Test equipment, test method thereof and computer readable storage medium

Abstract

The embodiment of the invention provides testing equipment, a testing method thereof and a computer readable storage medium, and relates to the field of testing. The test equipment comprises a driving part, a clamping part and a distance measuring sensor. The driving part comprises a first driving piece and a torsion sensor. The first driving member is used for driving the torsion sensor to rotate. The clamping part is connected with the torsion sensor and can rotate along with the torsion sensor. The clamping part is used for clamping the knob. And at least one distance measuring sensor is arranged on the clamping part. The at least one distance measuring sensor is used for detecting whether the clamping component is aligned with the knob. When the operation force test needs to be carried out on the knob installed on equipment such as a vehicle, the knob is clamped by the clamping part, the first driving part drives the torsion sensor to rotate and drives the knob to rotate, the knob does not need to be detached from the equipment such as the vehicle, and the test convenience is improved. Whether the clamping part is aligned with the knob is automatically detected through the distance measuring sensor, and the test precision and the test efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of testing, in particular to a testing device and a testing method thereof, and a computer readable storage medium. BACKGROUND

[0002] Knobs are important components in human-computer interaction. For example, knobs on a vehicle are an important interaction bridge between a user and the vehicle. The reasonable design of the operation force of the knob directly affects the user experience and safety. The operation force testing device of the knob helps the automobile manufacturer optimize the mechanical structure of the knob by accurately measuring the force value of the knob at different rotation angles, to ensure the comfort of the knob in use.

[0003] Currently, the operation force of the knob is mainly measured by a torque tester. If the knob has been installed on a device such as a vehicle, the knob needs to be removed from the device and fixed on the rack of the torque tester, and then the operation force of the knob is measured by a sensor. The torque tester is a fixed device and is relatively bulky, which is not convenient to move. It cannot be applied to the scene where the knob cannot be removed from the device for testing. SUMMARY The embodiments of the present application provide a portable testing device and a testing method thereof, and a computer readable storage medium.

[0004] In a first aspect, an embodiment of the present application provides a testing device. The testing device includes a driving component, a clamping component, and at least one distance measuring sensor. The driving component includes a first driving member and a torque sensor, and the first driving member is configured to drive the torque sensor to rotate. The clamping component is connected to the torque sensor and can rotate with the torque sensor, and the clamping component is configured to clamp a knob. The at least one distance measuring sensor is arranged on the clamping component. The at least one distance measuring sensor is configured to detect whether the clamping component and the knob are aligned.

[0005] The testing device provided by the present application can clamp the knob by the clamping component of the testing device when the operation force of the knob installed on a device such as a vehicle needs to be tested, and the first driving member drives the torque sensor to rotate and drives the knob to rotate, without the need to remove the knob from the device such as the vehicle, thereby improving the convenience of the testing device in testing the operation force of the knob.

[0006] Whether the clamping component and the knob are aligned refers to whether the rotation center axis of the clamping component coincides with the rotation center axis of the knob. When the first driving member drives the torque sensor to rotate, the clamping component rotates around the rotation center axis of the clamping component, and the knob rotates around the rotation center axis of the knob. In some possible implementation manners, when the clamping component and the knob are aligned, the contact point of the clamping component and the knob can be perpendicular to the rotation center axis of the clamping component.

[0007] If the rotation center axis of the clamping component and the rotation center axis of the knob are eccentric (eccentric), an additional bending moment is generated when the torsion is applied, affecting the accuracy of the test. The present application detects whether the clamping component and the knob are aligned through the distance measuring sensor on the clamping component. On the one hand, automatic detection can be realized without the need for the operator to repeatedly make eye judgments, improving the automation level and test efficiency of the test equipment. On the other hand, subjective errors caused by eye judgments can be eliminated, improving the test accuracy of the test equipment.

[0008] According to the first aspect, in a possible implementation, the clamping component includes a chuck and at least two clamping assemblies connected with the chuck, the chuck is connected with the torsion sensor, and the at least two clamping assemblies are used to clamp the knob together. The at least one distance measuring sensor is arranged on the chuck, and the test equipment further includes a controller configured to determine whether the chuck and the knob are aligned based on the distance between the chuck and the knob obtained by the at least one distance measuring sensor.

[0009] In this possible implementation, during the adjustment of the position of the knob relative to the chuck, whether the chuck and the knob are aligned is determined based on the distance between the chuck and the knob obtained by the distance measuring sensor, which is conducive to improving the test accuracy of the test equipment. In addition, the at least two clamping assemblies are used to clamp the knob, so that the test equipment can adapt to test knobs of different shapes. In other words, the test equipment can test regular-shaped or special-shaped knobs, which is conducive to increasing the application range of the test equipment.

[0010] According to the first aspect, in a possible implementation, each clamping assembly includes a second driving member and a clamp, the second driving member is arranged on the chuck, the clamp is movably connected with the chuck, and the controller is configured to control the second driving member to drive the clamp to move based on the distance.

[0011] In this possible implementation, based on the distance between the chuck and the knob obtained by the distance measuring sensor, the controller can control the second driving member to drive the clamp to move, thereby automatically adjusting the position of the knob relative to the chuck without the need for the operator to manually adjust repeatedly. In this way, the installation accuracy of the knob installed to the test equipment is improved, and the test efficiency of the test equipment is further improved.

[0012] According to the first aspect, in a possible implementation, the second driving member includes a structural member, a push rod, and an elastic member, the structural member, the coil, the push rod, and the elastic member are all accommodated in the chuck, the structural member is fixed with the chuck, one end of the push rod is connected with a first end of the clamp, and the elastic member is sleeved outside the push rod. The controller is configured to control the power-on and power-off of the coil, and the magnetic field generated by the coil in the power-on state acts on the push rod, so that the push rod drives the clamp to move relative to the chuck. The elastic member is elastically abutted between the structural member and part of the push rod.

[0013] In a possible implementation of the first aspect, the second driving member is an electromagnetic damping structure. The electromagnetic damping structure has a very fast response, which can improve the response speed of the second driving member. In addition, compared with a motor drive, the electromagnetic damping structure can effectively attenuate the vibration transmitted from the motor to the caliper, which is beneficial to improve the stability of the clamping component when clamping the knob during the grabbing and moving processes. The elastic member is used to help the push rod return to the original position. The controller is used to control the power-on and power-off of the coil, which is beneficial to improve the control accuracy and test efficiency of the test equipment.

[0014] In a possible implementation of the first aspect, the coil is accommodated in the inner cavity of the structural member, and at least a portion of the push rod is used to enter or exit the inner cavity of the structural member.

[0015] In a possible implementation of the first aspect, since the coil is accommodated in the inner cavity of the structural member, the structural member provides protection for the coil. The structural member also guides the movement of the push rod relative to the chuck, improving the stability and smoothness of the movement of the push rod relative to the chuck. In addition, the coil, the structural member, the push rod, and the elastic member can be assembled together, improving the convenience of assembling the second driving member to the chuck.

[0016] In a possible implementation of the first aspect, the side of the chuck away from the first driving member is provided with at least two sliding grooves extending along the radial direction of the chuck, and the at least two sliding grooves correspond to the at least two clamping assemblies one by one. Each caliper is in sliding connection with the corresponding sliding groove.

[0017] In a possible implementation of the first aspect, the sliding groove guides the movement of the caliper, which is beneficial to improve the stability and smoothness of the movement of the caliper relative to the chuck.

[0018] In a possible implementation of the first aspect, the outer wall of the first end of the caliper includes a groove, the chuck includes oppositely arranged first and second plate bodies, the first plate body is arranged on the side of the chuck facing the first driving member and is connected with the torque sensor, and the second plate body is provided with a sliding groove, and part of the second plate body is slidably arranged in the groove.

[0019] In a possible implementation of the first aspect, the caliper is installed on the second plate body through the groove. The groove prevents the caliper from moving along the rotation center axis of the chuck, which improves the stability of the position of the knob in the rotation center axis direction of the chuck when the clamping component clamps the knob.

[0020] In a possible implementation of the first aspect, the second end of the caliper away from the chuck is provided with a flexible layer. The flexible layer is used to contact the knob when the clamping component clamps the knob, which reduces the risk of scratching the surface of the knob by the caliper.

[0021] In a possible implementation manner according to the first aspect, the testing device further comprises a bearing and a support, the bearing comprises an inner ring and an outer ring, the outer ring is sleeved on the outer periphery of the inner ring and is rotationally connected with the inner ring, the inner ring is connected between the torsion sensor and the clamping component, the rotation of the torsion sensor drives the rotation of the inner ring and the clamping component, and the support is mounted on the outer ring.

[0022] In the possible implementation manner, the support is used to connect with the vehicle or other equipment to fix the testing device, so as to improve the position stability of the testing device, reduce the possibility of shaking of the testing device during the test, and improve the test efficiency of the testing device.

[0023] In a possible implementation manner according to the first aspect, the testing device further comprises a connecting shaft, the connecting shaft is fixed with the inner ring, one end of the connecting shaft is connected with the torsion sensor, and the other end of the connecting shaft is connected with the clamping component.

