unit.

[0027] The second friction wheel has multiple arc-shaped protrusions evenly distributed around its periphery, and the second friction pad has multiple metal beads on its inner surface. The second friction pad is used to output the second triboelectric signal generated by the friction between the arc-shaped protrusions and the metal beads to the detection unit.

[0028] On the other hand, the present invention discloses a detection method based on the detection unit of the above-mentioned self-driven rotation detection sensor, comprising the following steps:

[0029] Acquire detection parameters, which include the signal frequency of the first or second triboelectric signal, the transmission ratio between the first or second friction wheel and the input shaft, and the number of arc-shaped bosses;

[0030] Based on the detection parameters, the motion parameters of the rotational motion are obtained; the motion parameters include the direction of rotation, angular displacement, and angular velocity of the input shaft.

[0031] Furthermore, the expression for the angular velocity of the input shaft is as follows:

[0032]

[0033] Where v is the angular velocity of the input shaft, k is the transmission ratio between the first or second friction wheel and the input shaft, n is the number of arc-shaped bosses, and T is the signal period of the first or second friction electrical signal, expressed as: f is the signal frequency of the first or second triboelectric signal.

[0034] The expression for the angular displacement of the input shaft from 0 to t seconds is as follows:

[0035]

[0036] Where x is the angular displacement of the input axis from 0 to t seconds, t is time, and dt is the differential.

[0037] Furthermore, if the obtained detection parameter of the rotational motion is the signal frequency of the first triboelectric signal, then the direction of the rotational motion is counterclockwise.

[0038] If the obtained detection parameter of the rotational motion is the signal frequency of the second triboelectric signal, then the direction of the rotational motion is clockwise.

[0039] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0040] This invention utilizes triboelectric technology to measure rotational motion parameters, partially replacing some existing sensors and reducing system complexity. Furthermore, it leverages the mechanical energy from detecting rotational motion in existing low-power systems, improving system energy efficiency.

[0041] This invention uses rolling friction instead of conventional sliding friction, reducing wear and extending the sensor's lifespan. Since the energy of the triboelectric signal comes from the mechanical energy of rotational motion, no external power supply is required, reducing power consumption and improving battery life.

[0042] The present invention also cleverly distinguishes the direction of rotational motion through the design of the transmission distribution mechanism. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the disassembled structure of a self-driven rotation detection sensor;

[0044] Figure 2 This is a schematic diagram of the three-dimensional disassembled structure of a self-driven rotation detection sensor;

[0045] Figure 3 This is a schematic diagram of the overall structure of a self-driven rotary detection sensor;

[0046] Figure 4 This is a schematic diagram of the overall structure without the shell;

[0047] Figure 5 This is a schematic diagram of the disassembled structure of the transmission distribution mechanism;

[0048] Figure 6 This is a schematic diagram of the installation structure of the transmission distribution mechanism;

[0049] Figure 7 This is a front view of the first and second growth rate organizations;

[0050] Figure 8 This is a three-dimensional structural diagram of the first and second growth mechanisms;

[0051] Figure 9 This is a front view of the first and second rolling friction power generation kinematic pairs;

[0052] Figure 10 This is a three-dimensional structural diagram of the first and second rolling friction power generation kinematic pairs;

[0053] Figure 11 This is a schematic diagram of the structure of the first friction pad or the second friction pad;

[0054] Figure 12 This is a schematic diagram of the structure of the first friction wheel or the second friction wheel;

[0055] In the diagram: 1. Input shaft; 2. Drive wheel; 3. Transmission wheel; 4. First one-way bearing; 5. Second one-way bearing; 6. First driven wheel; 7. Second driven wheel; 8. First front stage wheel; 9. Second front stage wheel; 10. Second rear stage wheel; 11. First rear stage wheel; 12. First drive wheel; 13. Second drive wheel; 14. Second friction wheel; 15. First friction wheel; 16. First friction pad; 17. Second friction pad; 18. First connecting shaft; 19. Second connecting shaft; 20. Third connecting shaft; 21. Fourth connecting shaft; 22. Output shaft; 23. Housing; 24. Fixing component; 25. Arc-shaped boss; 26. Metal ball. Detailed Implementation

[0056] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0057] Example 1

[0058] This embodiment 1 provides a self-driven rotary detection sensor, including a transmission distribution mechanism, a first speed-increasing mechanism, a second speed-increasing mechanism, a first rolling friction-generating kinematic pair, a second rolling friction-generating kinematic pair, and a detection unit.

