A rotation angle vector sensor and a rotary password lock

Abstract

A rotation angle vector sensor and a rotary password lock. The rotation angle vector sensor comprises: two turntable friction nanogenerators, respectively used to provide clockwise and counterclockwise angle sensing signals, both comprising a friction conductive component and a friction component; a transmission shaft, which is passed through the two turntable friction nanogenerators; a first rotating mechanism and a second rotating mechanism, which are installed on the transmission shaft, respectively used to drive the friction components of the corresponding turntable friction nanogenerators to rotate synchronously when rotating clockwise and counterclockwise. The present invention couples the principles of friction electrification and electrostatic induction, and combines an innovative rotating mechanism, which can be used for synchronous sensing of rotation angle and rotation direction and real-time feedback, and has the advantages of no need for power supply, compact structure and simple manufacturing. The rotary password lock utilizes the characteristics of the rotation angle vector sensor that can perform synchronous sensing of rotation angle and rotation direction, which enhances the complexity of the password and can prevent the password from being cracked by tracking the input trajectory, thereby improving security.

Description

Technical Field

[0001] The invention relates to the field of angle sensors, and in particular to a rotation angle vector sensor and a rotary password lock using the same. Background Art

[0002] The Internet of Things (IoT) is a revolutionary invention that enables machine-to-machine connectivity. Behind the powerful power of the IoT are countless sensor components configured as infrastructure. While these devices empower social development, they also consume countless electricity resources. In industrial production and daily life, the measurement of rotation is an important foundation for realizing fluid measurement, motion control, and mechanical manufacturing. However, traditional rotation angle sensors usually require external power to work. Such sensors widely deployed in the IoT era have posed new challenges to energy issues. Friction nanogenerators can convert mechanical energy in the environment into electrical energy by combining friction electrification and electrostatic induction effects. They can not only effectively collect low-frequency energy in the environment, but also can be used as a self-driven sensor to sense and monitor physical quantities such as pressure, flow, temperature, and speed. However, in the past, rotation angle sensors based on friction nanogenerators, due to the limitations of design and working methods, usually have one or more of the following disadvantages, such as the inability to monitor the direction of rotation, low accuracy and difficulty in improving, large device size, and the need for too many measurement ports, which limits the further widespread application of such self-driven rotation angle sensors and motion sensors based on friction nanogenerators in life and production.

[0003] Existing password input devices based on friction nanogenerators are usually designed based on the contact separation mode. The specific device form is usually obtained by forming an array of multiple key-type discrete devices, and different characters correspond to corresponding discrete devices. Based on this type of device form, when the operator enters a password composed of multiple characters, it will inevitably cause a large range of hand movements and form an input trajectory, which can then be easily analyzed to crack the password. In addition, this type of device can only input passwords with limited characters. If the number of characters is increased, the device size will be larger and the input trajectory will be more significant, making the security of the device a challenge. Summary of the invention

[0004] The present invention is made to solve the above-mentioned problem, and its purpose is to provide a rotation angle vector sensor and a rotary password lock using the same.

[0005] The present invention provides a rotation angle vector sensor, which has the following characteristics: two turntable friction nanogenerators, respectively used to provide a clockwise rotation angle sensing signal and a counterclockwise rotation angle sensing signal, each turntable friction nanogenerator includes a friction conductive component and a friction component that are relatively arranged, and the two turntable friction nanogenerators are relatively symmetrically arranged with their friction components; a transmission shaft, which is passed through the two turntable friction nanogenerators and is used to receive rotational motion excitation of an external object to be measured; a first rotating mechanism, which is installed on the transmission shaft and arranged between the two turntable friction nanogenerators, the first rotating mechanism is connected to the friction component of a corresponding turntable friction nanogenerator, and is used to drive the connected friction component to rotate clockwise when the transmission shaft rotates clockwise; and a second rotating mechanism, which is installed on the transmission shaft and arranged between the two turntable friction nanogenerators, the second rotating mechanism is connected to the friction component of another corresponding turntable friction nanogenerator, and is used to drive the connected friction component to rotate counterclockwise when the transmission shaft rotates counterclockwise.

[0006] In the rotation angle vector sensor provided by the present invention, it can also have the following characteristics: the friction conductive component includes a first substrate, a first conductive element, a second conductive element, and a first friction layer which are stacked in sequence, the first conductive element and the second conductive element are both in the form of a sheet formed by connecting a plurality of sectors evenly distributed along the circumferential direction, the plurality of sectors of the first conductive element and the plurality of sectors of the second conductive element are staggered in the circumferential direction and have gaps between them; the friction component includes a second substrate and a second friction layer which are stacked, the second substrate is connected to the corresponding rotating mechanism, the second friction layer is composed of a plurality of sector-shaped sheets evenly distributed along the circumferential direction, the second friction layer is in contact with the surface of the first friction layer or there is a separation distance.

[0007] Furthermore, the materials of the first friction layer and the second friction layer have different triboelectric sequences and / or different surface electron attracting abilities. The thickness of the first friction layer and the second friction layer is preferably in the range of 50nm to 2cm. The spacing between the first friction layer and the second friction layer is preferably in the range of 1nm to 1mm.

[0008] Furthermore, the first friction layer and the second friction layer are all or partially provided with a nanometer, micrometer or sub-micrometer microstructure layer on the mating surface. The microstructure layer includes at least one of nanowires, nanotubes, nanoparticles, nanorods, nanoflowers, nanogrooves, microgrooves, nanocones, microcones, nanospheres, microspheres, and arrays formed by the foregoing structures. The thickness of the microstructure layer ranges from 20nm to 20μm.

[0009] Furthermore, the thickness of the first conductive element and the second conductive element ranges from 10 nm to 2 cm. The first conductive element and the second conductive element are respectively connected with a wire or a metal thin layer to output an electrical signal.

[0010] The rotation angle vector sensor provided by the present invention may also have the following feature: the first rotation mechanism and the second rotation mechanism are centrally symmetrically arranged with respect to the midpoint of the distance between the two rotating disk friction nanogenerators.

[0011] In the rotation angle vector sensor provided by the present invention, it can also have the following characteristics: the first rotation mechanism includes a first outer rotating member, a first inner rotating member, a plurality of first rotating shafts, a plurality of first toggle members, and a plurality of first limit seats; the first outer rotating member is connected to the friction component of the corresponding turntable friction nanogenerator; the first outer rotating member has a circular concave cavity with a side wall having a gear ring structure; the first inner rotating member is concentrically arranged in the circular concave cavity of the first outer rotating member and is installed on the transmission shaft; the first inner rotating member rotates with the transmission shaft; a plurality of first rotating shafts are evenly distributed along the circumferential direction and are installed on the first inner rotating member and are arranged parallel to the transmission shaft; a plurality of first toggle members are rotatably installed on the plurality of first rotating shafts, respectively; and a plurality of The first limit seats are respectively installed on the first inner rotating member corresponding to the plurality of first toggle members, and each first limit seat limits the rotation range of the corresponding first toggle member by blocking. When the first inner rotating member rotates clockwise together with the transmission shaft, each first toggle member rotates around the first rotating shaft and is blocked by the corresponding first limit seat during rotation and is stuck in the gear ring structure of the first outer rotating member, so that the plurality of first toggle members drive the first outer rotating member to rotate synchronously clockwise. When the first inner rotating member rotates counterclockwise together with the transmission shaft, each first toggle member rotates around the first rotating shaft and is not blocked by the corresponding first limit seat during rotation and is in sliding contact with the gear ring structure of the first outer rotating member, so that the first outer rotating member does not move.