[0024] In the possible implementation manner, the connecting shaft is used to connect the torsion sensor and the clamping component, so as to improve the flexibility of the connection between the torsion sensor and the clamping component.

[0025] In a possible implementation manner according to the first aspect, the testing device further comprises an adjusting structure connected between the rotating shaft of the first driving member and the torsion sensor, and the adjusting structure is used to adjust the included angle between the rotation center axis of the rotating shaft and the rotation center axis of the torsion sensor.

[0026] In the possible implementation manner, the adjusting structure is used to adjust the included angle between the rotation center axis of the rotating shaft and the rotation center axis of the torsion sensor, so that the testing device has a certain adjustable space in the direction of the rotation center axis of the rotating shaft, and the flexibility of the installation of the testing device and the knob together is improved. In a possible implementation manner according to the first aspect, the adjusting structure comprises a transmission shaft and a universal joint, one end of the transmission shaft is connected to the rotating shaft, the other end of the transmission shaft is movably connected with the universal joint, and one end of the universal joint away from the transmission shaft is connected with the torsion sensor.

[0027] In the possible implementation manner, the universal joint allows the transmission shaft and the torsion sensor to relatively rotate within a certain angle and transmit the torque at the same time, that is, the effective power transmission is realized, and the limitation of the testing device on the test space is reduced.

[0028] In a possible implementation manner according to the first aspect, the torsion sensor is used to collect a torsion signal and convert the torsion signal into a first torque value. The testing device further comprises a controller, and the controller is used to filter the first torque value and obtain a second torque value.

[0029] When the clamping component clamps the knob, the rotation center axis of the clamping component and the rotation center axis of the knob are difficult to coincide, that is, it is difficult to achieve zero error when the clamping component and the knob are installed together, and the existence of the error affects the test precision of the test equipment to some extent.

[0030] In this possible implementation, the second torque value is obtained by filtering the first torque value, the interference of the error of the test equipment in the test process is reduced, and the accuracy of the test equipment is improved.

[0031] According to the first aspect, in a possible implementation, the controller is further configured to control the rotation shaft of the first driving member to stop rotating based on the first torque value and the rotation angle of the rotation shaft of the first driving member.

[0032] During the test of the test equipment, if the movement of the clamping component relative to the main body of the vehicle or the equipment reaches the limit position, the torque will rapidly increase, and the test equipment and the knob will have the risk of being damaged. If the knob is still installed on the vehicle during the test, since the knob is connected with devices on the vehicle, such as a potentiometer, an encoder, etc., the vehicle is also likely to be damaged.

[0033] In this possible implementation, the first torque value and the rotation angle of the rotation shaft are monitored, and the rotation shaft is controlled to stop rotating once an abnormality occurs, so as to reduce the possibility of damage to the test equipment and the knob.

[0034] In a second aspect, an embodiment of the present application provides a test method applied to a test equipment. The test equipment includes a driving component, a clamping component, and at least one distance measuring sensor; the driving component includes a first driving member and a torque sensor, the first driving member is used to drive the torque sensor to rotate; the clamping component is connected with the torque sensor and can rotate together with the torque sensor, and the clamping component is used to clamp a knob; the at least one distance measuring sensor is arranged on the clamping component; the test method includes the following steps: Based on the measurement data of the at least one distance measuring sensor on the clamping component, it is determined whether the at least one distance measuring sensor is aligned with the knob clamped by the clamping component; The rotation shaft of the first driving member is controlled to rotate, and the rotation shaft drives the torque sensor and the clamping component to rotate; A torque value detected by the torque sensor is obtained.

[0035] The test method provided by the present application automatically detects whether the clamping component and the knob are aligned through the distance measuring sensor, which can realize automatic detection, does not require an operator to repeatedly make eye judgment, improves the automation degree and the test efficiency of the knob test, and can eliminate subjective error caused by eye judgment and improve test precision.

[0036] In a possible implementation manner of the second aspect, the clamping component further comprises a chuck, and the testing method further comprises: determining, based on the distance between the chuck and the knob obtained by the distance measuring sensor, whether the chuck and the knob are aligned.

[0037] In this possible implementation manner, the distance between the chuck and the knob obtained by the distance measuring sensor is used to determine whether the chuck and the knob are aligned during the adjustment of the position of the knob relative to the chuck, which is beneficial to improve the testing accuracy of the testing device.

[0038] In a possible implementation manner of the second aspect, the clamping component comprises a second driving member and a clamp jaw, the second driving member is arranged on the chuck, and the clamp jaw is movably connected to the chuck. The testing method further comprises: based on the distance, controlling the second driving member to drive the clamp jaw to move relative to the chuck, and clamping the knob by the clamp jaw.

[0039] In this possible implementation manner, the second driving member is controlled to drive the clamp jaw to move based on the distance between the chuck and the knob obtained by the distance measuring sensor, so that the position of the knob relative to the chuck is automatically adjusted, without the need for manual repeated adjustment by an operator, which is beneficial to improve the testing efficiency.

[0040] In a possible implementation manner of the second aspect, the second driving member comprises a structural member, a coil, a push rod and an elastic member, the structural member, the coil, the push rod and the elastic member are all accommodated in the chuck, the structural member is fixed to the chuck, one end of the push rod is connected to a first end of the clamp jaw, and the elastic member is sleeved outside the push rod. The control of the second driving member to drive the clamp jaw to move relative to the chuck comprises: controlling the coil of the second driving member to be powered on or powered off, and the magnetic field generated by the coil in the powered-on state acts on the push rod, so that the push rod drives the clamp jaw to move relative to the chuck.

[0041] In this possible implementation manner, the electromagnetic damping effect is used for driving, the response of the electromagnetic damping is very fast, the response speed of the second driving member can be improved, and the testing efficiency is further improved.

[0042] In a possible implementation manner of the second aspect, the testing method further comprises: performing filtering processing on the first torque value obtained by the torque sensor to obtain a second torque value.

[0043] In this possible implementation manner, the second torque value is obtained by performing filtering processing on the first torque value, the interference of errors in the testing process is reduced, and the testing accuracy is improved.

[0044] In a possible implementation manner of the second aspect, the testing method further comprises: based on the first torque value obtained by the torque sensor and the rotation angle of the rotation shaft of the first driving member, controlling the rotation shaft of the first driving member to stop rotating.

[0045] In the possible implementation, the first torque value and the rotation angle of the rotating shaft are monitored, and once the abnormality occurs, the rotating shaft is controlled to stop rotating, so as to reduce the possibility of damage of the testing device and the knob.

[0046] In a third aspect, the present application provides a controller, which comprises units for executing the testing method according to any possible implementation of the second aspect.

[0047] In a fourth aspect, the present application provides a controller, which comprises a processor and a memory, and the memory is used for storing computer instructions, and when the stored computer program in the memory is called by the processor, the testing method according to any possible implementation of the second aspect is implemented.

[0048] In a fifth aspect, the present application provides a computer readable storage medium, which comprises computer instructions, and when the computer program or the computer instructions are executed by the processor, the testing method according to any possible implementation of the second aspect is implemented.

[0049] In a sixth aspect, the present application provides a computer program product, which comprises computer language codes or computer instructions, and when the computer program product is executed by the processor, the testing method according to any possible implementation of the second aspect is executed. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 A perspective view of a testing device according to an embodiment of the present application is shown; Figure 2A A perspective view of a clamping component according to an embodiment of the present application is shown; Figure 2B A perspective view of a clamping component according to an embodiment of the present application is shown; Figure 2A A perspective exploded view of the clamping component is shown; Figure 3 A side view obtained from the perspective view along line A-A is shown; Figure 2A A cross-sectional view obtained from the perspective view along line B-B is shown; Figure 4A Figure 2A A cross-sectional view of the caliper assembled with the second driving member is shown; Figure 4B A perspective view of the caliper is shown; Figure 5 A perspective view of the caliper is shown; Figure 6 A structural block diagram of a testing device according to an embodiment of the present application is shown; Figure 7 A view showing the spacing between the rotation center axis of the clamping component and the rotation center axis of the knob of the testing device is shown; Figure 8 ​A curve graph showing data disturbance caused by spacing between the rotation center axis of the clamping component of the testing device and the rotation center axis of the knob; Figure 9 A schematic diagram showing an angle between the rotation center axis of the clamping component of the testing device and the rotation center axis of the knob; Figure 10 A curve graph showing data disturbance caused by an angle between the rotation center axis of the clamping component of the testing device and the rotation center axis of the knob; Figure 11 A raw stroke curve graph obtained by taking the rotation angle as the horizontal coordinate and the first torque value of the raw output of the torque sensor as the vertical coordinate; Figure 12 A filter curve graph in some embodiments of the present application; Figure 13 An operation force stroke curve graph obtained by taking the rotation angle as the horizontal coordinate and the second torque value as the vertical coordinate; Figure 14 A schematic diagram of a torque mutation point that may exist in the testing process of the testing device; Figure 15 A flowchart of a testing method provided by an embodiment of the present application; Figure 16 A flowchart of a testing method provided by an embodiment of the present application; Figure 17 A structural schematic diagram of a controller provided by an embodiment of the present application; Figure 18 A structural schematic diagram of a controller provided by an embodiment of the present application.