[0059] The transmission distribution mechanism is used to transmit rotational motion to the first speed-increasing mechanism and the second speed-increasing mechanism respectively according to the direction of the input rotational motion; wherein, the input counterclockwise rotational motion is transmitted to the first speed-increasing mechanism and the clockwise rotational motion is transmitted to the second speed-increasing mechanism.

[0060] The first speed-increasing mechanism is used to accelerate the counterclockwise rotational motion; the first rolling friction-generating kinematic pair is used to receive the accelerated counterclockwise rotational motion and output the first frictional electrical signal to the detection unit.

[0061] The second speed-increasing mechanism is used to accelerate the clockwise rotational motion; the second rolling friction-generating kinematic pair is used to receive the accelerated clockwise rotational motion and output the second frictional electrical signal to the detection unit.

[0062] The detection unit is used to output motion parameters for counterclockwise rotation based on the first triboelectric signal, and to output motion parameters for clockwise rotation based on the second triboelectric signal.

[0063] The technical concept of this invention is as follows: First, a transmission distribution mechanism distinguishes the direction of the input rotational motion. Counterclockwise rotational motion is transmitted to a first speed-increasing mechanism for acceleration, and then a first frictional electrical signal is output to a detection unit via a first rolling friction-generating motion pair. Clockwise rotational motion is transmitted to a second speed-increasing mechanism for acceleration, and then a second frictional electrical signal is output to the detection unit via a second rolling friction-generating motion pair. The detection unit can then calculate the motion parameters of the rotational motion based on either the first or second frictional electrical signal.

[0064] It is important to emphasize that this invention utilizes the mechanical energy of rotational motion detection in existing low-power systems, converting it into a triboelectric signal energy source through triboelectric technology. This reduces system complexity and improves energy efficiency, eliminating the need for additional energy supply, achieving self-drive, and enhancing the device's endurance. Furthermore, the presence of a transmission distribution mechanism cleverly distinguishes the direction of rotational motion.

[0065] like Figure 5 and Figure 6 As shown, the transmission distribution mechanism includes an input shaft 1, a driving wheel 2, a transmission wheel 3, an output shaft 22, a first one-way bearing 4, a first driven wheel 6, a second one-way bearing 5, and a second driven wheel 7.

[0066] The input shaft 1 is fixedly connected to the drive wheel 2, and the output shaft 22 is fixedly connected to the transmission wheel 3. The drive wheel 2 and the transmission wheel 3 are meshed and connected for transmission.

[0067] The first one-way bearing 4 is embedded in the first driven wheel 6 and is mounted on the output shaft 22 in a clockwise locking manner; the second one-way bearing 5 is embedded in the second driven wheel 7 and is mounted on the output shaft 22 in a counterclockwise locking manner.

[0068] When the input rotates counterclockwise, the input shaft 1 rotates counterclockwise, causing the output shaft 22 to rotate clockwise; the first one-way bearing 4 is in a clockwise locked state, causing the first driven wheel 6 to rotate; the second one-way bearing 5 is in a clockwise disengaged state, and the second driven wheel 7 does not rotate.

[0069] When the input rotates clockwise, the input shaft 1 rotates clockwise, causing the output shaft 22 to rotate counterclockwise; the first one-way bearing 4 is in the counterclockwise separated state, and the first driven wheel 6 does not rotate; the second one-way bearing 5 is in the counterclockwise locked state, causing the second driven wheel 7 to rotate.

[0070] It should be emphasized that the two one-way bearings rotate in opposite directions. The one-way bearing in the locked state will transmit the rotational motion to the next-level speed-increasing mechanism. Therefore, the transmission distribution mechanism can transmit rotational motion with different directions to different speed-increasing mechanisms.

[0071] like Figure 7 and Figure 8 As shown, the first growth mechanism and the second growth mechanism are symmetrically arranged;

[0072] The first speed-increasing mechanism includes at least a set of stepped combination wheels consisting of a first front wheel 8 and a first rear wheel 11. The first front wheel 8 is connected to the first driven wheel 6 via belt drive or gear meshing, and the first front wheel 8 is fixedly connected to the first rear wheel 11.

[0073] The diameter of the first front stage wheel 8 is smaller than the diameter of the first driven wheel 6, and the diameter of the first rear stage wheel 11 is larger than the diameter of the first front stage wheel 8.