[0012] In the rotation angle vector sensor provided by the present invention, it can also have the following characteristics: the second rotation mechanism includes a second outer rotating member, a second inner rotating member, a plurality of second rotating shafts, a plurality of second toggle members, and a plurality of second limit seats; the second outer rotating member is connected to the friction component of the corresponding turntable friction nanogenerator; the second outer rotating member has a circular concave cavity with a side wall having a gear ring structure; the second inner rotating member is concentrically arranged in the circular concave cavity of the second outer rotating member and is installed on the transmission shaft; the second inner rotating member rotates with the transmission shaft; a plurality of second rotating shafts are evenly distributed along the circumferential direction and are installed on the second inner rotating member and are arranged parallel to the transmission shaft; a plurality of second toggle members are rotatably installed on the plurality of second rotating shafts, respectively; and a plurality of The second limit seats are respectively installed on the second inner rotating member corresponding to the plurality of second toggle members, and each second limit seat limits the rotation range of the corresponding second toggle member by blocking. When the second inner rotating member rotates clockwise together with the transmission shaft, each second toggle member rotates around the second rotating shaft, and is not blocked by the corresponding second limit seat when rotating and is in sliding contact with the gear ring structure of the second outer rotating member, so that the second outer rotating member does not move. When the second inner rotating member rotates counterclockwise together with the transmission shaft, each second toggle member rotates around the second rotating shaft, and is blocked by the corresponding second limit seat when rotating and is stuck in the gear ring structure of the second outer rotating member, so that the plurality of second toggle members drive the second outer rotating member to rotate counterclockwise synchronously.

[0013] The present invention also provides a rotary password lock, comprising the above-mentioned rotation angle vector sensor.

[0014] The rotary combination lock provided by the present invention may also have the following features: it also includes: a combination lock peripheral, connected to the rotation angle vector sensor, for assisting the operator in inputting a password; a signal processing system, connected to the rotation angle vector sensor, for processing the sensor signals of the rotation angle and the rotation direction output by the rotation angle vector sensor.

[0015] Functions and Effects of the Invention

[0016] Compared with the prior art, the rotation angle vector sensor involved in the present invention utilizes two turntable friction nanogenerators that reasonably couple the principles of friction electrification and electrostatic induction, combined with two rotating mechanisms with unique designs, to be used for synchronous sensing of rotation angle and rotation direction and real-time feedback, and additionally has the advantages of no need for power supply, compact structure and easy manufacturing.

[0017] Among them, the two turntable friction nanogenerators are responsible for generating angle sensing signals of the rotation angle vector sensor when it rotates clockwise and counterclockwise. The rotation directions of the two turntable friction nanogenerators are driven by the rotating mechanism located in the middle. The structure of the rotating mechanism ensures that each turntable friction nanogenerator can only rotate in a certain direction. At the same time, each turntable friction nanogenerator can sense the rotation angle in the current direction, so it can realize synchronous and real-time sensing of the rotation angle and rotation direction.

[0018] The rotation angle vector sensor involved in the present invention does not need to convert the rotational motion into linear motion during the sensing process, and the volume occupied does not change during the whole process, thus avoiding the need to design an additional motion cavity.

[0019] The rotation direction and rotation angle information of the rotation angle vector sensor involved in the present invention are separable. For application scenarios where only rotation direction information is needed, the rotation angle vector sensor can be used to directly obtain the information without signal processing, thereby reducing the cost of use.

[0020] The turntable friction nanogenerator in the rotation angle vector sensor of the present invention can also be used as a generator for collecting mechanical energy in the environment. It utilizes the phenomenon of friction electrification in nature, the principle of electrostatic induction and a simple structural design to realize the possibility of collecting mechanical kinetic energy in the environment. The electrical signal output provided by it can be directly used or combined with a full-bridge rectifier to be converted into a DC pulse signal. It can not only be directly used as a pulse power supply in the fields of electrochemistry, but also can charge capacitors or lithium-ion batteries, and can also provide the required power for various small portable electronic devices. This provides a new research direction for meeting the needs of self-driven Internet of Things sensors and distributed micro-nano energy supply in the new era. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic structural diagram of a rotation angle vector sensor in Embodiment 1 of the present invention;

[0022] Figure 2 is a schematic diagram of the overall structure of the rotating disk friction nanogenerator in Example 1 of the present invention;

[0023] Figure 3 is a schematic diagram of the exploded structure of the rotating disk friction nanogenerator in Example 1 of the present invention;

[0024] Figure 4 is a schematic structural diagram of the first rotating mechanism in Embodiment 1 of the present invention;

[0025] Figure 5 is a schematic structural diagram of the second rotating mechanism in Embodiment 1 of the present invention;

[0026] Figure 6 It is a schematic diagram of the combined structure of the transmission shaft, the first rotating mechanism, and the second rotating mechanism in Example 1 of the present invention;

[0027] Figure 7 It is a schematic diagram of the exploded structure of the transmission shaft, the first rotating mechanism, and the second rotating mechanism in Embodiment 1 of the present invention;

[0028] Figure 8 Schematic diagram of the working principle of the rotating disk friction nanogenerator in Example 1 of the present invention in response to external mechanical rotation to generate an electrical signal output;

[0029] Fig. 9 1 is a schematic diagram of the output signal of the rotation angle vector sensor in Example 1 of the present invention, (a) is the output signal of the open circuit voltage of the rotation angle vector sensor under different rotation speed conditions, (b) is the output signal of the short circuit current of the rotation angle vector sensor under different rotation speed conditions, (c) is the output signal of the transfer charge amount of the rotation angle vector sensor under different rotation speed conditions, and (d) is the output signal of the open circuit voltage when two rotating disk friction nanogenerators work alternately;

[0030] Fig.10 1 is a schematic diagram of the output signal and sensing result of the rotation angle vector sensor in Example 1 of the present invention, (a) is the open circuit voltage output signal of the rotation angle vector sensor at different rotation angles, and (b) is the sensing result of the rotation angle vector sensor at different rotation speeds;

[0031] Fig.11 It is a schematic diagram of a rotary combination lock in Embodiment 2 of the present invention.

