Variable-sensitivity wide-range nonlinear sensor and application thereof

Abstract

The invention relates to the technical field of sensors, in particular to a variable-sensitivity wide-range nonlinear sensor and application thereof. The force sensor mainly aims at solving the problems that existing force sensors which mostly adopt unilateral deformation flexible hinge structures have contradiction between measuring range and precision, cannot simultaneously meet the requirements of humanoid, engineering, mine robots and the like for high sensitivity under small load and large measuring range and buffering function under large impact, and can not provide whole-course accurate force data for an AI model. According to the technical scheme, the device comprises a connecting assembly, and the connecting assembly comprises an inner rigid block; the outer ring is arranged on the outer side of the inner rigid block, a plurality of groups of connecting cylinders are mounted on the outer ring, and the connecting cylinders are connected with the output end or the operation end of a motor. The torque and friction are accurately measured, the speed reducer gap is compensated, the robot can be assisted to accurately and flexibly operate and safely cope with impact, reliable force data are provided for an AI model, and application and development of related robot technologies in complex scenes are promoted.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and in particular to a variable sensitivity and large range nonlinear sensor and application thereof. Background Art

[0002] In the field of modern sensor technology, force sensors, as key components for obtaining force information, are widely used in various industrial and emerging technology scenarios, especially in advanced automation equipment such as humanoid / engineering / mining robots. The performance of force sensors directly affects the accuracy, stability and safety of robot operation. At present, in order to improve the linear range of the sensor, existing force sensors mostly adopt a unilateral deformation flexible hinge structure. However, this structure has an inherent contradiction that has not been effectively resolved for a long time, that is, the contradiction between range and accuracy. When pursuing a large measurement range, the accuracy of the sensor will decrease; conversely, if high-precision measurement is to be achieved, its range will be greatly limited. This contradiction seriously restricts the performance of the sensor in complex application scenarios, and it is difficult to meet the special requirements of sensors such as humanoid / engineering / mining robots.

[0003] Taking humanoid robots as an example, their application scenarios are highly complex and diverse. When performing tasks such as grabbing eggs, which require extremely delicate operations, the sensor is required to have extremely high sensitivity and be able to accurately sense tiny force changes to ensure that the eggs will not be crushed due to excessive force during the grasping process. When grasping heavy objects, the robot not only needs to carry the heavy objects smoothly and safely, but also needs to ensure that the sensor can work normally without over-range under the impact load generated by jumping from a high place. This requires the sensor to be able to keenly capture subtle force signals under a small load state to achieve dexterous operation; when a large impact load is applied, it is not only able to accurately measure the magnitude of the force, but also needs to have a large buffering function to meet the safe operation requirements of the robot. At the same time, in order to enable the robot's AI model to perform full-range force perception, thereby achieving accurate dexterous operation and sensitive control, the sensor must provide reliable and accurate force data within the entire working range. However, the existing unilateral deformation flexible hinge structure force sensor cannot simultaneously meet the robot's stringent requirements for sensor performance under different working conditions due to the contradiction between its range and accuracy. In view of this, the present invention proposes a variable sensitivity and large-range nonlinear sensor. Summary of the invention

[0004] The object of the present invention is to address the problem in the background art that existing force sensors mostly using unilateral deformation flexible hinge structures have a contradiction between range and accuracy, and cannot simultaneously meet the complex application requirements of humanoid / engineering / mining robots, etc., which require high sensitivity for small loads, large range and buffering function for large impacts, and provide accurate force data throughout the process for AI models. A variable sensitivity large range non-linear sensor is proposed.

[0005] In a first aspect, the present invention proposes a variable sensitivity large range non-linear sensor, including a connection component, the connection component includes an inner rigid block; an outer ring coaxially / parallelly installed with the inner rigid block, the outer ring is sleeved outside the inner rigid block; a plurality of flexible hinge sheets connected between the inner rigid block and the outer ring, and the plurality of flexible hinge sheets are distributed in a uniform annular / symmetric parallel array.