[0051] Explanation of reference numerals: 100 - testing device; 10 - driving component; 11 - first driving piece; 13 - torque sensor; 15 - adjusting structure; 151 - transmission shaft; 153 - universal joint; 30 - clamping component; 31 - chuck; 311 - first plate body; 313 - second plate body; 3131 - sliding groove; 33 - clamping assembly; 331 - second driving piece; 3311 - structural piece; 3312 - coil; 3313 - push rod; 3314 - elastic piece; 335 - caliper; 3351 - first end; 3352 - second end; 3353 - groove; 40 - distance measuring sensor; 50 - bearing; 60 - support; 70 - connecting shaft; 80 - controller; 81 - control unit; 83 - processing unit; 86 - processor; 87 - memory; 88 - communication interface; 200 - knob; 301 - first axis; 302 - second axis; 303 - arrow. DETAILED DESCRIPTION

[0052] Knobs are important components in human-computer interaction. For example, knobs on a vehicle are an important interaction bridge between a user and the vehicle. The reasonable design of the operating force of the knob will directly affect the user experience and safety. The operating force test equipment of the knob helps the automobile manufacturer optimize the mechanical structure of the knob by accurately measuring the force value of the knob at different rotation angles, to ensure the comfort of the knob during use.

[0053] Currently, the operating force of the knob is mainly measured by a torque tester. If the knob has been installed on a device such as a vehicle, the knob needs to be removed from the device and fixed on the rack of the torque tester, and then the operating force of the knob is measured by a sensor. The torque tester is a fixed device and is relatively bulky, which is not convenient to move. It cannot be applied to the scene where the knob cannot be removed from the device for testing.

[0054] Based on this, please refer to Figure 1 An embodiment of the present application provides a portable test equipment 100. The test equipment 100 comprises a driving component 10, a clamping component 30 and at least one distance measuring sensor 40. The driving component 10 comprises a first driving member 11 and a torque sensor 13. The first driving member 11 is used to drive the torque sensor 13 to rotate, that is, the first driving member 11 is the power source for driving the torque sensor 13 to rotate. The torque sensor 13 is used for operating force detection of the knob 200. The clamping component 30 is connected with the torque sensor 13 and can rotate with the torque sensor 13. The clamping component 30 is used to clamp the knob 200. The at least one distance measuring sensor 40 is arranged on the clamping component 30. The at least one distance measuring sensor 40 is used to detect whether the clamping component 30 and the knob 200 are aligned. Whether the clamping component 30 and the knob 200 are aligned means whether the rotation center axis of the clamping component 30 and the rotation center axis of the knob 200 coincide. When the first driving member 11 drives the torque sensor 13 to rotate, the clamping component 30 rotates around the rotation center axis of the clamping component 30, and the knob 200 rotates around the rotation center axis of the knob 200.

[0055] The test equipment 100 provided by the present application improves the convenience of the operating force test of the knob 200 by the test equipment 100 when the operating force test of the knob 200 installed on a device such as a vehicle is needed, clamping the knob 200 by the clamping component 30 of the test equipment 100, driving the torque sensor 13 to rotate by the first driving member 11 and driving the knob 200 to rotate, without the need to remove the knob 200 from the device such as a vehicle.

[0056] If the center axis of the rotation of the clamping component 30 and the center axis of the rotation of the knob 200 are eccentric, an additional bending moment will be generated when the torsion is applied, which will affect the accuracy of the test. The present application automatically detects whether the clamping component 30 and the knob 200 are aligned through the distance measuring sensor 40 on the clamping component 30. On the one hand, automatic detection can be achieved without the need for the operator to repeatedly make eye judgments, thereby improving the automation level and test efficiency of the test equipment 100. On the other hand, subjective errors caused by eye judgments can be eliminated, thereby improving the test accuracy of the test equipment 100.

[0057] The test equipment 100 provided by the present application can realize miniaturization, portability, and non-destructive measurement, and meets the layout and measurement requirements of the narrow space in the vehicle.

[0058] For example, the knob 200 can be a cylindrical knob 200, and the knob 200 can be symmetrical about the center axis of the rotation of the knob 200. In some embodiments, the knob 200 can also be a square column, an oval column, or a knob 200 of other regular or irregular shapes.

[0059] In some embodiments, the first driving member 11 is an electric motor. The control accuracy of the electric motor is high, which is conducive to improving the test accuracy of the test equipment 100. In other embodiments, the first driving member 11 can also be a gas cylinder, a liquid cylinder, or other types of driving members.

[0060] The torsion sensor 13 is also commonly referred to as a torque sensor. The torsion sensor 13 is a device for accurately measuring the size of the torque (torsional moment) in a rotating power system. The torsion sensor 13 is used to convert the physical quantity of torque into an accurately measurable electrical signal (such as voltage, current, or frequency), so as to realize torsion data measurement and acquisition. In some embodiments, the torsion sensor 13 can be provided with a first display screen for displaying the torque value obtained by the torsion sensor 13. In other embodiments, the torque value obtained by the torsion sensor 13 can be displayed through an external display screen.

[0061] In some embodiments, the testing device 100 can further comprise an adjusting structure 15 connected between the rotating shaft of the first driving member 11 and the torsion sensor 13, the adjusting structure 15 being configured to adjust the angle between the rotating central axis of the rotating shaft and the rotating central axis of the torsion sensor 13. When the first driving member 11 drives the torsion sensor 13 to rotate, the rotating shaft rotates around the rotating central axis of the rotating shaft, and the torsion sensor 13 rotates around the rotating central axis of the torsion sensor 13. Due to the adjusting structure 15 adjusting the angle between the rotating central axis of the rotating shaft and the rotating central axis of the torsion sensor 13, the testing device 100 has a certain adjustable space in the direction of the rotating central axis of the rotating shaft, which is beneficial to improve the flexibility of the installation of the testing device 100 and the knob 200, reduce the difficulty of the installation of the testing device 100 and the knob 200, and reduce the possibility of the first driving member 11 affecting the accuracy of the test results due to idle arrangement.

[0062] For example, the adjusting structure 15 comprises a transmission shaft 151 and a universal joint 153, one end of the transmission shaft 151 is connected to the rotating shaft, the other end of the transmission shaft 151 is movably connected to the universal joint 153, and the end of the universal joint 153 away from the transmission shaft 151 is connected to the torsion sensor 13. The universal joint 153 is used to change the transmission direction of the motion, that is, the motion can be transmitted even if the rotating central axis of the rotating shaft and the rotating central axis of the torsion sensor 13 are different. The universal joint 153 is commonly known as a universal joint or a Hooke joint. The universal joint 153 is a kind of mechanical connecting piece. The universal joint 153 can be used to transmit power when the two shafts are not collinear, that is, there is a certain angle. The universal joint 153 can be used as a "joint" in the mechanical structure, allowing the two connected parts to bend arbitrarily within a certain angle, while also rotating to transmit torque. Since the universal joint 153 allows the transmission shaft 151 and the torsion sensor 13 to rotate relative to each other within a certain angle, and transmits torque while rotating, that is, effectively transmits power, which reduces the limitation of the testing device 100 on the test space.

[0063] The universal joint 153 can be, but is not limited to, a constant velocity joint, in which the input angular velocity is equal to the output angular velocity. For example, the constant velocity joint can be a ball pin constant velocity joint. In some embodiments, the transmission shaft 151 includes a first connecting head at an end away from the first driving member 11, and the universal joint 153 includes a second connecting head at an end away from the torsion sensor 13, at least a portion of the second connecting head is received in the first connecting head. The inner surface of the first connecting head is partially spherical, and the outer surface of the second connecting head is partially spherical. The inner surface of the first connecting head and the outer surface of the second connecting head are in spherical rolling contact, which is conducive to reducing fluctuations in rotational speed, improving the smoothness of transmission between the first driving member 11 and the torsion sensor 13, and reducing vibration and noise. In other possible embodiments, the universal joint 153 can be one of a ball cage constant velocity joint 153, a trilobal rod constant velocity joint 153. In other possible embodiments, the universal joint 153 can be a non-constant velocity joint 153, for example, the universal joint 153 can be a cross shaft universal joint 153. It should be noted that the specific structure of the adjusting structure 15 is not limited in the present application, for example, the adjusting structure 15 can include a plurality of gears, or the adjusting structure 15 can include an adjusting structure 15 capable of adjusting the angle between the rotational center axis of the transmission shaft and the rotational center axis of the torsion sensor 13 while transmitting power.