[0032] Figures 1 to 8 Description of the accompanying drawings:

[0033] 100 rotation angle vector sensor; 10 turntable friction nanogenerator; 11 friction conductive component; 111 first substrate; 112 first conductive element; 113 second conductive element; 114 first friction layer; 12 friction component; 121 second substrate; 122 second friction layer; 20 transmission shaft; 21 third support member; 30 first rotating mechanism; 31 first outer rotating member; 311 circular concave cavity; 312 gear ring structure; 313 first through hole; 32 first inner rotating member; 321 first engaging hole; 33 first rotating shaft; 34 first toggle member; 35 first limiting seat; 36 first support member; 40 second rotating mechanism; 41 second outer rotating member; 411 circular concave cavity; 412 gear ring structure; 413 second through hole; 42 second inner rotating member; 421 second engaging hole; 43 second rotating shaft; 44 second toggle member; 45 second limiting seat; 46 second support member.

[0034] Fig.11 Description of the accompanying drawings:

[0035] 200 Rotary combination lock; 10 Rotation angle vector sensor; 20 Combination lock peripherals; 30 Signal processing system; 40 Protected equipment. DETAILED DESCRIPTION

[0036] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is specifically described in the following embodiments in conjunction with the accompanying drawings.

[0037] Example 1

[0038] Figure 1 is a schematic structural diagram of the rotation angle vector sensor 100 .

[0039] like Figure 1 As shown, this embodiment provides a rotation angle vector sensor 100, including two turntable friction nanogenerators 10, a transmission shaft 20, a first rotation mechanism 30, and a second rotation mechanism 40. The turntable friction nanogenerator 10 is used to provide an angle sensing signal in the form of an open circuit voltage and / or a short circuit current. Each turntable friction nanogenerator 10 includes a friction conductive component 11 and a friction component 12 that are relatively arranged. The two turntable friction nanogenerators 10 are relatively symmetrically arranged with their friction components 12. Each turntable friction nanogenerator 10 can also be connected to a load to achieve friction power generation output. The transmission shaft 20 is arranged on the two turntable friction nanogenerators 10, and the transmission shaft 20 is used to receive the rotation motion excitation of the external object to be measured. The first rotating mechanism 30 and the second rotating mechanism 40 are both mounted on the transmission shaft 20 and arranged between the two rotating disk friction nanogenerators 10. The first rotating mechanism 30 and the second rotating mechanism 40 are respectively connected to the friction components 12 of the two rotating disk friction nanogenerators 10. The first rotating mechanism 30 is used to drive the connected friction component 12 to rotate clockwise when the transmission shaft 20 rotates clockwise, so that the rotating disk friction nanogenerator 10 can provide a clockwise rotation angle sensing signal to the outside. The second rotating mechanism 40 is used to drive the connected friction component 12 to rotate counterclockwise when the transmission shaft 20 rotates counterclockwise, so that the rotating disk friction nanogenerator 10 can provide a counterclockwise rotation angle sensing signal to the outside. The following is a detailed description of each part.

[0040] Figure 2 is a schematic diagram of the overall structure of the rotating disk friction nanogenerator 10. Figure 3 Schematic diagram of the exploded structure of the rotating disk friction nanogenerator 10.

[0041] like Figure 2 and Figure 3As shown, each turntable friction nanogenerator 10 includes a friction conductive component 11 and a friction component 12. The friction conductive component 11 includes a first substrate 111, a first conductive element 112, a second conductive element 113, and a first friction layer 114 which are stacked in sequence, wherein the first substrate 111 plays a supporting role, the first friction layer 114 is circular, the first conductive element 112 and the second conductive element 113 are arranged on the same plane, the first conductive element 112 and the second conductive element 113 are both in the form of a sheet formed by connecting a plurality of sectors uniformly distributed along the circumferential direction, the plurality of sectors of the first conductive element 112 and the plurality of sectors of the second conductive element 113 are staggered in the circumferential direction and have gaps between each other, and the first conductive element 112 and the second conductive element 113 are respectively connected with wires (not shown in the figure) to output electrical signals. The friction component 12 includes a second substrate 121 and a second friction layer 122 which are stacked. The second substrate 121 is circular and connected to the corresponding rotating mechanism. The second friction layer 122 is composed of a plurality of fan-shaped sheets evenly distributed along the circumferential direction. The surface of the second friction layer 122 is in contact with the surface of the first friction layer 114 of the friction conductive component 11 or there is a separation distance, and the materials of the two have different friction electrode sequences and / or different surface electron attraction capabilities. When the friction component 12 rotates, the rotating second friction layer 122 overlaps alternately with the first conductive element 112 and the second conductive element 113, and the contact between the surface of the second friction layer 122 and the surface of the first friction layer 114 generates an electrostatic induction effect, alternately forming induced charges on the first conductive element 112 and the second conductive element 113, and then generating an AC signal output to the external circuit through the wire connecting the first conductive element 112 and the second conductive element 113.

[0042] In this embodiment, the first conductive element 112 is in the form of a sheet formed by four sectors evenly distributed along the circumferential direction and connected by extending through an outer arc, and the second conductive element 113 is in the form of a sheet formed by four sectors evenly distributed along the circumferential direction and connected by extending through an inner arc. An extension protrusion is also formed on one sector of the first conductive element 112 and the second conductive element 113, and the protrusion is convenient for connecting the wire. The second friction layer 122 is composed of four sector-shaped sheets evenly distributed along the circumferential direction.

[0043] Figure 4 3 is a schematic structural diagram of the first rotating mechanism 30 .

[0044] like Figure 4As shown, the first rotating mechanism 30 includes a first outer rotating member 31, a first inner rotating member 32, a plurality of first rotating shafts 33, a plurality of first toggle members 34, and a plurality of first limiting seats 35. The first outer rotating member 31 is connected to the second substrate 121 of the corresponding turntable friction nanogenerator 10, and the first outer rotating member 31 has a circular cavity 311 with a side wall of a gear ring structure 312. The first inner rotating member 32 is in the shape of a turntable, and the first inner rotating member 32 is concentrically arranged in the circular cavity 311 of the first outer rotating member 31 and installed on the transmission shaft 20, and the first inner rotating member 32 rotates with the transmission shaft 20. A plurality of first rotating shafts 33 are evenly distributed along the circumferential direction and are installed on the first inner rotating member 32 and are arranged parallel to the transmission shaft 20, and a plurality of first toggle members 34 are rotatably installed on the plurality of first rotating shafts 33, respectively. A plurality of first limit seats 35 are respectively mounted on the first inner rotating member 32 corresponding to the plurality of first shifting members 34 , and each first limit seat 35 limits the rotation range of the corresponding first shifting member 34 by blocking. When the transmission shaft 20 drives the first inner rotating member 32 to rotate clockwise, each first toggle member 34 rotates around the first rotating shaft 33 under the action of the first inner rotating member 32, and is blocked by the corresponding first limit seat 35 during rotation and is stuck in the gear ring structure 312 of the first outer rotating member 31, and then the first toggle members 34 drive the first outer rotating member 31 to rotate clockwise synchronously, and the first outer rotating member 31 drives the friction component 12 of the connected turntable friction nanogenerator 10 to rotate clockwise; when the transmission shaft 20 drives the first inner rotating member 32 to rotate counterclockwise, each first toggle member 34 rotates around the first rotating shaft 33 under the action of the first inner rotating member 32, and is not blocked by the corresponding first limit seat 35 during rotation and is in sliding contact with the gear ring structure 312 of the first outer rotating member 31, and the first outer rotating member 31 does not move. In this embodiment, the number of the first rotating shaft 33, the first toggle member 34, and the first limit seat 35 is preferably four, which is more stable during movement.