[0074] In this embodiment, the first front wheel 8 and the first driven wheel 6 are mounted on the first connecting shaft 18. The counterclockwise rotational motion transmitted by the transmission distribution mechanism is received by the first front wheel 8 with a smaller diameter, and then the rotational motion is transmitted to the first rolling friction power generation kinematic pair by the first rear wheel 11 with a larger diameter, thereby completing the process of increasing the speed of rotational motion.

[0075] The second speed-increasing mechanism includes at least a set of stepped combination wheels consisting of a second front wheel 9 and a second rear wheel 10. The second front wheel 9 and the second driven wheel 7 are connected by belt drive or gear meshing, and the second front wheel 9 is fixedly connected to the second rear wheel 10.

[0076] The diameter of the second front stage wheel 9 is smaller than the diameter of the second driven wheel 7, and the diameter of the second rear stage wheel 10 is larger than the diameter of the second front stage wheel 9.

[0077] In this embodiment, the second front wheel 9 and the second driven wheel 7 are mounted on the second connecting shaft 19. The clockwise rotational motion transmitted by the transmission distribution mechanism is received by the smaller diameter second front wheel 9, and then the rotational motion is transmitted to the second rolling friction power generation kinematic pair by the larger diameter second rear wheel 10, thereby completing the process of increasing the speed of rotational motion.

[0078] like Figure 9 and Figure 10 As shown, the first rolling friction power generation kinematic pair and the second rolling friction power generation kinematic pair are symmetrically arranged;

[0079] The first rolling triboelectric power generation kinematic pair includes a first drive wheel 12, a first friction wheel 15, and a first friction pad 16. The first drive wheel 12 is connected to the first rear wheel 11 via belt drive or gear meshing. The first drive wheel 12 is fixed to the first friction wheel 15, and the first friction wheel 15 is frictionally connected to the first friction pad 16.

[0080] In this embodiment, the first drive wheel 12 and the first friction wheel 15 are mounted on the third connecting shaft 20. The first drive wheel 12 receives the accelerated counterclockwise rotational motion, thereby driving the first friction wheel 15 to rotate.

[0081] The second rolling friction power generation kinematic pair includes a second drive wheel 13, a second friction wheel 14, and a second friction pad 17. The second drive wheel 13 is connected to the second rear wheel 10 via belt drive or gear meshing. The second drive wheel 13 is fixedly connected to the second friction wheel 14, and the second friction wheel 14 is frictionally connected to the second friction pad 17.

[0082] In this embodiment, the second drive wheel 13 and the second friction wheel 14 are sleeved on the fourth connecting shaft 21. The second drive wheel 13 receives the clockwise rotational motion after acceleration, thereby driving the second friction wheel 14 to rotate.

[0083] like Figures 9-12 As shown, the first friction wheel 15 and the second friction wheel 14 are evenly distributed with multiple arc-shaped protrusions 25 on their periphery, and the surface of the arc-shaped protrusions 25 is covered with a layer of electrically insulating polymer material; the inner surfaces of the first friction pad 16 and the second friction pad 17 are metal arc surface structures that cooperate with the arc-shaped protrusions 25, and multiple movable metal beads 26 are assembled on the inner surfaces.

[0084] The central angle corresponding to each arc-shaped boss 25 is the same as the central angle corresponding to the groove between adjacent arc-shaped bosses 25.

[0085] When the first friction wheel 15 rotates, it causes the polymer material on the arc-shaped boss 25 to roll and rub against the metal ball 26 on the first friction pad 16. The first friction pad 16 is used to output the first friction electrical signal generated by the friction to the detection unit through the first signal circuit.

[0086] When the second friction wheel 14 rotates, it causes the polymer material on the arc-shaped boss 25 to roll and rub against the metal ball 26 on the second friction pad 17. The second friction pad 17 is used to output the second friction electrical signal generated by the friction to the detection unit through the second signal circuit.

[0087] It should be emphasized that, since the arc-shaped protrusions 25 are uniformly distributed, the first or second triboelectric signal is intermittent. When the rotational angular velocity of the first friction wheel 15 or the second friction wheel 14 changes, the frequency of the generated signal also changes accordingly.

[0088] Therefore, the rotational angular velocity of the first friction wheel 15 or the second friction wheel 14 can be calculated using the signal frequency of the first or second triboelectric signal. Then, based on the transmission ratio between the first or second friction wheel 15 and the input shaft 1, the rotational angular velocity of the input shaft 1 can be calculated. Finally, calculus can be used to obtain the angular acceleration and angular displacement of the input shaft 1.