[0064] In some embodiments, the test device 100 can further include a bearing 50 and a bracket 60. The bearing 50 includes an inner ring and an outer ring, the outer ring is sleeved on the outer periphery of the inner ring and is in rotational connection with the inner ring, and the inner ring is connected between the torsion sensor 13 and the clamping member 30, and the rotation of the torsion sensor 13 drives the rotation of the inner ring and the clamping member 30. The bracket 60 is mounted on the outer ring. The bracket 60 is used to be connected with a vehicle or other equipment to fix the test device 100, which is conducive to improving the positional stability of the test device 100, reducing the possibility of shaking of the test device 100 during testing, and improving the testing efficiency of the test device 100. The bracket 60 can include at least two supporting rods, one end of the supporting rod is movably connected with the outer ring, so that the bracket 60 can be unfolded or folded relative to the rotational center axis of the clamping member 30, facilitating carrying and use. Figure 1 The structure of the bracket 60 in the above embodiment is only exemplary, for example, the bracket 60 can also have an eight-claw structure.

[0065] In some embodiments, the testing device 100 further comprises a connecting shaft 70 fixed with the inner ring, one end of the connecting shaft 70 is connected with the torque sensor 13, and the other end of the connecting shaft 70 is connected with the clamping component 30. The connecting shaft 70 is used to connect the torque sensor 13 and the clamping component 30, which is conducive to improving the flexibility of the connection between the torque sensor 13 and the clamping component 30. The connecting shaft 70 can be fixed through the inner ring, that is, the inner ring is fixedly sleeved on the outer periphery of the connecting shaft 70, one end of the connecting shaft 70 is fixed with the torque sensor 13, and the other end of the connecting shaft 70 is fixed with the adjusting structure 15, so as to transmit power from the adjusting structure 15 to the clamping component 30. When the rotating shaft of the first driving member 11 drives the transmission shaft 151 to rotate, the transmission shaft 151 drives the universal joint 153 to rotate, the universal joint 153 drives the torque sensor 13 to rotate, the torque sensor 13 drives the connecting shaft 70 to rotate, and the connecting shaft 70 drives the clamping component 30 to rotate, thereby enabling the knob 200 clamped on the clamping component 30 to rotate with the connecting shaft 70.

[0066] It should be noted that, Figure 1 The number of bearings 50 is exemplary, and the number of bearings 50 is not limited in the present application. For example, when the number of bearings 50 is at least two, the at least two bearings 50 are arranged along the axial direction of the connecting shaft 70.

[0067] In some embodiments, the clamping component 30 comprises a chuck 31 and at least two clamping assemblies 33 connected with the chuck 31, the chuck 31 is connected with one end of the connecting shaft 70 away from the torque sensor 13, and the at least two clamping assemblies 33 are used to clamp the knob 200 together. The use of at least two clamping assemblies 33 to clamp the knob 200 enables the testing device 100 to adapt to the testing of knobs 200 of different shapes, in other words, the testing device 100 can test regular-shaped or special-shaped knobs 200, which is conducive to increasing the application range of the testing device 100. For example, the number of clamping assemblies 33 can be four, and the four clamping assemblies 33 can be distributed along the circumferential direction of the chuck 31 to improve the stability of the clamping component 30 clamping the knob 200. The rotational center axis of the clamping component 30 is the same as the rotational center axis of the chuck 31.

[0068] Please refer to Figure 1 , Figure 2A and Figure 2BThe chuck 31 can be disc-shaped. The chuck 31 can include oppositely arranged first and second plate bodies 311 and 313. The first plate body 311 is arranged on the side of the chuck 31 facing the first driving member 11 and is connected with the connecting shaft 70. The first and second plate bodies 311 and 313 can be detachably connected. The second plate body 313 is provided with at least two sliding grooves 3131 corresponding to the at least two clamping assemblies 33. The sliding grooves 3131 are used to slidably connect with the clamping assemblies 33. The sliding grooves 3131 guide the movement of the clamping assemblies 33, which is conducive to improving the stability and smoothness of the movement of the clamping assemblies 33 relative to the chuck 31. The sliding grooves 3131 extend from the edge of the chuck 31 to the center of the chuck 31 in the radial direction of the chuck 31, so as to guide the movement of the clamping assemblies 33 towards the edge of the chuck 31 or the center of the chuck 31. It can be understood that the present application does not limit the structure and shape of the chuck 31. For example, the chuck 31 can be square or other regular or irregular shapes. In some possible implementations, the first plate body 311 and the connecting shaft 70 can be integrally arranged.

[0069] Please refer to Figure 3 , Figure 4A and Figure 4B , the clamping assembly 33 can include a second driving member 331 and a caliper 335. The second driving member 331 is arranged on the chuck 31, and the caliper 335 is movably connected with the sliding groove 3131 of the chuck 31. The second driving member 331 is used to drive the caliper 335 to move relative to the chuck 31. The sliding groove 3131 guides the movement of the caliper 335, which is conducive to improving the stability and smoothness of the movement of the caliper 335 relative to the chuck 31.

[0070] The second driving member 331 can be an electromagnetic damping structure, and the second driving member 331 can include a structural member 3311, a coil 3312, a push rod 3313, and an elastic member 3314, all of which are accommodated in the chuck 31. The structural member 3311 is fixed to the chuck 31, and the coil 3312 is accommodated in an inner cavity of the structural member 3311. The structural member 3311 is configured to protect the coil 3312. One end of the push rod 3313 is connected to a first end 3351 of the caliper 335, and the elastic member 3314 is sleeved on the push rod 3313. At least part of the push rod 3313 is configured to enter or exit the inner cavity of the structural member 3311. The coil 3312 generates a magnetic field under the condition of being energized, and the magnetic field acts on the push rod 3313, so that the push rod 3313 drives the caliper 335 to move relative to the chuck 31. The elastic member 3314 is elastically arranged between the structural member 3311 and part of the push rod 3313. The elastic member 3314 is configured to help the push rod 3313 return to the original position, and on the other hand, the elastic member 3314 can provide a clamping force, so that the caliper 335 can automatically find a force balance position without external force, to adapt to the function of clamping the knob 200. Because the response of the electromagnetic damping structure is very fast, the response speed of the second driving member 331 can be improved. In addition, compared with a motor drive, the electromagnetic damping structure can effectively attenuate the vibration transmitted by the motor to the caliper 335, reduce the installation error, and improve the robustness of the test equipment 100. Because the influence of the jitter is reduced, the stability of the clamping component 30 when clamping the knob 200 is improved during the grabbing and moving process. The second driving member 331 can be, but is not limited to, an electromagnetic damping structure, for example, the second driving member 331 can also be a motor, a pneumatic cylinder, a hydraulic cylinder, or other types of driving members.

[0071] In some embodiments, when the coil 3312 is energized, the push rod 3313 retracts towards the structural member 3311, drives the caliper 335 to move along the sliding groove 3131 to the edge of the chuck 31, so that the clamping component 30 can release the knob 200; when the clamping component 30 needs to clamp the knob 200, the coil 3312 is de-energized, and under the elastic force of the elastic member 3314, the push rod 3313 drives the caliper 335 to move towards the center of the chuck 31 until the knob 200 is clamped. In some possible implementations, when the coil 3312 is energized, the push rod 3313 retracts towards the structural member 3311, drives the caliper 335 to move along the sliding groove 3131 to the center of the chuck 31, so that the clamping component 30 clamps the knob 200. When the coil 3312 is de-energized, under the elastic force of the elastic member 3314, the push rod 3313 drives the caliper 335 to move towards the edge of the chuck 31 to release the knob 200.

[0072] It can be understood that in some possible implementations, the coil 3312 can also not be accommodated in the structural member 3311, but can be directly placed in the chuck 31.

[0073] It can be understood that in some possible implementation manners, the sliding groove 3131 can be omitted, and the second driving member 331 is arranged on the chuck 31, and the caliper 335 is movably connected with the chuck 31, and the second driving member 331 can drive the caliper 335 to move relative to the chuck 31.

[0074] In some embodiments, referring to Figure 3 With Figure 5 , the caliper 335 is substantially in a strip shape, the outer wall of the first end 3351 of the caliper 335 includes a groove 3353, the chuck 31 includes a first plate body 311 and a second plate body 313 arranged oppositely, the first plate body 311 is arranged on the side of the chuck 31 facing the first driving member 11 and is connected with the torque sensor 13, and the second plate body 313 is provided with a sliding groove 3131, and part of the second plate body 313 is movably arranged in the groove 3353. The caliper 335 is installed on the second plate body 313 through the groove 3353, and the groove 3353 is arranged to prevent the caliper 335 from moving along the central axis of the chuck 31, thereby improving the stability of the position of the knob 200 in the central axis direction of the chuck 31 when the clamping component 30 clamps the knob 200. The second end 3352 of the caliper 335 away from the chuck 31 is provided with a flexible layer. The end face and the side wall of the second end 3352 of the caliper 335 are both covered with the flexible layer. The flexible layer is used to contact the knob 200 when the clamping component 30 clamps the knob 200, thereby reducing the risk of scratching the surface of the knob 200 by the caliper 335. The flexible layer can include rubber, silicone, cloth and the like.