[0045] Figure 5 is a schematic structural diagram of the second rotating mechanism 40, Figure 6 is a schematic diagram of the combined structure of the transmission shaft 20, the first rotating mechanism 30, and the second rotating mechanism 40, Figure 7 It is a schematic diagram of the exploded structure of the transmission shaft 20 , the first rotating mechanism 30 , and the second rotating mechanism 40 .

[0046] like Figure 5As shown, the second rotating mechanism 40 includes a second outer rotating member 41, a second inner rotating member 42, a plurality of second rotating shafts 43, a plurality of second shifting members 44, and a plurality of second limiting seats 45, wherein the second outer rotating member 41 is connected to the second substrate 121 of the corresponding rotating disk friction nanogenerator 10, and the second outer rotating member 41 has a circular cavity 411 with a side wall of a gear ring structure 412. The arrangement of other components refers to the arrangement of corresponding components of the first rotating mechanism 30. In this embodiment, the number of the second rotating shaft 43, the second shifting member 44, and the second limiting seat 45 is preferably four, which is more stable during movement. Figure 1 and Figure 6 As shown, the second rotating mechanism 40 and the first rotating mechanism 30 are centrally symmetrically arranged about the midpoint of the distance between the two rotating disk friction nanogenerators 10. Therefore, when the transmission shaft 20 drives the second inner rotating member 42 to rotate clockwise, each second toggle member 44 rotates around the second rotating shaft 43 under the rotation of the second inner rotating member 42, and is not blocked by the corresponding second limiting seat 45 during rotation and slides in contact with the gear ring structure 412 of the second outer rotating member 41, and the second outer rotating member 41 does not move; when the transmission shaft 20 drives the second inner rotating member 42 to rotate counterclockwise, each second toggle member 44 rotates around the second rotating shaft 43 under the rotation of the second inner rotating member 42, and is blocked by the corresponding second limiting seat 45 during rotation and is stuck in the gear ring structure 412 of the second outer rotating member 41, and then the plurality of second toggle members 44 drive the second outer rotating member 41 to rotate counterclockwise synchronously, and the second outer rotating member 41 drives the friction assembly 12 of the connected rotating disk friction nanogenerator 10 to rotate counterclockwise.

[0047] In this embodiment, if Figure 7 As shown, the transmission shaft 20 is a special-shaped shaft with a non-circular cross section. The central axes of the first outer rotating member 31 and the second outer rotating member 41 are respectively provided with a first through hole 313 and a second through hole 413 for the transmission shaft 20 to pass through and rotate. The central axes of the first inner rotating member 32 and the second inner rotating member 42 are respectively provided with a first engaging hole 321 and a second engaging hole 421 matching the cross section of the transmission shaft 20. The first through hole 313 and the second through hole 413 are respectively connected to the opposite sides thereof with a first support member 36 and a second support member 46 for the transmission shaft 20 to pass through. The third support member 21 for the transmission shaft 20 to pass through is connected between the first engaging hole 321 and the second engaging hole 421. The first support member 36, the second support member 46 and the third support member 21 are all in the shape of a cylindrical sleeve and play a supporting role in preventing the transmission shaft 20 from excessive axial displacement. The third support member 21 also plays a supporting role in the relative position between the first inner rotating member 32 and the second inner rotating member 42.

[0048] Figure 8 This is a schematic diagram of the working principle of a turntable friction nanogenerator generating an electrical signal output in response to external mechanical rotation.

[0049] For the present rotation angle vector sensor 100 , no matter whether the transmission shaft 20 rotates clockwise or counterclockwise, the process of forming an AC pulse output between the first conductive element 112 and the second conductive element 113 of the turntable friction nanogenerator 10 is similar.

[0050] like Figure 8 As shown, taking the clockwise rotation of the transmission shaft 20 as an example, the working principle of the friction power generation induction generated by the first friction layer 114, the second friction layer 122, the first conductive element 112, and the second conductive element 113 is as follows: (1) See Figure 8 (a), the rotation process has not yet started, the first friction layer 114, the second friction layer 122, the first conductive element 112, and the second conductive element 113 are all at rest for a long time, there is no charge on the surface of each component, and no AC signal is output.

[0051] (2) See Figure 8 (b), the rotation process begins, the second friction layer 122 moves, the matching surfaces of the second friction layer 122 and the first friction layer 114 move relative to each other, and surface charge transfer occurs at the moment of movement, forming a layer of surface contact charge. Since the materials of the first friction layer 114 and the second friction layer 122 are in different positions in the friction electrode sequence, negative charges are generated on the surface of the first friction layer 114, and positive charges are generated on the surface of the second friction layer 122. Since the first friction layer 114 is a whole and the second friction layer 122 has a gap without charge, this gap corresponds to inducing positive charges on the second conductive element 113.

[0052] (3) See Figure 8 (c), the rotation process continues, the second friction layer 122 moves away from the position corresponding to the first conductive element 112 and moves to the position corresponding to the second conductive element 113. At this time, the overlapping area of ​​the second friction layer 122 and its gap is the same as that of the first conductive element 112 and the second conductive element 113, resulting in a smaller potential difference between the first conductive element 112 and the second conductive element 113. Electrons will flow from the first conductive element 112 to the second conductive element 113. This process generates a forward current through the external circuit, and finally reaches equilibrium.

[0053] (4) See Figure 8 (d) The rotation process continues, and the second friction layer 122 moves to the position corresponding to the second conductive element 113. At this time, the gap of the second friction layer 122 reaches the position corresponding to the first conductive element 112. The first conductive element 112 is therefore induced to have a positive charge, resulting in a larger potential difference between the first conductive element 112 and the second conductive element 113.

[0054] (5) See Figure 8(e), the rotation process continues, the second friction layer 122 leaves the position corresponding to the second conductive element 113 and moves to the position corresponding to the first conductive element 112. At this time, the second friction layer 122 and its gap are respectively the same as the overlapping areas of the first conductive element 112 and the second conductive element 113, resulting in a smaller potential difference between the first conductive element 112 and the second conductive element 113. Electrons will flow from the second conductive element 113 to the first conductive element 112. This process generates a negative current through the external circuit, and finally reaches equilibrium.

[0055] It can be seen that when the rotating second friction layer 122 overlaps the first conductive element 112 and the second conductive element 113 alternately, the driving electrons move in an alternating direction and are output through the wires connected to the first conductive element 112 and the second conductive element 113, thereby forming an AC signal. In actual implementation, the mating surfaces of the second friction layer 122 and the first friction layer 114 are subjected to friction and other effects, and usually carry a small amount of charge, and the charge can be retained for a long time.