[0006] The inner rigid block and the outer ring translate relative to each other in the same direction, or the outer ring and the inner rigid block rotate relative to the same axis, so that the displacement of the flexible hinge sheet in the length direction is constrained by the inner rigid block and the outer ring. When the flexible hinge sheet deforms, a stress stiffening effect is generated to increase the stiffness.

[0007] Optionally, when the inner rigid block and the outer ring translate relative to each other in the same direction, the flexible hinge sheet generates a bending deformation with one end fixed and the other end guided. The non-linear tensile and compressive stiffness of a single flexible hinge sheet is:

[0008]

[0009] where E is the elastic modulus of the material, I is the bending moment of inertia, A is the cross-sectional area of the flexible hinge sheet, L is the length of the flexible hinge, and Δ is the maximum tangential deformation amount in the inner side of the outer ring of the flexible hinge sheet;

[0010] At this time, the flexible hinge sheets are symmetrically arranged on both sides of the inner rigid block. For a tensile and compressive sensor composed of n flexible hinge sheets, its non-linear tensile and compressive stiffness is:

[0011] K Ts = nK T ;

[0012] When the outer ring and the inner rigid block rotate relative to the same axis, let the radius of the inner rigid block be r, the radius of the outer ring be R, and the rotation deformation angle of the flexible hinge sheet be where the length of the flexible hinge sheet L = R - r, θ R and θ r are the rotation angles of the outer ring and the inner rigid block respectively;

[0013] The non-linear torsional stiffness of a single flexible hinge sheet is:

[0014]

[0015] A torsional sensor composed of n flexible hinge pieces, whose non-linear torsional stiffness is:

[0016] K Rs = nK R ;

[0017] When the flexible hinge piece is a rectangular cross-section beam, W, D respectively represent the length, width and thickness of the flexible hinge piece, and the bending moment of inertia of the flexible hinge piece The cross-sectional area A of the flexible hinge piece is WD.

[0018] Optionally, connection holes are installed on both the inner ring and the outer ring, the connection holes are connected to the input end and the output end, and a first coding disk or a strain gauge sensor for measuring the deformation of the flexible hinge piece is also provided.

[0019] In a second aspect, the present invention proposes a non-linear sensor device for measuring torque and friction, including two sets of connection components, and further including a mounting component for installation and fixation. The mounting component includes a fixing cylinder, a fixing ring is fixedly connected in the fixing cylinder, the two sets of connection components are symmetrically arranged on both sides of the fixing ring, a bearing is arranged inside the fixing ring, a connecting shaft is installed in the bearing, and the inner rigid blocks in the two sets of connection components are fixedly connected to the outer ring of the connecting shaft.

[0020] Optionally, first reading heads are arranged on the outer rings of the two outer rings, the first reading heads are connected to a fixing plate, and the fixing plate is fixedly connected to the mounting component.

[0021] Optionally, a synchronous ring is fixedly connected to the outer ring of the connecting shaft, the synchronous ring is arranged on one side of the fixing ring, a second reading head is arranged on the outer ring of the synchronous ring, the second reading head is installed on the side surface of the fixing ring, and a second coding disk is installed on the outer ring of the synchronous ring.

[0022] Optionally, the first coding disk and the second coding disk are grating coding disks or magnetic grating coding disks.

[0023] In a third aspect, the present invention proposes an output torque measurement and compensation non-linear sensor device, including a set of connection components, and further including a driving mechanism for driving. The driving mechanism includes a housing, a driving motor is installed in the housing, the output end of the driving motor is fixedly connected to a speed reducer, a protective housing is arranged outside the speed reducer, the protective housing is fixedly connected to one side of the housing, and the output end of the speed reducer is fixedly connected to the inner rigid block.

[0024] Optionally, a third reading head is arranged on the outer ring of the outer ring, and the third reading head is fixedly connected to the protective housing.