[0075] The chuck 31 is not limited in the present application, and in some possible implementation manners, the side of the chuck 31 away from the first driving member 11 is provided with at least two sliding grooves 3131 extending along the radial direction of the chuck 31, the at least two sliding grooves 3131 correspond to the at least two clamping assemblies 33 one by one, and each caliper 335 is movably connected with the corresponding sliding groove 3131. The sliding groove 3131 guides the movement of the caliper 335, which is conducive to improving the stability and smoothness of the movement of the caliper 335 relative to the chuck 31.

[0076] The specific structure of the clamping component 30 is not limited in the present application, for example, the clamping component 30 can also be a mechanical gripper or the like.

[0077] In some embodiments, referring to Figure 6 , the test device 100 can further include a controller 80, and the controller 80 can be in communication connection with the first driving member 11, the second driving member 331 and the distance measuring sensor 40.

[0078] The controller 80 is a device with computing capability to process information. The controller 80 can include a hardware module with computing capability and / or include a software module with computing capability. Examples are provided below based on the hardware implementation and the software implementation, respectively.

[0079] As an example of a hardware implementation, the controller 80 can include at least one processor 86, which is a module with processing capability. In one implementation, the processor 86 can include a circuit with instruction reading and running capability, such as an arithmetic unit, a processor 86 core, a central processing unit 86 (CPU), a microprocessor 86, a microcontroller unit 81 (MCU), a graphics processing unit 86 (GPU), or a digital signal processor 86 (DSP), etc. In another implementation, the processor 86 can implement certain functions through a logic relationship of hardware circuit, which is fixed or reconfigurable, such as an application specific integrated circuit (ASIC) or a programmable logic device (PLD) implemented hardware circuit, such as a field programmable gate array (FPGA). In the reconfigurable hardware circuit, the processor 86 loads a configuration document to implement the hardware circuit configuration, which can be understood as the process of the processor 86 loading instructions to implement corresponding functions. In addition, the processor 86 can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit 86 (NPU), a tensor processing unit 86 (TPU), a deep learning processing unit 86 (DPU), etc. In some implementations, the controller 80 includes at least one processor 86 integrated together in the form of a system on chip (SOC), which is commonly referred to as an SOC by those skilled in the art. The SOC can include at least one processor 86, and when the SOC includes multiple processors 86, the types of the multiple processors 86 can be different, such as including a CPU and an NPU, etc.

[0080] As an example of a software implementation, the controller 80 can include software functional units. As an example of a software functional unit, the controller 80 can include one or more of a computer program, computer code, or computer instructions that are executable on a processor 86 or a computing instance. As another example of a software functional unit, the controller 80 can include a computing instance, which includes a virtual machine, a container, or the like. A virtual machine is a computer system that is emulated by software, runs in an isolated environment, and has complete hardware system functions. A container is an isolated environment obtained by packaging an application and an application dependency package.

[0081] The controller 80 is configured to determine, based on measurement data of the at least one ranging sensor 40 on the clamping component 30, that the at least one ranging sensor 40 is aligned with the knob 200 clamped by the clamping component; control rotation of the rotation shaft of the first driving member 11, which drives the torsion sensor 13 and the clamping component 30 to rotate; and obtain a torque value detected by the torsion sensor.

[0082] The measurement data includes a distance between the chuck 31 and the knob 200 obtained by the at least one ranging sensor 40. The controller 80 is configured to determine, based on the distance between the chuck 31 and the knob 200 obtained by the at least one ranging sensor 40, whether the chuck 31 and the knob 200 are aligned. In the process of adjusting the position of the knob 200 relative to the chuck 31, whether the chuck 31 and the knob 200 are aligned is determined by the distance between the chuck 31 and the knob 200 obtained by the ranging sensor 40, which is beneficial to improve the alignment of the knob 200 and the chuck 31, and further beneficial to improve the test accuracy of the test equipment 100. In some embodiments, the ranging sensor 40 can feed back the distance between the chuck 31 and the knob 200 obtained by the ranging sensor 40 to the controller 80. If the distance between the chuck 31 and the knob 200 obtained by the ranging sensor 40 is the shortest distance, the controller 80 determines that the chuck 31 and the knob 200 are aligned. If the distance between the chuck 31 and the knob 200 obtained by the ranging sensor 40 is not the shortest distance, it means that there is a position offset or an angle tilt. When the distance between the chuck 31 and the knob 200 obtained by the ranging sensor 40 and the first threshold value deviates within a first preset range, the controller 80 can determine that it is the shortest distance, otherwise it is not the shortest distance.

[0083] The ranging sensor 40 can be a laser sensor. The ranging sensor 40 can use a time-of-flight method for distance measurement. Please refer again to Figure 1The distance measuring sensor 40 can be arranged at the center of the second plate body 313 of the chuck 31, and the distance measuring sensor 40 is configured to emit laser to the knob 200 clamped on the clamping component 30, and the distance can be calculated according to the speed of light by measuring the time taken by the laser from being emitted to being reflected by the knob 200 and then returned to the distance measuring sensor 40. If the distance between the chuck 31 and the knob 200 obtained is the shortest distance, the laser emitted by the distance measuring sensor 40 is incident on the center of the side of the knob 200 facing the chuck 31, that is, the light spot formed by the laser on the knob 200 is aligned with the axis of the knob 200, and it is determined that the chuck 31 and the knob 200 are aligned. The present application does not limit the distance measuring method of the distance measuring sensor 40. For example, the distance measuring sensor 40 can measure the distance by phase laser ranging. The phase laser ranging indirectly calculates the time of flight by comparing the phase difference between the emitted laser and the received laser, so as to obtain the distance. The present application does not limit that the distance measuring sensor 40 is arranged at the center of the chuck 31. The distance measuring sensor 40 can also be arranged at other positions of the chuck 31.

[0084] The present application does not limit the number of distance measuring sensors 40. The number of distance measuring sensors 40 can be two or three. In some possible implementations, two or more distance measuring sensors 40 are arranged on the side of the chuck 31 away from the torque sensor 13, and the distances from different points on the knob 200 to the reference surface of the corresponding distance measuring sensor 40 are measured. If the deviation between the distance value obtained by all the distance measuring sensors 40 and the first threshold value is within the first preset range, the controller 80 determines that the chuck 31 and the knob 200 are aligned. If the deviation between the distance value obtained by at least one distance measuring sensor 40 and the first threshold value is not within the first preset range, the controller 80 determines that the chuck 31 and the knob 200 are not aligned.

[0085] The present application does not limit that the distance measuring sensor 40 is a laser sensor. The distance measuring sensor 40 can also include at least one of an ultrasonic sensor, a millimeter wave radar, and a machine vision distance measuring device. The laser sensor, the ultrasonic sensor, the millimeter wave radar, and the machine vision distance measuring device all measure the distance by a non-contact method. In some possible implementations, the distance measuring sensor 40 can also include a contact sensor, for example, a physical probe directly contacts the surface of an object, and the displacement amount of the probe is measured by using the internal spring, inductance or capacitance change, etc.

[0086] In some possible implementations, the controller 80 can not be used to determine whether the chuck 31 and the knob 200 are aligned. For example, a second display screen is arranged on the distance measuring sensor 40, and the second display screen is configured to display the distance obtained by the distance measuring sensor 40. The operator can determine whether the distance displayed on the second display screen is the shortest distance. In other embodiments, the distance obtained by the distance measuring sensor 40 can be displayed through an external display screen.

[0087] In some embodiments, the controller 80 is configured to control the second driving member 331 to drive the caliper 335 to move based on the distance. Based on the distance between the chuck 31 and the knob 200 obtained by the distance measuring sensor 40, the controller 80 can control the second driving member 331 to drive the caliper 335 to move to automatically adjust the position of the knob 200 relative to the chuck 31, without the need for the operator to manually adjust repeatedly, thereby improving the installation accuracy of the knob 200 to the test equipment 100 and further improving the test efficiency of the test equipment 100. The second driving member 331 drives the caliper 335 to move to adjust the position and / or posture of the knob 200 until the chuck 31 and the knob 200 are aligned.

[0088] The controller 80 is further configured to control the second driving member 331 by controlling the energization and de-energization of the coil 3312. In other embodiments, if the obtained distance between the chuck 31 and the knob 200 is not the shortest distance, the position and / or posture of the knob 200 can also be adjusted manually.

[0089] In some embodiments, the second driving member 331 includes a structural member 3311, a coil 3312, a push rod 3313, and an elastic member 3314, all of which are accommodated in the chuck 31. The structural member 3311 is fixed to the chuck 31, one end of the push rod 3313 is connected to the first end of the caliper 335, and the elastic member 3314 is sleeved on the push rod 3313. The controller 80 is configured to control the energization and de-energization of the coil 3312. When the coil 3312 is energized, a magnetic field generated by the coil 3312 acts on the push rod 3313, causing the push rod 3313 to drive the caliper 335 to move relative to the chuck 31. The elastic member 3314 is used to elastically abut between the structural member 3311 and part of the push rod 3313. The second driving member 331 is an electromagnetic damping structure, which has a very fast response and can improve the response speed of the second driving member 331. In addition, compared with motor driving, the electromagnetic damping structure can effectively attenuate the vibration transmitted by the motor to the caliper 335, which is beneficial to improve the stability of the clamping component 30 when clamping the knob 200 during the grabbing and moving process. The elastic member 3314 is used to help the push rod 3313 to return to the original position. By controlling the energization and de-energization of the coil 3312 by the controller 80, the control accuracy and test efficiency of the test equipment 100 can be improved.