[0056] It should be noted that the above-mentioned "triboelectric sequence" refers to the ordering of materials according to their attraction to electric charges. At the moment when two materials come into contact with each other, the positive charge on the contact surface is transferred from the surface of the material with more negative polarity in the triboelectric sequence to the surface of the material with more positive polarity in the triboelectric sequence. So far, there is no unified theory that can fully explain the mechanism of charge transfer. It is generally believed that this charge transfer is related to the surface work function of the material, and the charge transfer is achieved through the transfer of electrons or ions on the contact surface. It should be noted that the triboelectric sequence is only a statistical result based on experience, that is, the farther the two materials are in the sequence, the greater the probability that the positive and negative charges generated after contact are consistent with the sequence, and the actual results are affected by many factors, such as the roughness of the material surface, the humidity of the environment, and whether there is relative friction. It should be further explained that the transfer of charge does not require relative friction between the two materials, as long as there is mutual contact. Therefore, strictly speaking, the expression of triboelectric sequence is inaccurate, but it has been used to this day due to historical reasons.

[0057] The above-mentioned "contact charge" refers to the charge on the surface of two materials with different triboelectric polarity after they come into contact and separate. It is generally believed that this charge is only distributed on the surface of the material, and the maximum distribution depth is about 10nm. This charge can be naturally maintained for a long time. Depending on factors such as humidity in the environment, its retention time is several hours or even several days, and the amount of charge that disappears can be replenished by contacting again. Therefore, it can be considered that the amount of contact charge in the present rotation angle vector sensor 100 can be approximately considered to be constant. It should be noted that the sign of the contact charge is the sign of the net charge, that is, there may be a concentrated area of ​​negative charge in a local area on the surface of a material with a positive contact charge, but the sign of the net charge on the entire surface is positive.

[0058] In order to improve the output performance of the rotation angle vector sensor 100, it is preferred to set a nanometer, micrometer or sub-micrometer-level micro-nano structure layer on the matching surface of the first friction layer 114 and the second friction layer 122 in whole or in part, so as to increase the effective contact area of ​​the first friction layer 114 and the second friction layer 122, and improve the surface charge density and electrical output. The micro-nano structure layer is preferably a nanowire, nanotube, nanoparticle, nanorod, nanoflower, nanogroove, micron groove, nanocone, micron cone, nanosphere and micron spherical structure, and an array formed by the above structures, especially a nanoarray composed of nanowires, nanotubes or nanorods, and the size of each such unit in the array is in the order of nanometers to micrometers. The unit size and shape in the specific micro-nano structure layer should not limit the scope of the present invention. Among them, the thickness of the micro-nano structure layer is preferably between 20nm and 20μm.

[0059] The micro-nano structure layer can be prepared on the surface of the friction layer by photolithography, chemical etching, plasma etching and other methods, or it can be directly formed when preparing the friction layer material. The micro-nano structure layer can also be formed by dotting or coating the surface of the first friction layer 114 and the second friction layer 122 with nanomaterials, and the nanomaterials can be selected from nanoparticles, nanotubes, nanowires and nanorods. According to actual needs, it can be specifically selected from titanium dioxide nanoparticles, titanium dioxide nanowires, titanium dioxide nanorods, titanium dioxide nanotubes, silicon dioxide nanoparticles, silicon dioxide nanowires, silicon dioxide nanorods, silicon dioxide nanotubes, polydimethylsiloxane nanoparticles, polydimethylsiloxane nanowires or polydimethylsiloxane nanorods, polydimethylsiloxane nanotubes, polytetrafluoroethylene nanoparticles, polytetrafluoroethylene nanowires, polytetrafluoroethylene nanorods and polytetrafluoroethylene nanotubes.

[0060] The hardness, thickness, shape, material, etc. of the first friction layer 114 and the second friction layer 122 are described in detail below.

[0061] The first friction layer 114, the second friction layer 122, and any layer of the micro-nano structure layer on the surface thereof can be made of either hard material or flexible material. Because of the first substrate 111 and the second substrate 121, the hardness of the material does not affect the contact effect between the first friction layer 114 and the second friction layer 122. Those skilled in the art can make a selection according to actual conditions. The thickness of the first friction layer 114 and the second friction layer 122 is preferably in the range of 50nm to 2cm.

[0062] The materials for preparing the first friction layer 114 and the second friction layer 122 can be insulating materials, such as conventional high molecular polymers, which have triboelectric properties. Here are some commonly used high molecular polymer materials: polytetrafluoroethylene, polydimethylsiloxane, polyimide film, aniline formaldehyde resin film, polyoxymethylene film, ethyl cellulose film, polyamide film, melamine formaldehyde film, polyethylene glycol succinate film, cellulose film, cellulose acetate film, polyethylene adipate film, polydiallyl phthalate film, regenerated fiber sponge film, polyurethane elastomer film, styrene propylene copolymer film, styrene butadiene copolymer film, artificial fiber film, polymethyl film, methacrylate film, Polyvinyl alcohol film, polyester film, polyisobutylene film, polyurethane flexible sponge film, polyethylene terephthalate film, polyvinyl butyral film, phenolic resin film, chloroprene rubber film, butadiene propylene copolymer film, natural rubber film, polyacrylonitrile film, poly(vinylidene chloride-co-acrylonitrile) film or polyethylene propylene carbonate film, polystyrene, polymethyl methacrylate, polycarbonate or liquid crystal polymer, polychloroprene, polyacrylonitrile, polybisphenol carbonate, polychloroether, polyvinylidene chloride, polyethylene, polypropylene, polyvinyl chloride.

[0063] Semiconductors and metals can also replace the above-mentioned insulator materials as the preparation materials of the first friction layer 114 and the second friction layer 122. Commonly used semiconductors include: silicon, germanium; Group III and Group V compounds, such as gallium arsenide, gallium phosphide, etc.; Group II and Group VI compounds, such as cadmium sulfide, zinc sulfide, etc.; and solid solutions composed of Group III-V compounds and Group II-VI compounds, such as gallium aluminum arsenic, gallium arsenic phosphide, etc. Therefore, the following semiconductor materials can be used as preparation materials: SnO2, ZnO, TiO2, In2O3, ZnS, ZnSe, ZnTe, GaN, Se, CdS, CdSe, CdTe, Si, Ge, PbS, InGaAs, PbSe, InSb, PbTe, HgCdTe, PbSn, HgS, HgSe, HgTe, etc. In addition to the above-mentioned crystalline semiconductors, there are also amorphous glass semiconductors, organic semiconductors, etc. Non-conductive oxides, semiconductor oxides and complex oxides also have triboelectric properties and can form surface charges during the friction process, so they can also be used as the friction layer of the present invention, such as oxides of manganese, chromium, iron, and copper, and also include silicon oxide, manganese oxide, chromium oxide, iron oxide, copper oxide, zinc oxide, BiO2 and Y2O3; commonly used metals include gold, silver, platinum, aluminum, nickel, copper, titanium, chromium or selenium, and alloys formed by the above metals. Of course, other materials with conductive properties can also be used as friction layer materials that easily lose electrons, such as indium tin oxide ITO.