[0025] Optionally, an encoder is installed in the housing.

[0026] In summary, the present application includes at least one of the following beneficial technical effects:

[0027] In the present invention, by adopting the structure of connecting the inner rigid block and the outer ring with a flexible hinge plate, when the load is small, the flexible hinge plate is in the state of minimum stiffness and the highest sensitivity; as the load increases, due to the stress stiffening effect, the stiffness of the flexible hinge plate increases sharply and the deformation increment decreases. The use of variable-sensitivity non-linear stiffness design can increase the measuring range by several times or even dozens of times, and can meet the requirements of different load scenarios, such as humanoid robots, mine robots, and perception of construction machinery;

[0028] Furthermore, by using two groups of first reading heads in cooperation with the first coding disk to measure the input and output torques respectively, the difference therebetween is the friction torque of the bearing. At the same time, by using the second reading head in cooperation with the second coding disk to detect the angular displacement of the connecting shaft and comparing it with the angular displacement of the outer ring, the torque of the outer ring can be accurately obtained, realizing the accurate measurement of torque and friction;

[0029] Furthermore, by using the encoder to detect the angular displacement of the drive motor shaft and comparing it with the angular displacement of the outer ring detected by the third reading head in cooperation with the first coding disk, and taking the detected angular displacement of the outer ring as the standard, the clearance of the speed reducer is compensated to ensure the accurate rotation angle of the outer ring and improve the operation accuracy of the equipment;

[0030] In summary, the present invention accurately measures torque and friction, compensates for the clearance of the speed reducer, can help the robot to operate precisely and dexterously, safely cope with impacts, provides reliable force data for the AI model, and promotes the application development of related robot technologies in complex scenarios. Brief Description of the Drawings

[0031] Figure 1 Schematic structural diagram of the inner rigid block and the outer ring of the non-linear sensor moving relatively in translation in the same direction;

[0032] Figure 2 Schematic structural diagram of the inner rigid block and the outer ring of the non-linear sensor rotating relatively around the same axis;

[0033] Figure 3 For Figure 2 Schematic diagram of the torsional angle;

[0034] Figure 4 Schematic structural diagram of a non-linear sensor device for measuring torque and friction is given;

[0035] Figure 5 For Figure 4 Cross-sectional schematic diagram of;

[0036] Figure 6 Another schematic structural diagram of a non-linear sensor device for measuring torque and friction is given;

[0037] Figure 7 is Figure 6 a schematic cross-sectional view of;

[0038] Figure 8 A structural schematic diagram of a non-linear sensor device for output torque measurement and compensation is given;

[0039] Figure 9 is Figure 8 a schematic cross-sectional view of.

[0040] Reference numerals:

[0041] 1. Inner rigid block; 2. Outer ring; 21. Connecting cylinder; 22. First coding disk; 3. Flexible hinge plate;

[0042] 4. Mounting assembly; 41. Fixed cylinder; 42. Fixed ring; 43. Bearing; 44. Connecting shaft; 45. Synchronous ring;

[0043] 5. First reading head; 51. Fixed plate;

[0044] 6. Second reading head;

[0045] 7. Driving mechanism; 71. Housing; 72. Driving motor; 73. Reducer; 74. Protective housing; 75. Encoder;

[0046] 8. Third reading head. Detailed implementation manners

[0047] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention.

[0048] Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention.

[0049] All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0050] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0051] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0052] Embodiment 1

[0053] As Figure 1 and Figure 2 As shown, a variable-sensitivity large-range non-linear sensor proposed by the present invention includes a connection assembly. The connection assembly includes an inner rigid block 1 and an outer ring 2 disposed outside the inner rigid block 1. The inner rigid block 1 can be hollow or solid. In the hollow state, it can be an inner ring, coaxially or parallelly installed with the outer ring 2. A plurality of connecting cylinders 21 are installed on the outer ring 2, and the connecting cylinders 21 are connected to the output end or the operating end of the motor.