[0090] When the test equipment 100 and the knob 200 are installed together, there can be an installation error that the rotational center axis of the knob 200 is not coaxial with the rotational center axis of the clamping component 30, as shown in FIG. 6A. Figure 7As shown, if the rotation center axis of the knob 200 is not coaxial with the rotation center axis of the clamping component 30, the torque sensor 13 will be subjected to bending moment during the test, affecting the detection accuracy. For example, the rotation center axis of the knob 200 can be referred to as the first axis 301, and the rotation center axis of the clamping component 30 can be referred to as the second axis 302. During rotation, for example, in the direction of rotation as shown by arrow 303, the elastic element 3314 provides clamping force, the caliper 335 and the chuck 31 are elastically connected, the position of the caliper 335 is movable, the dashed line indicates the position the caliper 335 should be in when it is in a fixed position, and the solid line indicates the actual position of the caliper 335. Figure 7 As can be seen, the caliper 335 needs to continuously adjust its position to adapt to the actual position of the knob 200 during rotation. During the adjustment process, the caliper 335 will be subjected to a force perpendicular to the axis of the clamping component 30, which causes the torque sensor 13 to be subjected to bending moment and generate interference data. The interference data of different axes periodically presents as follows: Figure 8 As shown.

[0091] Another common installation error when mounting the test device 100 and the knob 200 together is that the rotation center axis of the knob 200 and the rotation center axis of the clamping component 30 are at an angle, that is, the rotation center axis of the knob 200 is tilted relative to the rotation center axis of the clamping component 30. Figure 9 As shown. The dashed line represents the position of the knob 200 under error-free assembly, and the solid line represents the actual installation position of the knob 200. During rotation, there is movement between the caliper 335 and the knob 200 along the rotation center axis of the knob 200. During this movement, the caliper 335 will be subjected to axial force, which is transmitted to the torque sensor 13 and manifests as axial force and bending moment, thus generating interference data. The interference data due to axis tilt appears periodically, such as... Figure 10 As shown.

[0092] In some embodiments, the torque sensor 13 is used to acquire a torque signal and convert it into a first torque value. The controller 80 is used to filter the first torque value and obtain a second torque value. Obtaining the second torque value by filtering the first torque value reduces interference from errors in the testing equipment 100 during testing, thus improving the accuracy of the testing equipment 100. Filtering the first torque value may include, but is not limited to, constructing a notch filter. Notch filtering eliminates the influence of different axes or axis tilt, further improving the accuracy of the test results. Figure 11 The graph shows the original stroke curve with the rotation angle as the horizontal axis and the first torque value output by the torque sensor 13 as the vertical axis. Figure 12 This is a filter curve diagram in some implementations. Figure 13An operation force stroke curve is obtained by plotting a rotation angle as the horizontal coordinate and the second torque value as the vertical coordinate. The notch filter, also known as a point blocking filter, is a special band-stop filter with a very narrow stop band. Its main goal is to selectively eliminate one or more specific frequency components, while at the same time affecting as little as possible the components of all other frequencies in the signal. On the premise of retaining most of the information of the signal (including high and low frequency details), the known and fixed interference frequency can be removed, which is conducive to improving the accuracy of test results. Since only a very narrow frequency band is operated, the "harm" of the notch filter to the original signal is very small, which is conducive to improving the information fidelity.

[0093] During the test, if the rotation center axis of the knob 200 is not coaxial with the rotation center axis of the clamping component 30, and / or the movement of the clamping component 30 relative to the main body of the vehicle or device reaches the limit position, the torque will increase rapidly, such as the torque mutation point shown in FIG. 6, and the test equipment 100 (for example, the first driving member 11 and the torque sensor 13) and the knob 200 will have the risk of being damaged. If the knob 200 is still installed on the vehicle during the test, since the knob 200 is connected with the device on the vehicle, such as a potentiometer, an encoder, etc., it is easy to also cause damage to the vehicle. Figure 14

[0094] Therefore, the controller 80 is further configured to control the rotation of the rotation shaft of the first driving member 11 to stop based on the first torque value and the rotation angle of the rotation shaft of the first driving member 11. By monitoring the first torque value and the rotation angle of the rotation shaft, once an abnormality occurs, the rotation of the rotation shaft is controlled to stop, thereby reducing the risk of damage to the test equipment 100 and the knob 200.

[0095] In some embodiments, the control of the rotation of the rotation shaft of the first driving member 11 to stop based on the first torque value and the rotation angle of the rotation shaft of the first driving member 11 can include: in a case where a slope of the first torque value relative to the rotation angle of the rotation shaft of the first driving member 11 exceeds a second threshold value, the rotation of the rotation shaft of the first driving member 11 is controlled to stop. By using the direct relationship between the torque and the angle to establish a torque protection mechanism, the risk of damage to the test equipment 100 and the knob 200 is reduced.

[0096] In other embodiments, the control of the rotation of the rotation shaft of the first driving member 11 to stop based on the first torque value and the rotation angle of the rotation shaft of the first driving member 11 is to reduce the possibility of damage to the first driving member 11 and prolong the service life of the first driving member 11.

[0097] ​It can be understood that the controller 80 described above includes the hardware structure and / or software module corresponding to each function in order to realize the corresponding functions described above. The units and steps of the examples described in combination with the embodiments disclosed herein can be implemented in hardware or a combination of hardware and computer software. Whether a certain function is implemented in hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0098] The embodiments of the present application can divide the controller 80 into functional modules according to the above method examples. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one module. The integrated module can be implemented in the form of hardware or software functional module. It should be noted that the division of the module in the embodiments of the present application is illustrative, and is only a logical functional division. Actual implementation can have another division method.

[0099] The embodiment of the present application also provides a test method applied to the test device 100. Please refer to Figure 15 The test device 100 includes a driving component 10, a clamping component 30, and at least one distance measuring sensor 40. The driving component 10 includes a first driving member 11 and a torque sensor 13. The first driving member 11 is used to drive the torque sensor 13 to rotate. The clamping component 30 is connected with the torque sensor 13 and can rotate with the torque sensor 13. The clamping component 30 is used to clamp the knob 200. The at least one distance measuring sensor 40 is arranged on the clamping component 30. The test method includes: 101, determining that the at least one distance measuring sensor 40 is aligned with the knob 200 clamped by the clamping component 30 based on the measurement data of the at least one distance measuring sensor 40 on the clamping component 30.

[0100] 102, controlling the rotation of the rotating shaft of the first driving member 11, which drives the torque sensor 13 and the clamping component 30 to rotate.

[0101] 103, obtaining the torque value detected by the torque sensor 13.

[0102] The test method provided by the present application automatically detects the alignment of the clamping component 30 and the knob 200 by the distance measuring sensor 40. On the one hand, it can realize automatic detection without the need for the operator to repeatedly make eye judgments, thereby improving the automation degree and test efficiency of the knob 200 test. On the other hand, it can eliminate the subjective error caused by eye judgment and improve the test accuracy.

[0103] In some embodiments, the clamping component 30 further comprises a chuck 31, and the testing method further comprises: determining whether the chuck 31 is aligned with the knob 200 based on the distance between the chuck 31 and the knob 200 obtained by the at least one distance sensor 40. In the process of adjusting the position of the knob 200 relative to the chuck 31, the distance between the chuck 31 and the knob 200 obtained by the distance sensor 40 is used to determine whether the chuck 31 is aligned with the knob 200, which is conducive to improving the alignment of the center axis of rotation of the knob 200 and the center axis of rotation of the chuck 31, and further conducive to improving the testing accuracy.

[0104] In some embodiments, the clamping component 30 comprises a second driving member 331 and a clamp jaw 335, the second driving member 331 is arranged on the chuck 31, and the clamp jaw 335 is movably connected to the chuck 31. The testing method can further comprise: based on the distance, controlling the second driving member 331 to drive the clamp jaw 335 to move relative to the chuck 31, and the clamp jaw 335 clamps the knob 200. Based on the distance between the chuck 31 and the knob 200 obtained by the distance sensor 40, the second driving member 331 is controlled to drive the clamp jaw 335 to move, so as to automatically adjust the position of the knob 200 relative to the chuck 31, without the need for manual repeated adjustment by an operator, which is conducive to improving the testing efficiency.

[0105] In some embodiments, the second driving member 331 comprises a structural member 3311, a coil 3312, a push rod 3313, and an elastic member 3314, the structural member 3311, the coil 3312, the push rod 3313, and the elastic member 3314 are all accommodated in the chuck 31, the structural member 3311 is fixed to the chuck 31, one end of the push rod 3313 is connected to a first end of the clamp jaw 335, and the elastic member 3314 is sleeved on the push rod 3313. Controlling the second driving member 331 to drive the clamp jaw 335 to move relative to the chuck 31 comprises: controlling the coil 3312 of the second driving member 331 to be powered on or powered off, and the magnetic field generated by the coil 3312 in the powered-on state acts on the push rod 3313, so that the push rod 3313 drives the clamp jaw 335 to move relative to the chuck 31. The electromagnetic damping effect is used for driving, the electromagnetic damping structure has a very fast response, which can improve the response speed of the second driving member 331, and further conducive to improving the testing efficiency.