[0064] Due to space limitations, it is not possible to enumerate all possible materials. Here, only a few specific materials that can be used as the first friction layer 114 and the second friction layer 122 are listed for reference. However, it is obvious that these specific materials cannot become limiting factors for the scope of protection of the present invention, because under the inspiration of the invention, technical personnel in this field can easily select other similar materials according to the triboelectric properties of these materials.

[0065] Through experiments, it is found that when the difference in the ability of gaining and losing electrons of the materials of the matching surfaces of the first friction layer 114 and the second friction layer 122 is greater (that is, the greater the difference in the position in the friction electrode sequence), the greater the electrical output of the friction power generation sensor assembly. Therefore, according to actual needs, suitable materials can be selected to prepare the matching surfaces of the first friction layer 114 and the second friction layer 122 to obtain better output effects. The materials with negative triboelectrode sequence are preferably polystyrene, polyethylene, polypropylene, polydiphenylpropane carbonate, polyethylene terephthalate, polyimide, polyvinyl chloride, polydimethylsiloxane, polychlorotrifluoroethylene, polytetrafluoroethylene and parylene, wherein parylene includes parylene C, parylene N, parylene D, parylene HT or parylene AF4; the materials with positive triboelectrode sequence are preferably aniline formaldehyde resin, polyoxymethylene, ethyl cellulose, polyamide nylon 11, polyamide nylon 66, wool and its fabrics, silk and its fabrics, paper, polyethylene glycol succinate, cellulose, cellulose acetate, polyethylene glycol adipate, polydiallyl phthalate, regenerated cellulose sponge, cotton and its fabrics, polyurethane elastomer, styrene-acrylonitrile copolymer, styrene-butadiene copolymer, wood, hard rubber, acetate, rayon, polymethyl methacrylate, polyvinyl alcohol, polyester, copper, aluminum, gold, silver and steel.

[0066] When the first conductive element 112 and the second conductive element 113 act as friction layer materials, the first friction layer 114 can be omitted. The conductive friction layer material acts as both the conductive element and the friction layer material, which can further simplify the structure of the rotating disk friction nanogenerator 10.

[0067] The present rotation angle vector sensor 100 also has requirements for the distance between the matching surfaces of the first friction layer 114 and the second friction layer 122. In order to generate greater charge on the surface during the relative movement of the first friction layer 114 and the second friction layer 122, the distance should be less than 2 mm, preferably between 1 nm and 1 mm.

[0068] The first conductive element 112 and the second conductive element 113 are electrodes and need to have the property of being able to conduct electricity. Common conductive materials can be selected. Here are some common conductive materials: metals selected from gold, silver, platinum, aluminum, nickel, copper, titanium, chromium or selenium; gold, silver, platinum, aluminum, nickel, copper, titanium, chromium and selenium, and alloys formed by the above metals; conductive oxides, such as indium tin oxide ITO; organic conductors are generally conductive polymers, which can be selected from polypyrrole, polyphenylene sulfide, polyphthalocyanine compounds, polyaniline and / or polythiophene. Preferably, the materials of the first conductive element 112 and the second conductive element 113 are copper, gold, silver or platinum. It is also possible to directly adhere thick conductive materials such as metal plates and / or metal films to the first substrate 111 and the second substrate 121 to fix and form the first conductive element 112 and the second conductive element 113.

[0069] The first conductive element 112 and the second conductive element 113 can be a film or a thin layer, and the thickness can be in the range of 10 nm to 2 cm, preferably 50 nm to 5 mm. The first conductive element 112 and the second conductive element 113 are not necessarily limited to being hard, and can also be flexible, because the first substrate 111 can play a supporting role. The first conductive element 112 and the second conductive element 113 can be connected to an external circuit through a wire or a metal thin layer to output an electrical signal, and the technician can make a suitable choice according to the actual use.

[0070] The preparation process of the rotation angle vector sensor 100 is shown below with a practical example. First, the preparation process of the turntable friction nanogenerator 10 is shown, and a copper film tape with a thickness of 60 μm is selected. Since the first conductive element 112, the second conductive element 113, and the second friction layer 122 need to be patterned, they are prepared by PCB etching process. Before the etching process, the first substrate 111 and the second substrate 121 need to be prepared first, and the substrate is obtained by cutting an acrylic plate with a thickness of 3 mm using a laser cutting machine. The copper film tape and the PET film with a thickness of 120 μm used as a mask are respectively pasted on the surface of the substrate in sequence, and then the laser cutting machine is used to pattern the graphics of the first conductive element 112, the second conductive element 113, and the second friction layer 122 to the PET mask. Then, the PET on the surface of the copper film to be etched is peeled off from the corresponding copper film, and the substrate is cleaned with alcohol and deionized water, and then placed in a solution prepared with a PCB etchant at a water-powder ratio of 3:1 for patterning of the copper film. After 10 minutes of copper film patterning process, the substrate is taken out, washed with alcohol and deionized water, and the residual glue left by the etched copper film is wiped off with a soft cloth. Finally, the PET film on the surface of the remaining copper film is peeled off, and the substrate is placed in an ultrasonic cleaner for 10 minutes, and then placed in an electric constant temperature blast drying oven at 80°C for 10 minutes to ensure that the surface moisture is completely evaporated. A layer of PTFE film with a thickness of 100μm is pasted on the surface of the first conductive element 112 and the second conductive element 113 as the first friction layer 114. All electrodes are led out with conductive tape for electrical connection. The preparation of the transmission shaft 20, the first rotating mechanism 30, and the second rotating mechanism 40 is obtained by software three-dimensional modeling and three-dimensional printing.

[0071] Fig. 9 Schematic diagram of the output signal of the rotation angle vector sensor 100.