[0054] As an embodiment, the above connection assembly further includes a plurality of flexible hinge pieces 3 connected between the inner rigid block 1 and the outer ring 2. The plurality of flexible hinge pieces 3 are distributed in a uniformly distributed annular or symmetric parallel array. The inner rigid block 1 and the outer ring 2 translate relative to each other in the same direction, or the outer ring 2 and the inner rigid block 1 rotate relative to the same axis, so that the displacement of the flexible hinge piece 3 in the length direction is restricted by the inner rigid block 1 and the outer ring 2. When the flexible hinge piece 3 deforms, a stress stiffening effect is generated to increase the stiffness, forming a non-linear sensor. Connection holes are installed on both the inner ring and the outer ring, and the connection holes are connected to the input end and the output end. The motor output shaft drives the inner rigid block 1 to rotate, and drives the outer ring 2 to rotate through the flexible hinge piece 3, thereby driving the operating end to rotate. Since both the inner rigid block 1 and the outer ring 2 are rigid, after deformation, the flexible hinge piece 3 is stretched, generating stress stiffening, and thus the stiffness increases and the sensitivity decreases.

[0055] Specifically, as Figure 1As shown, when the inner rigid block 1 and the outer ring 2 translate relative to each other in the same direction, the flexible hinge plate 3 undergoes a bending deformation with one end fixed and the other end guided. The non-linear tensile and compressive stiffness of a single flexible hinge plate 3 is:

[0056]

[0057] where E is the elastic modulus of the material of the flexible hinge plate 3, I is the bending moment of inertia, A is the cross-sectional area of the flexible hinge plate 3, L is the length of the flexible hinge plate 3, and Δ is the maximum tangential deformation amount representing the contact between the flexible hinge plate 3 and the inner side of the outer ring 2;

[0058] At this time, the flexible hinge plates 3 are symmetrically arranged on both sides of the inner rigid block 1. For a tensile and compressive sensor composed of n flexible hinge plates 3, its non-linear tensile and compressive stiffness is:

[0059] K Ts = nK T .

[0060] As Figure 2 shown, when the outer ring 2 and the inner rigid block 1 rotate relative to each other around the same axis, let the radius of the inner rigid block 1 be r and the radius of the outer ring 2 be R. The rotation deformation angle of the flexible hinge plate 3 is where the length L of the flexible hinge plate 3 = R - r, θ R and θ r are the rotation angles of the outer ring 2 and the inner rigid block 1 respectively;

[0061] The non-linear torsional stiffness of a single flexible hinge plate 3 is:

[0062]

[0063] For a torsional sensor composed of n flexible hinge plates 3, its non-linear torsional stiffness is:

[0064] K Rs = nK R ;

[0065] When the flexible hinge plate 3 is a rectangular cross-section beam, and W, D represent the length, width, and thickness of the flexible hinge plate 3 respectively, the bending moment of inertia of the flexible hinge plate 3, and the cross-sectional area A of the flexible hinge plate 3 is WD.

[0066] Furthermore, please refer to Figure 3 . At the equilibrium position, the flexible hinge plate 3 is in the state of minimum stiffness. At this time, the deformation change rate generated by the applied force is the largest, and the sensitivity is the highest. As the applied load increases, due to the displacement at both ends of the flexible hinge plate 3 being restricted, the deformation of the flexible hinge plate 3 causes its own length to increase, and axial tension generates stress stiffening.

[0067] The formula for the relationship between the maximum bending deformation Δ of the flexible hinge plate 3 and the applied force F is:

[0068]

[0069] As the bending deformation Δ increases, the required load F increases non-linearly. Variable-sensitivity non-linear stiffness design is adopted to increase the measurement range. Since the elastic deformation range of the material can reach 3% - 8%, the material used for the flexible hinge plate 3 is mainly aviation aluminum or stainless steel, and their elastic moduli are 7.2e10 Pa and 2.1e11 Pa respectively. When the length L of the elastic body increases by 1%, the axial force generated is N = EAε.