[0106] In some embodiments, the testing method can further comprise: filtering the first torque value obtained by the torque sensor 13 to obtain a second torque value. The second torque value is obtained by filtering the first torque value, which reduces the interference of errors in the testing process, and is conducive to improving the testing accuracy.

[0107] In some embodiments, the testing method can further include: based on the first torque value obtained by the torque sensor 13 and the rotation angle of the rotating shaft of the first driving member 11, controlling the rotating shaft of the first driving member 11 to stop rotating. The rotating shaft of the first driving member 11 is controlled to stop rotating based on the first torque value and the rotation angle of the rotating shaft of the first driving member 11, so as to reduce the possibility of damage to the first driving member 11, the torque sensor 13 and the knob 200.

[0108] Referring to Figure 16 In some embodiments, the testing method can further include: S201, controlling the coil 3312 of the second driving member 331 to be powered on or powered off. When the coil 3312 is powered on, the magnetic field generated by the coil 3312 acts on the push rod 3313, so that the push rod 3313 drives the clamp 335 to move relative to the chuck 31, and the clamping component 30 clamps the knob 200.

[0109] 202, based on the measurement data of the at least one distance measuring sensor 40 on the clamping component 30, determining that the at least one distance measuring sensor 40 is aligned with the knob 200 clamped by the clamping component.

[0110] 203, controlling the rotating shaft of the first driving member 11 to rotate, so that the rotating shaft drives the torque sensor 13 and the clamping component 30 to rotate.

[0111] 204, obtaining the torque value detected by the torque sensor 13.

[0112] 205, filtering the first torque value obtained by the torque sensor 13 to obtain a second torque value.

[0113] 206, based on the first torque value obtained by the torque sensor 13 and the rotation angle of the rotating shaft of the first driving member 11, controlling the rotating shaft of the first driving member 11 to stop rotating.

[0114] The present application does not limit the order of steps in the testing method. For example, 205 and 206 can be exchanged.

[0115] In the case of dividing each functional module according to each function, some embodiments of the present application further provide a controller 80 for implementing any of the above methods, for example, a controller 80 including units (or means) for implementing each step in any of the above methods. For example, refer to Figure 17 which is a structural schematic diagram of a controller 80 provided by an embodiment of the present application. The controller 80 can include a control unit 81 and a processing unit 83.

[0116] In some embodiments, the processing unit 83 is configured to determine, based on the measurement data of the at least one ranging sensor 40 on the clamping component 30, whether the at least one ranging sensor 40 is aligned with the knob 200 clamped by the clamping component.

[0117] In some embodiments, the control unit 81 is further configured to control the rotation of the rotating shaft of the first driving member 11, so as to drive the rotation of the torsion sensor 13 and the clamping component 30.

[0118] In some embodiments, the processing unit 83 is configured to determine, based on the distance between the chuck 31 of the clamping component 30 and the knob 200 obtained by the at least one ranging sensor 40, whether the chuck 31 is aligned with the knob 200.

[0119] In some embodiments, the control unit 81 is further configured to control the movement of the caliper 335 relative to the chuck 31 based on the distance, so as to clamp the knob 200 by the caliper 335.

[0120] In some embodiments, the control unit 81 is further configured to control the energization or de-energization of the coil 3312 of the second driving member 331, and the magnetic field generated by the coil 3312 in the energized state acts on the push rod 3313, so as to drive the movement of the caliper 335 relative to the chuck 31 by the push rod 3313.

[0121] In some embodiments, the control unit 81 is further configured to obtain the torque value detected by the torsion sensor 13. In some embodiments, the processing unit 83 is further configured to filter the first torque value obtained by the torsion sensor 13 and obtain a second torque value.

[0122] In some embodiments, the control unit 81 is configured to control the rotation of the rotating shaft of the first driving member 11 to stop based on the first torque value obtained by the torsion sensor 13 and the rotation angle of the rotating shaft of the first driving member 11.

[0123] Figure 17 The specific operations and beneficial effects of each unit of the controller 80 shown in the figure can be referred to the descriptions in the foregoing embodiments, which will not be repeated here.

[0124] For example, referring to Figure 18 which is a structural schematic diagram of a controller provided by an embodiment of the present application. Figure 18 The controller 80 shown in the figure can be a controller 80 used to implement any of the foregoing embodiments. The controller 80 includes a processor 86, a memory 87 and a communication interface 88. The processor 86, the communication interface 88 and the memory 87 can be connected to each other or connected to each other through a bus.

[0125] Exemplarily, the processor 86 can be a circuit with data processing capability. In one implementation, the processor 86 can be a circuit with instruction reading and running capability, such as a central processing unit 83 (CPU), a microprocessor 86, a graphics processing unit 86 (GPU) (which can be understood as a microprocessor 86), a digital signal processor 86 (DSP), or the like. In another implementation, the processor 86 can implement certain functions through a logic relationship of hardware circuit, which is fixed or reconfigurable, such as a hardware circuit implemented by an application specific integrated circuit (ASIC) or a programmable logic device (PLD) such as a field programmable gate array (FPGA). In the reconfigurable hardware circuit, the processor 86 loads a configuration document to implement the process of hardware circuit configuration, which can be understood as the process of the processor 86 loading instructions to implement the functions of the above part or all units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit 83 (NPU), a tensor processing unit 83 (TPU), a deep learning processing unit 83 (DPU), or the like. Alternatively, the processor 86 can be a combination of at least two of these forms of processors 86, and the like.

[0126] The processor 86 can be configured to read the program stored in the memory 87 and perform the operations of the controller 80.

[0127] Exemplarily, the memory 87 is configured to store the computer program and data of the controller 80, and the memory 87 can include but is not limited to a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM), a compact disc read only memory (CDROM), or the like.

[0128] The software or program code required for the controller 80 to perform all or part of the functions described in the method embodiments can be stored in the memory 87.

[0129] In a possible implementation, if the software or program code required for part of the functions is stored in the memory 87, the processor 86 can cooperate with other components (such as the communication interface 88) to complete other functions (such as the function of receiving or sending data) described in the method embodiments in addition to calling the program code in the memory 87 to perform part of the functions.

[0130] The number of communication interfaces 88 can be multiple, which are used to support the controller 80 to communicate, for example, to receive or send data or messages, etc.

[0131] Figure 18 The specific operations and beneficial effects of each unit in the controller 80 shown can be referred to the corresponding description in the above possible embodiments, which will not be repeated here.

[0132] Some embodiments of the present application also provide a controller 80, which includes a unit for executing the test method in any of the above possible embodiments.

[0133] Some embodiments of the present application also provide a controller 80, which includes a processor 86 and a memory 87, and the memory 87 is used to store computer instructions, when the stored computer program in the memory 87 is called by the processor 86, the test method in any of the above possible embodiments is implemented.

[0134] Some embodiments of the present application also provide a computer readable storage medium, which includes computer instructions, when the computer program or computer instructions are executed by the processor 86, the test method in any of the above possible embodiments is implemented.

[0135] Some embodiments of the present application also provide a computer program product, when the computer program product is read and executed by a computer, the method implemented by the controller 80 in any of the above possible embodiments will be executed.

[0136] The test device 100 provided by the present application is used to test the operation force of the knob 200 and the angle of the knob 200, and a filtering algorithm is integrated in the test to realize lossless and accurate measurement of the force and operation stroke of the knob 200.

[0137] In some possible implementations, the test device 100 can include a driving and transmission module, the clamping component 30, and the controller 80. The driving and transmission module can include the first driving member 11, the torque sensor 13, the adjusting structure 15, the connecting shaft 70, the bearing 50, and the bracket 60. The innovative clamp design integrates the multi-jaw clamp 335, the second driving member 331, and the distance measuring sensor 40 into the clamping component 30, realizes the clamping of the special-shaped knob 200 and the self-adaptive clamping function, reduces the influence of installation errors, and improves the robustness of the test device 100 to resist the influence caused by a certain degree of manual installation error. The connection mode of the driving and transmission module and the clamping component 30 avoids the influence of the placement angle of the first driving member 11 on the measurement result, and the installation is more convenient. Through the high integration of the three modules, the volume of the test device 100 is effectively reduced, the portability is improved, the nondestructive real vehicle test is realized, and the test difficulty is reduced.

[0138] The test method provided in the application has the following algorithm innovations: an error elimination algorithm, which analyzes the error influence according to two typical installation errors, designs a filtering strategy, and reduces the influence caused by the installation errors; and a torque protection mechanism, which monitors the slope of the calculated torque relative to the rotation angle, and stops the rotation shaft of the first driving member 11 when the slope value exceeds a threshold value, to prevent the knob 200 and the test device 100 from being damaged.