[0072] Since the speed of each rotation process of the rotation angle vector sensor 100 may not be uniform during use, the output of the open circuit voltage, short circuit current and transfer charge of the rotation angle vector sensor 100 under continuous external mechanical rotation motion at a fine granularity is studied. Fig. 9 As shown, the speed of the external mechanical rotational motion is set to 2, 4, 6, 8, 10, 12, 14, 16, 18, and 20 rpm, respectively. Fig. 9In (a), as the speed increases from 2rpm to 20rpm, the open circuit voltage shows a characteristic of first increasing and then stabilizing, and the minimum and maximum values ​​are 143.46V and 174.45V respectively. When the speed reaches 12rpm, the peak-to-peak value of the open circuit voltage is basically fixed. According to the theory of independent layer friction nanogenerators, the turntable friction nanogenerator 10 can be regarded as a constant capacitor that continuously transfers charge, which explains why the open circuit voltage output becomes stable after a linear increase, because the working process of the turntable friction nanogenerator 10 is actually a process of charge transfer between two groups of conductive elements, and all electrical output performance is derived from the change in the amount of charge between the conductive elements. When the speed reaches 12rpm, the generation rate of friction charge is already higher than the loss rate caused by the external environment, and the charge on the surface of the friction layer material has also been saturated, meeting the conditions for maximum voltage output. Fig. 9 In (b), as the speed increases from 2rpm to 20rpm, the short-circuit current increases continuously, and its maximum current peak reaches 403.08nA. Fig. 9 In (c), as the rotation speed increases from 2rpm to 20rpm, the amount of transferred charge increases continuously, with the minimum and maximum values ​​being 64.15nC and 71.41nC, respectively, which further verifies the correctness of the changes in open circuit voltage and short circuit current. The outputs of the two turntable friction nanogenerators 10 are measured simultaneously, the rotation speed of the rotation angle vector sensor 100 is fixed at 20rpm, and the rotation direction is alternately clockwise and counterclockwise. The results are shown in FIG. Fig. 9 (d) As shown. According to the working principle of the two rotating mechanisms, only one of the two turntable friction nanogenerators 10 can be active at the same time. As can be seen from the figure, when component 1 (referring to a turntable friction nanogenerator 10) is in an active state, its open circuit voltage produces an output that meets the expected output, but at the same time, a companion output with a different amplitude is also measured on component 2 (referring to another turntable friction nanogenerator 10). When component 2 is in an active state, similar results are also measured in component 1. This regular companion output comes from the high-intensity electric field generated by the accumulated transfer charges in the conductive element, causing the conductive element of the inactive component to capture this electrical signal through electrostatic induction. Since the amplitude of this companion output is only 1.89% compared with the output during normal operation, the companion output can be shielded by the signal threshold and will not affect the actual effect of the sensor.

[0073] Fig.10 Schematic diagram of the output signal and sensing result of the rotation angle vector sensor 100.

[0074] The open circuit voltage output waveforms of the first friction layer 114 and the second friction layer 122 when they start to rotate at different angles with the same initial phase are further measured. In this embodiment, the first conductive element 112, the second conductive element 113, and the second friction layer 122 are all set to be sectors of π / 2, dividing the circle into 8 regions, so the open circuit voltage signals of the second friction layer 122 when they rotate π / 2, π, 3π / 2, and 2π are measured. Fig.10 As shown in (a), the open circuit voltage output of the rotation angle vector sensor 100 generates peak values ​​related to the rotation angle, which are 2, 4, 6 and 8 respectively, and returns to zero after reaching the rotation angle. Therefore, the relationship between the peak value number and the rotation angle can be obtained as follows:

[0075]

[0076] Where n is the number of peaks and θ is the rotation angle.

[0077] By analyzing the rotation angle and the time taken to rotate the angle, the current rotation speed of the external object can be further obtained, such as Fig.10 As shown in (b), the rotation angle vector sensor 100 is connected to the brushless motor to measure the accuracy of the rotation speed. It can be seen that within the range of 2 to 20 rpm, the sensed rotation speed has a high accuracy, and its maximum error does not exceed 0.4 rpm.

[0078] Example 2

[0079] Fig.11 2 is a schematic diagram of a rotary combination lock 200 .

[0080] like Fig.11 As shown, this embodiment proposes a rotary password lock 200, including the rotation angle vector sensor 10, the password lock peripheral 20, and the signal processing system 30 in Example 1, wherein the password lock peripheral 20 is used for the operator to input the password and assist the operator to understand the current password input status, and the signal processing system 30 is used to analyze the angle sensing signal output by the rotation angle vector sensor 10, obtain the password meaning represented by the rotation angle and compare it with the preset password to determine whether to release the restriction on the protected device 40, and the signal processing system 30 belongs to the prior art.

[0081] Different from a key-type password input device, the rotary password lock 200 avoids large movements of the operator's hand during the input process, and it is difficult to analyze the specific rotation angle from the operator's hand movement, thereby preventing the possibility of obtaining the password by reversely analyzing the operator's hand movement process. In addition, the rotary password lock 200 can also combine the rotation angle with the rotation direction, further enhancing the password strength.

[0082] Functions and Effects of the Embodiments

[0083] According to the rotation angle vector sensor involved in Example 1, by using two turntable friction nanogenerators that reasonably couple the principles of friction electrification and electrostatic induction, combined with two rotating mechanisms with unique designs, the size of the mechanical parts is greatly reduced without the need for external energy supply and integrated into a single simple device, which can be used for synchronous sensing of the rotation angle and rotation direction and real-time feedback. Among them, the two turntable friction nanogenerators are responsible for the angle sensing of the rotation angle sensor when it rotates clockwise and counterclockwise, respectively. The rotation directions of the two turntable friction nanogenerators are driven by the rotating mechanism located in the middle, respectively. The structure of the rotating mechanism ensures that each turntable friction nanogenerator can only rotate in a certain direction. At the same time, each turntable friction nanogenerator can sense the rotation angle in the current direction, so it can achieve synchronous sensing of the rotation angle and rotation direction. The turntable friction nanogenerator can also be used as a generator for collecting mechanical energy in the environment, and can power electronic components at low speeds, providing a new research direction to meet the needs of self-driven Internet of Things sensors and distributed micro-nano energy supply in the new era.

[0084] Furthermore, the turntable friction nanogenerator adopts an independent layer working mode, including a friction conductive component and a friction component, the friction conductive component includes a first substrate, a first conductive element and a second conductive element, and a first friction layer stacked in sequence, and the friction component includes a second substrate and a second friction layer stacked. The turntable friction nanogenerator using this mode has the advantages of low noise, wide contact distance margin and high output power, ensuring that the output signal can maintain a high signal-to-noise ratio level and can resist vibration interference in the environment. In Example 1, the shape, material properties, thickness range, spacing range and surface structure of the first friction layer and the second friction layer, as well as the shape, thickness range, signal output structure of the first conductive element and the second conductive element are also preferably set, which will not be repeated here.

[0085] Furthermore, the first rotating mechanism and the second rotating mechanism can be centrally symmetrically arranged about the midpoint of the distance between the two rotating disk friction nanogenerators, and the first rotating mechanism and the second rotating mechanism both include an outer rotating member, an inner rotating member, a plurality of rotating shafts, a plurality of toggling members, and a first limit seat. Through the unique structural design, it is ensured that each rotating disk friction nanogenerator can only rotate in a certain direction.

[0086] According to the rotary password lock involved in Example 2, because it includes the above-mentioned rotation angle vector sensor, it prevents the operator from obtaining the password by recording the trajectory of the hand movement process and performing reverse analysis when using a traditional key-type password input device, thereby improving the security of the password input device.

[0087] The above-mentioned embodiments are preferred examples of the present invention and are not intended to limit the protection scope of the present invention.