[0089] like Figures 1-4 As shown, the sensor in this embodiment also includes a housing 23 and a fixing member 24. The transmission distribution mechanism, the first speed-up mechanism, the second speed-up mechanism, the first rolling friction power generation kinematic pair, and the second rolling friction power generation kinematic pair are all placed in the housing 23. The input shaft 1, the output shaft 22, the first connecting shaft 18, the second connecting shaft 19, the third connecting shaft 20, and the fourth connecting shaft 21 are all connected to the housing 23 through the fixing member 24. The signal interfaces of the first friction wheel 15 and the second friction wheel 14 are installed on the housing 23.

[0090] Example 2

[0091] This embodiment 2 provides a detection method for the detection unit of the self-driven rotary detection sensor based on embodiment 1, including the following steps:

[0092] Acquire detection parameters, including the signal frequency of the first or second triboelectric signal, the transmission ratio between the first or second friction wheel 15 and the input shaft 1, and the number of arc-shaped bosses 25;

[0093] Based on the detection parameters, the motion parameters of the rotational motion are obtained; the motion parameters include the direction of rotation, angular displacement and angular velocity of input shaft 1.

[0094] Specifically, if the signal frequency of the first or second triboelectric signal is f, then after one cycle... Generate a signal.

[0095] like Figure 11 and 12 As shown, the central angle corresponding to the arc surface of each polymer material boss is... The groove between the two bosses is also for Then the angular velocity of the first friction wheel 15 or the second friction wheel 14 The unit is (rad / s).

[0096] Therefore, the expression for the angular velocity of input shaft 1 is as follows:

[0097]

[0098] Where v is the angular velocity of input shaft 1, k is the transmission ratio between the first friction wheel 15 or the second friction wheel 14 and input shaft 1, n is the number of arc-shaped bosses 25, and T is the signal period of the first friction electrical signal or the second friction electrical signal, expressed as follows: f is the signal frequency of either the first or second triboelectric signal. The unit is (rad / s).

[0099] The expression for the angular displacement of the input axis during the interval from 10 seconds to t seconds is as follows:

[0100]

[0101] Where x is the angular displacement of the input axis from 10 seconds to t seconds, t is time, and dt is the differential.

[0102] The expression for the angular acceleration of input axis 1 during the time interval Δt is as follows:

[0103]

[0104] Where a is the angular acceleration of input axis 1 during the time interval Δt, and dΔt is the differential of the time interval. The unit is (rad / s). 2 ).

[0105] If the detected parameter of the rotational motion is the signal frequency of the first triboelectric signal, then the direction of rotational motion is counterclockwise.

[0106] If the detected parameter of the rotational motion is the signal frequency of the second triboelectric signal, then the direction of rotational motion is clockwise.

[0107] It should be emphasized that the counterclockwise or clockwise rotational motion involved in this invention refers to the direction of rotation of the input rotational motion input by input shaft 1.

[0108] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0109] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0110] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A self-driven rotation detection sensor, characterized in that, The sensor includes a transmission distribution mechanism, a first speed-increasing mechanism, a second speed-increasing mechanism, a first rolling triboelectric kinematic pair, a second rolling triboelectric kinematic pair, and a detection unit. The transmission distribution mechanism is used to transmit rotational motion to the first speed-increasing mechanism and the second speed-increasing mechanism respectively according to the direction of the input rotational motion; wherein, the input counterclockwise rotational motion is transmitted to the first speed-increasing mechanism and the clockwise rotational motion is transmitted to the second speed-increasing mechanism. The first speed-increasing mechanism is used to accelerate the counterclockwise rotational motion; the first rolling friction-generating kinematic pair is used to receive the accelerated counterclockwise rotational motion and output a first frictional electrical signal to the detection unit. The second speed-increasing mechanism is used to accelerate the clockwise rotational motion; the second rolling friction-generating kinematic pair is used to receive the accelerated clockwise rotational motion and output a second frictional electrical signal to the detection unit. The detection unit is used to output motion parameters for counterclockwise rotation based on the first triboelectric signal; and to output motion parameters for clockwise rotation based on the second triboelectric signal. The first rolling friction power generation kinematic pair includes a first friction wheel (15) and a first friction pad (16), wherein the first friction wheel (15) and the first friction pad (16) are frictionally connected; The first friction wheel (15) has a plurality of arc-shaped protrusions (25) evenly distributed around its periphery, and the first friction pad (16) has a plurality of metal beads (26) on its inner side surface; the first friction pad (16) is used to output the first frictional electrical signal generated by the friction between the arc-shaped protrusions (25) and the metal beads (26) to the detection unit. The second rolling friction power generation kinematic pair also includes a second friction wheel (14) and a second friction pad (17), with the second friction wheel (14) and the second friction pad (17) being frictionally connected; The second friction wheel (14) has a plurality of arc-shaped protrusions (25) evenly distributed around its periphery, and the second friction pad (17) has a plurality of metal beads (26) on its inner side surface; the second friction pad (17) is used to output the second friction electrical signal generated by the friction between the arc-shaped protrusions (25) and the metal beads (26) to the detection unit.