[0070] Due to the limitation of the axial displacement, the bending deformation of the flexible hinge plate 3 causes stress stiffening effect due to axial tension. As the bending deformation increases, the stiffness increases rapidly in a cubic relationship, so the deformation increment becomes smaller and smaller. Therefore, in the measurement range of the flexible hinge plate 3 (usually 15000 or 20000 microstrain), the variable-sensitivity non-linear stiffness design can increase the measurement range by several times or even dozens of times. Thus, the sensor can maintain high sensitivity under small loads and will not exceed the measurement range under large loads or even impact loads, which can well meet the requirements of large-range load occasions such as humanoid robots, mine robots, and construction machinery for perception.

[0071] Embodiment 2

[0072] As Figure 4 and Figure 5 shown, based on Embodiment 1, the present invention also proposes a non-linear sensor device for measuring torque and friction, including two sets of connection components and a mounting component 4. The mounting component 4 includes a fixed cylinder 41, and a fixed ring 42 is fixedly connected in the fixed cylinder 41. (The fixed cylinder 41 can also be a block, and the fixed ring 42 can also be a bearing seat, and the fixed ring 42 is fixed at the bottom of the fixed cylinder 41, as Figure 6 and Figure 7The position of the fixing ring 42 is fixed (as shown). Two sets of connecting components are symmetrically arranged on both sides of the fixing ring 42. A bearing 43 is arranged inside the fixing ring 42, and a connecting shaft 44 is installed in the bearing 43. The connecting shaft 44 is kept rotating in place through the bearing 43. The inner rigid blocks 1 in the two sets of connecting components are all fixedly connected to the outer ring of the connecting shaft 44. When the connecting shaft 44 rotates, it drives the two sets of inner rigid blocks 1 to rotate synchronously. The output end of the motor is connected to one set of outer rings 2, so as to drive the inner rigid block 1 connected thereto to rotate through the flexible hinge piece 3, and drive the other set of inner rigid blocks 1 to rotate through the connecting shaft 44. Finally, the outer ring 2 connected thereto is driven to rotate through the flexible hinge piece 3 to control the operating end. First reading heads 5 are arranged on the outer rings of the two sets of outer rings 2. A first coding disk 22 or a strain gauge sensor is installed on the outside of the outer ring 2. The first coding disk 22 and the second coding disk are grating coding disks or magnetic grating coding disks. The angular displacement of the outer ring 2 is detected by the cooperation of the first reading head 5 and the first coding disk 22. The first reading head 5 is connected to a fixing plate 51, and the fixing plate 51 is fixedly connected to the mounting component 4. The position of the first reading head 5 is fixed through the fixing plate 51. A synchronous ring 45 is fixedly connected to the outer ring of the connecting shaft 44. The synchronous ring 45 is arranged on one side of the fixing ring 42 and rotates synchronously with the connecting shaft 44. A second reading head 6 is arranged on the outer ring of the synchronous ring 45. The second reading head 6 is installed on the side surface of the fixing ring 42. A second coding disk is installed on the outer ring of the synchronous ring 45. The second reading head 6 cooperates with the second coding disk to detect the angular displacement of the synchronous ring 45 and the connecting shaft 44, and cooperate with the angular displacement of the outer ring 2 detected by the first reading head 5 to facilitate obtaining the torque of the outer ring 2.

[0073] Furthermore, the torques of the input and output are respectively measured by the cooperation of the two sets of first reading heads 5 and the first coding disk 22, and the difference between the two torques is the frictional torque of the bearing 43.