Claims

1. A rotation angle vector sensor, characterized in that: include: Two rotating disk friction nanogenerators, respectively used to provide a clockwise rotation angle sensing signal and a counterclockwise rotation angle sensing signal, each of the rotating disk friction nanogenerators comprises a friction conductive component and a friction component that are arranged oppositely, and the two rotating disk friction nanogenerators are arranged oppositely and symmetrically with their friction components; A transmission shaft, which is passed through the two rotating disk friction nanogenerators and is used to receive rotational motion excitation from an external object to be measured; A first rotating mechanism, mounted on the transmission shaft and disposed between the two rotating disk friction nanogenerators, the first rotating mechanism being connected to a friction component corresponding to the rotating disk friction nanogenerator, and being used for driving the connected friction component to rotate clockwise when the transmission shaft rotates clockwise; as well as A second rotating mechanism is mounted on the transmission shaft and disposed between the two rotating disk friction nanogenerators. The second rotating mechanism is connected to another friction component corresponding to the rotating disk friction nanogenerator, and is used to drive the connected friction component to rotate counterclockwise when the transmission shaft rotates counterclockwise. Wherein, the first rotating mechanism comprises a first outer rotating member, a first inner rotating member, a plurality of first rotating shafts, a plurality of first shifting members, and a plurality of first limiting seats. The first outer rotating member is connected to the friction component of the corresponding rotating disk friction nanogenerator, and the first outer rotating member has a circular cavity with a gear ring structure as a side wall. The first inner rotating member is concentrically arranged in the circular concave cavity of the first outer rotating member and is mounted on the transmission shaft. The first inner rotating member rotates together with the transmission shaft. A plurality of the first rotating shafts are evenly distributed along the circumferential direction and are installed on the first inner rotating member and are arranged parallel to the transmission shaft. The plurality of first shifting members are rotatably mounted on the plurality of first rotating shafts respectively. A plurality of the first limit seats are respectively mounted on the first inner rotating member corresponding to a plurality of the first toggle members, and each of the first limit seats limits the rotation range of the corresponding first toggle member by blocking. When the first inner rotating member rotates clockwise together with the transmission shaft, each of the first toggle members rotates around the first rotating shaft, and is blocked by the corresponding first limiting seat during rotation and is clamped into the gear ring structure of the first outer rotating member, so that the plurality of first toggle members drive the first outer rotating member to rotate clockwise synchronously. When the first inner rotating member rotates counterclockwise with the transmission shaft, each of the first shifting members rotates around the first rotating shaft and is not blocked by the corresponding first limiting seat during rotation and is in sliding contact with the gear ring structure of the first outer rotating member, so that the first outer rotating member does not move.

2. The rotation angle vector sensor according to claim 1, characterized in that: in, The friction conductive component comprises a first substrate, a first conductive element, a second conductive element, and a first friction layer which are stacked in sequence. The first conductive element and the second conductive element are both in the form of a sheet formed by connecting a plurality of sectors evenly distributed along a circumferential direction, and the plurality of sectors of the first conductive element and the plurality of sectors of the second conductive element are staggered in the circumferential direction and have gaps between them; The friction assembly comprises a second substrate and a second friction layer which are stacked. The second substrate is connected to the corresponding rotating mechanism, The second friction layer is composed of a plurality of sector-shaped sheets evenly distributed along the circumferential direction, and the second friction layer is in contact with the surface of the first friction layer or there is a separation distance therebetween.

3. The rotation angle vector sensor according to claim 2, characterized in that: in, The materials of the first friction layer and the second friction layer have different triboelectric sequences and / or different surface electron-attracting abilities.

4. The rotation angle vector sensor according to claim 2, characterized in that: in, The thickness of the first friction layer and the second friction layer ranges from 50 nm to 2 cm.

5. The rotation angle vector sensor according to claim 2, characterized in that: in, The distance between the first friction layer and the second friction layer ranges from 1 nm to 1 mm.

6. The rotation angle vector sensor according to claim 2, characterized in that: in, The matching surfaces of the first friction layer and the second friction layer are entirely or partially provided with a micro-nano structure layer of nanometer, micrometer or sub-micrometer order.

7. The rotation angle vector sensor according to claim 6, characterized in that: in, The micro-nanostructure layer includes at least one of nanowires, nanotubes, nanoparticles, nanorods, nanoflowers, nanogrooves, microgrooves, nanocones, microcones, nanospheres, microspheres, and arrays formed by the foregoing structures.

8. The rotation angle vector sensor according to claim 6, characterized in that: in, The thickness of the micro-nano structure layer ranges from 20 nm to 20 µm.

9. The rotation angle vector sensor according to claim 2, characterized in that: in, The thickness of the first conductive element and the second conductive element ranges from 10 nm to 2 cm.

10. The rotation angle vector sensor according to claim 2, characterized in that: in, The first conductive element and the second conductive element are respectively connected with a conductive wire or a metal thin layer to output an electrical signal.

11. The rotation angle vector sensor according to claim 1, characterized in that: in, The first rotating mechanism and the second rotating mechanism are centrally symmetrically arranged about the midpoint of the distance between the two rotating disk friction nanogenerators.

12. The rotation angle vector sensor according to claim 1 or 11, characterized in that: in, The second rotating mechanism includes a second outer rotating member, a second inner rotating member, a plurality of second rotating shafts, a plurality of second shifting members, and a plurality of second limiting seats. The second outer rotating member is connected to the friction component of the corresponding rotating disk friction nanogenerator, and the second outer rotating member has a circular cavity with a gear ring structure as a side wall. The second inner rotating member is concentrically arranged in the circular concave cavity of the second outer rotating member and is mounted on the transmission shaft. The second inner rotating member rotates together with the transmission shaft. A plurality of the second rotating shafts are evenly distributed along the circumferential direction and are installed on the second inner rotating member and are arranged parallel to the transmission shaft. The plurality of second toggle members are rotatably mounted on the plurality of second rotating shafts respectively. A plurality of the second limit seats are respectively mounted on the second inner rotating member corresponding to a plurality of the second toggle members, and each of the second limit seats limits the rotation range of the corresponding second toggle member by blocking. When the second inner rotating member rotates clockwise together with the transmission shaft, each of the second shifting members rotates around the second rotating shaft, and is not blocked by the corresponding second limiting seat during rotation and is in sliding contact with the gear ring structure of the second outer rotating member, so that the second outer rotating member does not move. When the second inner rotating member rotates counterclockwise together with the transmission shaft, each second toggle member rotates around the second rotating shaft, and is blocked by the corresponding second limit seat during rotation and is stuck in the gear ring structure of the second outer rotating member, so that multiple second toggle members drive the second outer rotating member to rotate counterclockwise synchronously.

13. A rotary combination lock, characterized in that: include: The rotation angle vector sensor according to any one of claims 1 to 12.

14. The rotary combination lock according to claim 13, Features: Among them, it also includes: A password lock peripheral, connected to the rotation angle vector sensor, for assisting an operator in inputting a password; The signal processing system is connected to the rotation angle vector sensor and is used for processing the sensing signals of the rotation angle and the rotation direction output by the rotation angle vector sensor.

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