2. The self-driven rotary detection sensor according to claim 1, characterized in that, The transmission distribution mechanism includes an input shaft (1), a drive wheel (2), a transmission wheel (3), an output shaft (22), a first one-way bearing (4), a first driven wheel (6), a second one-way bearing (5), and a second driven wheel (7). The input shaft (1) is fixedly connected to the drive wheel (2), and the output shaft (22) is fixedly connected to the transmission wheel (3). The drive wheel (2) and the transmission wheel (3) are meshed and connected for transmission. The first one-way bearing (4) is embedded in the first driven wheel (6) and is mounted on the output shaft (22) in a clockwise locking manner; the second one-way bearing (5) is embedded in the second driven wheel (7) and is mounted on the output shaft (22) in a counterclockwise locking manner.

3. The self-driven rotary detection sensor according to claim 2, characterized in that, The first and second speed-up mechanisms are symmetrically arranged. The first speed-increasing mechanism includes at least one set of stepped combination wheels consisting of a first front wheel (8) and a first rear wheel (11), and the second speed-increasing mechanism includes at least one set of stepped combination wheels consisting of a second front wheel (9) and a second rear wheel (10); The first front wheel (8) is movably connected to the first driven wheel (6), and the first front wheel (8) is fixedly connected to the first rear wheel (11). The second front wheel (9) is movably connected to the second driven wheel (7), and the second front wheel (9) is fixedly connected to the second rear wheel (10).

4. The self-driven rotation detection sensor according to claim 3, characterized in that, The diameter of the first front stage wheel (8) is smaller than the diameter of the first driven wheel (6), and the diameter of the first rear stage wheel (11) is larger than the diameter of the first front stage wheel (8); The diameter of the second front wheel (9) is smaller than the diameter of the second driven wheel (7), and the diameter of the second rear wheel (10) is larger than the diameter of the second front wheel (9).

5. The self-driven rotation detection sensor according to claim 3, characterized in that, The first rolling friction power generation kinematic pair and the second rolling friction power generation kinematic pair are symmetrically arranged; The first rolling friction power generation kinematic pair also includes a first drive wheel (12), which is movably connected to a first rear wheel (11) and is fixedly connected to a first friction wheel (15). The second rolling friction power generation kinematic pair also includes a second drive wheel (13), which is movably connected to the second rear wheel (10) and is fixedly connected to the second friction wheel (14).

6. A detection method based on a detection unit of a self-driven rotary detection sensor according to any one of claims 1-5, characterized in that, Includes the following steps: Acquire detection parameters, which include the signal frequency of the first triboelectric signal or the second triboelectric signal, the transmission ratio between the first friction wheel (15) or the second friction wheel (14) and the input shaft (1), and the number of arc-shaped bosses (25); Based on the detection parameters, the motion parameters of the rotational motion are obtained; the motion parameters include the direction of rotation, angular displacement and angular velocity of the input shaft (1).

7. The detection method of the detection unit of the self-driven rotary detection sensor according to claim 6, characterized in that, The expression for the angular velocity of the input shaft (1) is as follows: ； Where v is the angular velocity of the input shaft (1), k is the transmission ratio between the first friction wheel (15) or the second friction wheel (14) and the input shaft (1), n ​​is the number of arc-shaped bosses (25), and T is the signal period of the first friction electric signal or the second friction electric signal, expressed as follows: f is the signal frequency of the first or second triboelectric signal; The expression for the angular displacement of the input shaft (1) from 0 to t seconds is as follows: ； Where x is the angular displacement of the input axis (1) from 0 to t seconds, t is time, and dt is the differential.

8. The detection method of the detection unit of the self-driven rotary detection sensor according to claim 6, characterized in that, If the detected parameter of the rotational motion is the signal frequency of the first triboelectric signal, then the direction of the rotational motion is counterclockwise. If the obtained detection parameter of the rotational motion is the signal frequency of the second triboelectric signal, then the direction of the rotational motion is clockwise.

Images