[0074] In this embodiment, after the motor is started, it drives one set of outer rings 2 to rotate, and drives one set of inner rigid blocks 1 to rotate through the flexible hinge piece 3 connected thereto. And it drives the other set of inner rigid blocks 1 to start rotating through the connecting shaft 44. At the same time, it drives the other set of outer rings 2 to rotate through the flexible hinge piece 3 connected thereto, and drives the operating end to work at the same time. When the two sets of outer rings 2 rotate, the angular displacements of the two sets of outer rings 2 are respectively measured by the cooperation of the first reading head 5 and the first coding disk 22. The difference between the angular displacements of the two sets of outer rings 2 is the frictional torque of the bearing 43. When the connecting shaft 44 rotates, it drives the synchronous ring 45 to rotate synchronously, and the angular displacement of the synchronous ring 45 is measured by the cooperation of the second reading head 6 and the second coding disk. The differences between the angular displacements of the two sets of outer rings 2 and the angular displacement of the synchronous ring 45 are the torques of the two sets of outer rings 2, that is, the input torque and the output torque.

[0075] Embodiment 3

[0076] As Figure 8 and Figure 9As shown in the figure, based on the above-mentioned first embodiment, it includes a non-linear sensor device for measuring and compensating output torque, which includes a driving mechanism 7 for driving. The driving mechanism 7 includes a housing 71. A driving motor 72 is installed in the housing 71. The output end of the driving motor 72 is fixedly connected to a speed reducer 73. A protective housing 74 is arranged outside the speed reducer 73. The protective housing 74 is fixedly connected to one side of the housing 71, and the position of the protective housing 74 is fixed. The output end of the speed reducer 73 is fixedly connected to the inner rigid block 1. After the driving motor 72 is started, the inner rigid block 1 is driven to rotate by the speed reducer 73. A third reading head 8 is arranged on the outer ring 2 of the outer ring. The third reading head 8 is fixedly connected to the protective housing 74. A first code disk 22 is installed on the outside of the outer ring 2. The first code disk 22 is a grating code disk or a magnetic grating code disk. The angular displacement of the outer ring 2 is detected by the cooperation of the third reading head 8 and the first code disk 22. The outer ring 2 is connected to the operating end. A first code disk 22 is installed on the outside of the outer ring 2. An encoder 75 is arranged in the housing 71. The angular displacement of the shaft of the driving motor 72 is detected by the encoder 75, so as to cooperate with the angular displacement of the outer ring 2 to compensate for the clearance of the speed reducer 73 and ensure the accurate rotation angle of the outer ring 2.

[0077] In this embodiment, after the driving motor 72 is started, the inner rigid block 1 is driven to rotate by the speed reducer 73. The inner rigid block 1 drives the outer ring 2 to rotate and drives the operating end to work through the flexible hinge piece 3. At this time, the third reading head 8 cooperates with the first code disk 22 to detect the angular displacement of the outer ring 2. At the same time, the encoder 75 detects the angular displacement of the shaft of the driving motor 72, and compares the two angular displacements. Due to the clearance between the gears of the speed reducer 73, there will be a difference between the two angular displacements. At this time, taking the angular displacement detected by the third reading head 8 as the standard, the driving motor 72 is started to rotate continuously for compensation to ensure the accurate rotation angle of the outer ring 2.

[0078] The above specific embodiments are only several alternative embodiments of the present invention. Based on the technical solution of the present invention and the relevant revelations of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A variable-sensitivity large-range non-linear sensor, characterized in that, Comprising a connection component, the connection component includes: Inner rigid block; An outer ring installed coaxially / parallel to the inner rigid block, the outer ring sleeved outside the inner rigid block; Multiple groups of flexible hinge plates connected between the inner rigid block and the outer ring, and the multiple groups of flexible hinge plates are evenly distributed in an annular shape / symmetric parallel array; The inner rigid block and the outer ring translate relative to each other in the same direction, or the outer ring and the inner rigid block rotate relative to the same axis, so that the displacement of the flexible hinge plate in the length direction is constrained by the inner rigid block and the outer ring, and when the flexible hinge plate deforms, a stress stiffening effect is generated to increase the stiffness.