[0139] The test device 100 and the test method provided in the application can meet the requirements of real vehicle knob 200 collection. Since the torque protection mechanism does not damage the vehicle and the knob 200, the test device 100 and the test method provided in the application meet the requirements of efficient measurement, small size, high integration, convenient installation, and portability. The test device 100 and the test method provided in the application meet the requirements of operation feel research, can simultaneously collect the operation force and the rotation angle of the knob 200, and can adapt to special-shaped knobs 200. The test device 100 and the test method provided in the application meet the requirements of system high robustness and accuracy, and can reduce the risk of manual installation error.

[0140] It should be understood that expressions such as "include" and "may include" used in the present application indicate the presence of disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In the present application, terms such as "include" and / or "have" can be interpreted to mean that a specific characteristic, number, operation, constituent element, component, or combination thereof is present, but cannot be interpreted to exclude the presence or addition of one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0141] In addition, in this application, the expression "and / or" includes any and all combinations of the associated listed items. For example, the expression "A and / or B" can include A, can include B, or can include both A and B.

[0142] In this application, expressions including ordinal numbers such as "first" and "second" can modify various elements. However, such elements are not limited by the above expressions. For example, the above expressions do not limit the sequence and / or importance of the elements. The above expressions are used only to distinguish one element from other elements. For example, a first user device and a second user device indicate different user devices, although both the first user device and the second user device are user devices. Similarly, a first element can be referred to as a second element, and similarly, a second element can also be referred to as a first element without departing from the scope of the present application.

[0143] When a component is referred to as being "connected" or "accessed" to another component, it should be understood that another component can be present in between the component and the other component. On the other hand, when a component is referred to as being "directly connected" or "directly accessed" to another component, it should be understood that there is no component present in between the component and the other component.

[0144] The above description is merely illustrative of the application and is not intended to limit the scope of the application. Any changes and modifications that can come within the scope of the present application will be readily understood by those skilled in the art, and the principles of the application are intended to include all such changes and modifications. The scope of the application should therefore be determined not with reference to the above description but with reference to the claims that follow.

Claims

1. A testing device, characterized in that, The testing equipment includes a driving component, a clamping component, and at least one ranging sensor; The driving component includes a first driving member and a torque sensor, wherein the first driving member is used to drive the torque sensor to rotate; The clamping component is connected to the torque sensor and can rotate with the torque sensor; the clamping component is used to clamp the knob. The at least one distance sensor is disposed on the clamping component, and the at least one distance sensor is used to detect whether the clamping component is aligned with the knob.

2. The testing equipment according to claim 1, characterized in that, The clamping component includes a chuck and at least two clamping assemblies connected to the chuck. The chuck is connected to the torque sensor, and the at least two clamping assemblies are used to clamp the knob together. The at least one distance sensor is disposed on the chuck, and the testing device further includes a controller, which is used to determine whether the chuck and the knob are aligned based on the distance between the chuck and the knob obtained by the at least one distance sensor.

3. The testing equipment according to claim 2, characterized in that, Each of the clamping components includes a second drive member and a caliper, the second drive member being disposed on the chuck, the caliper being movably connected to the chuck, and the controller being configured to control the second drive member to drive the caliper to move based on the distance.

4. The testing equipment according to claim 3, characterized in that, The second driving component includes a structural component, a coil, a push rod, and an elastic component. The structural component, the coil, the push rod, and the elastic component are all housed within the chuck. The structural component is fixed to the chuck. One end of the push rod is connected to the first end of the caliper. The elastic component is sleeved outside the push rod. The controller is used to control the energization and de-energization of the coil. When the coil is energized, the magnetic field generated acts on the push rod, causing the push rod to drive the caliper to move relative to the chuck. The elastic element is used to elastically hold the structural member and part of the push rod together.

5. The testing equipment according to claim 4, characterized in that, The coil is housed within the cavity of the structure, and at least a portion of the push rod is used to enter or exit the cavity of the structure.

6. The testing equipment according to any one of claims 3-5, characterized in that, The chuck has at least two sliding grooves extending radially along the side opposite to the first drive member. The at least two sliding grooves correspond one-to-one with the at least two clamping components, and each caliper is slidably connected to the corresponding sliding groove.

7. The testing equipment according to claim 6, characterized in that, The outer wall of the first end of the caliper includes a groove, and the chuck includes a first plate and a second plate disposed opposite to each other. The first plate is disposed on the side of the chuck facing the first drive member and is connected to the torque sensor. The second plate is provided with the sliding groove, and a portion of the second plate slides through the groove.

8. The testing equipment according to any one of claims 3-7, characterized in that, The caliper has a flexible layer at its second end away from the chuck.

9. The testing equipment according to any one of claims 1-8, characterized in that, The testing equipment also includes a bearing and a bracket. The bearing includes an inner ring and an outer ring. The outer ring is fitted around the outer circumference of the inner ring and is rotatably connected to the inner ring. The inner ring is connected between the torque sensor and the clamping component. The rotation of the torque sensor causes the inner ring and the clamping component to rotate. The bracket is installed on the outer ring.

10. The testing equipment according to claim 9, characterized in that, The testing equipment also includes a connecting shaft, which is fixed to the inner ring. One end of the connecting shaft is connected to the torque sensor, and the other end of the connecting shaft is connected to the clamping component.

11. The testing equipment according to any one of claims 1-10, characterized in that, The driving component further includes an adjustment structure connected between the rotating shaft of the first driving member and the torque sensor, the adjustment structure being used to adjust the angle between the rotation center axis of the rotating shaft and the rotation center axis of the torque sensor.

12. The testing equipment according to claim 11, characterized in that, The adjustment structure includes a drive shaft and a universal joint. One end of the drive shaft is connected to the rotating shaft, and the other end of the drive shaft is movably connected to the universal joint. The end of the universal joint away from the drive shaft is connected to the torque sensor.

13. The testing equipment according to any one of claims 1-12, characterized in that, The torque sensor is used to acquire torque signals and convert the torque signals into a first torque value; The testing equipment also includes a controller, which is used to filter the first torque value and obtain a second torque value.

14. The testing equipment according to claim 13, characterized in that, The controller is also used to control the shaft of the first drive member to stop rotating based on the first torque value and the rotation angle of the shaft of the first drive member.

15. A testing method, characterized in that, The device is applied to a testing equipment, which includes a driving component, a clamping component, and at least one ranging sensor. The driving component includes a first driving element and a torque sensor. The first driving element is used to drive the torque sensor to rotate. The clamping component is connected to the torque sensor and can rotate with the torque sensor. The clamping component is used to clamp a knob. The at least one ranging sensor is disposed on the clamping component; the testing method includes: Based on the measurement data from at least one ranging sensor on the clamping component, it is determined that the at least one ranging sensor is aligned with the knob clamped by the clamping component; The first driving component's shaft is controlled to rotate, and the shaft drives the torque sensor and the clamping component to rotate. Obtain the torque value detected by the torque sensor.

16. The test method according to claim 15, characterized in that, The clamping component further includes a chuck, and the testing method further includes: Based on the distance between the chuck and the knob obtained by the at least one ranging sensor, it is determined whether the chuck and the knob are aligned.

17. The test method according to claim 16, characterized in that, The clamping component includes a second driving member and a caliper, the second driving member being disposed on the chuck, and the caliper being movably connected to the chuck. The testing method further includes: Based on the distance, the second drive unit is controlled to drive the caliper to move relative to the chuck, and the caliper clamps the knob.

18. The test method according to claim 17, characterized in that, The second driving component includes a structural component, a coil, a push rod, and an elastic component. The structural component, the coil, the push rod, and the elastic component are all housed within the chuck. The structural component is fixed to the chuck. One end of the push rod is connected to the first end of the caliper. The elastic component is sleeved outside the push rod. The control of the second driving component to drive the caliper to move relative to the chuck includes controlling the coil of the second driving component to be energized or de-energized. When the coil is energized, the magnetic field generated acts on the push rod, causing the push rod to drive the caliper to move relative to the chuck.

19. The test method according to any one of claims 15-18, characterized in that, The testing method also includes: The first torque value obtained by the torque sensor is filtered to obtain the second torque value.

20. The test method according to any one of claims 15-19, characterized in that, The testing method also includes: Based on the first torque value obtained by the torque sensor and the rotation angle of the shaft of the first drive component, the shaft of the first drive component is controlled to stop rotating.

21. A controller, characterized in that, The controller includes a unit for performing the test method according to any one of claims 15-20.

22. A controller, characterized in that, The controller includes a processor and a memory, the memory being used to store computer instructions, wherein when the stored computer program stored in the memory is invoked by the processor, the test method according to any one of claims 15-20 is implemented.

23. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes computer instructions that, when executed by a processor, cause the test method according to any one of claims 15-20 to be implemented.

24. A computer program product, characterized in that, The computer program product includes computer language code or computer instructions; When the computer program product is executed by a processor, the test method according to any one of claims 15-20 is performed.

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