2. The variable-sensitivity large-range non-linear sensor according to claim 1, wherein When the inner rigid block and the outer ring translate relative to each other in the same direction, the flexible hinge plate generates a bending deformation with one end fixed and the other end guided. The non-linear tensile and compressive stiffness of a single flexible hinge plate is: Wherein, E is the material elastic modulus, I is the bending moment of inertia, A is the cross-sectional area of the flexible hinge plate, L is the length of the flexible hinge, and Δ is the deformation amount in the maximum tangent direction of the inner side of the outer ring of the flexible hinge plate; At this time, the flexible hinge plates are symmetrically arranged on both sides of the inner rigid block. For a tensile and compressive sensor composed of n flexible hinge plates, its non-linear tensile and compressive stiffness is: K Ts = nK T ; When the outer ring and the inner rigid block rotate relative to the same axis, assuming the radius of the inner rigid block is r and the radius of the outer ring is R, the rotational deformation angle of the flexible hinge plate is where the length L of the flexible hinge plate is L = R - r, θ R and θ r are the rotation angles of the outer ring and the inner rigid block respectively; The non-linear torsional stiffness of a single flexible hinge plate is: For a torsional sensor composed of n flexible hinge plates, its non-linear torsional stiffness is: K Rs = nK R ; When the flexible hinge plate is a rectangular cross-section beam, and W, D respectively represent the length, width and thickness of the flexible hinge plate, the bending moment of inertia of the flexible hinge plate The cross-sectional area A of the flexible hinge plate is WD.

3. The variable-sensitivity large-range non-linear sensor according to claim 1, characterized in that Connection holes are installed on both the inner ring and the outer ring, the connection holes are connected to the input end and the output end, and a first coding disk or a strain gauge sensor for measuring the deformation of the flexible hinge plate is also provided.

4. A non-linear sensor device for measuring torque and friction, comprising two sets of connection components as described in claim 3, characterized in that, It further includes an installation component for installation and fixation. The installation component includes a fixed cylinder, a fixed ring is fixedly connected in the fixed cylinder, two groups of the connection components are symmetrically arranged on both sides of the fixed ring, a bearing is arranged inside the fixed ring, a connection shaft is installed in the bearing, and the inner rigid blocks in the two groups of the connection components are fixedly connected to the outer circle of the connection shaft.

5. A torque and friction non-linearity sensor device according to claim 4, characterized in that, First reading heads are arranged on the outer circles of the two groups of outer rings, the first reading heads are connected with fixing plates, and the fixing plates are fixedly connected to the installation component.

6. A torque and friction non-linearity sensor device according to claim 5, characterized in that, A synchronous ring is fixedly connected to the outer circle of the connection shaft, the synchronous ring is arranged on one side of the fixed ring, a second reading head is arranged on the outer circle of the synchronous ring, the second reading head is installed on the side of the fixed ring, and a second coding disk is installed on the outer circle of the synchronous ring.

7. A torque and friction non-linearity sensor device according to claim 5, characterized in that, The first coding disk and the second coding disk are grating coding disks or magnetic grating coding disks.

8. An output torque measurement and compensation non-linear sensor device, comprising a set of connection components as described in claim 3, characterized in that, It further includes a driving mechanism for driving. The driving mechanism includes a housing, a driving motor is installed in the housing, the output end of the driving motor is fixedly connected with a speed reducer, a protective housing is arranged outside the speed reducer, the protective housing is fixedly connected to one side of the housing, and the output end of the speed reducer is fixedly connected to the inner rigid block.

9. An output torque measurement and compensation non-linear sensor device according to claim 8, characterized in that, A third reading head is arranged on the outer circle of the outer ring, and the third reading head is fixedly connected to the protective housing.

10. A non-linear sensor device for output torque measurement and compensation according to claim 9, characterized in that, An encoder is installed in the housing.

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