Batch testing system for tactile array sensors

Abstract

A batch testing system for tactile array sensors, comprising: tactile array sensors (6), configured to output a first electrical signal to a signal detection device (4) upon receiving a test pressure; a pressure detection module (131), configured to measure the test pressure applied by a pressure application device (13), and convert the test pressure into a second electrical signal and transmit the second electrical signal to the signal detection device (4); the signal detection device (4), configured to detect each first electrical signal, output a first detection signal to a control device (5), and further detect each second electrical signal and output a second detection signal to the control device (5) on the basis of the detection result; and the control device (5), configured to compare the first detection signal with the second detection signal, calibrate a precision value of each tactile array sensor (6) on the basis of the comparison result, and arrange, by category, the tactile array sensor (6) on the basis of the precision value of each tactile array sensor (6). The system realizes automated testing of multiple tactile array sensors (6), reducing testing costs and improving productivity.

Description

A haptic array sensor batch testing system

[0001] Cross-reference to Related Applications

[0002] The present application claims priority to the Chinese patent application No. 2024107753481, filed on June 17, 2024, entitled "A haptic array sensor batch testing system", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of sensor testing, in particular to a haptic array sensor batch testing system. BACKGROUND

[0004] In recent years, with the advent of the intelligent era, the sensor industry has entered a period of rapid growth. The rise of intelligent robots and smart wearable devices has driven the shipment of force sensors to multiply. However, existing commercial haptic sensors have large size and poor stability of sensitive elements. Therefore, an array sensor using a MEMS advanced technology platform to realize substrate-free integrated array design has emerged. This design can realize a light and thin, deformable, high-density and high-stability haptic sensor array.

[0005] The existing technology tests the haptic sensor array manually. This testing method is low in efficiency and consumes a lot of human resources, which is not conducive to batch testing.

[0006] SUMMARY

[0007] The present application provides a haptic array sensor batch testing system to realize automatic testing of multiple groups of haptic array sensors, reduce testing cost and improve production capacity.

[0008] According to an aspect of the present application, a haptic array sensor batch testing system is provided, which comprises:

[0009] a testing module, a constant temperature control module, a grabbing device, a signal detection device and a control device;

[0010] The testing module comprises a base, a driving device and a pressure applying device.

[0011] The constant temperature control module comprises a temperature sensor, a temperature controller and a constant temperature cavity; the temperature sensor, the base and the pressure applying device are arranged in the constant temperature cavity.

[0012] The grabbing device is electrically connected with the control device, and the control device is configured to control the grabbing device to move the plurality of tactile array sensors to be tested to the base of the test module; the temperature sensor is electrically connected with the temperature controller, and the temperature sensor is configured to detect a first temperature value in the constant-temperature cavity in real time and transmit the first temperature value to the temperature controller;

[0013] The temperature controller is configured to adjust the temperature in the constant-temperature cavity in real time according to the first temperature value, so that the first temperature value is equal to the experimental temperature, and send a temperature satisfaction signal to the control device after the first temperature value is equal to the experimental temperature;

[0014] The pressing device includes at least one pressure detection module, and the pressing device is connected with the driving device; the control device is configured to control the driving device to drive the pressing device to simultaneously apply a test pressure to each tactile array sensor according to the temperature satisfaction signal; a first end of the signal detection device is electrically connected with the tactile array sensor, and a second end of the signal detection device is electrically connected with the pressure detection module; the tactile array sensor is configured to output a first electric signal to the signal detection device after receiving the test pressure; the pressure detection module is configured to detect the test pressure applied by the pressing device and convert the test pressure into a second electric signal and transmit the second electric signal to the signal detection device;

[0015] A third end of the signal detection device is electrically connected with the control device, and the signal detection device is configured to detect each first electric signal and output a first detection signal to the control device according to the detection result, and the signal detection device is also configured to detect each second electric signal and output a second detection signal to the control device according to the detection result;

[0016] The control device is configured to receive the first detection signal and the second detection signal, compare the first detection signal and the second detection signal of the corresponding tactile array sensor and pressure detection module, calibrate the precision value of each tactile array sensor according to the comparison result, simultaneously control the grabbing device to move the tactile array sensor out of the test module, and classify and place the tactile array sensor according to the precision value of each tactile array sensor.

[0017] Optionally, the pressing device includes a pressing rod, at least one pressing probe, and at least one flat terminal;

[0018] The driving device is connected with a first end of the pressing rod, a second end of the pressing rod is connected with a first end of each pressure detection module; a second end of the pressure detection module is arranged and connected with a first end of the pressing probe in one-to-one correspondence, and a second end of the pressing probe is connected with the flat terminal in one-to-one correspondence;

[0019] The control device is configured to control the driving device to drive the pressing rod to move towards the tactile array sensor, so that the flat terminal applies a test pressure to each tactile array sensor according to the temperature satisfaction signal.

[0020] Optionally, the grabbing device comprises a three-axis motion platform, a sensor suction device and a vision device; the sensor suction device and the vision device are arranged on the three-axis motion platform;

[0021] The sensor suction device is electrically connected with the control device; the vision device is electrically connected with the control device; and the three-axis motion platform is electrically connected with the control device.

[0022] The vision device is configured to determine the specific position of the tactile array sensor after receiving the control signal sent by the control device, and generate position information and transmit the position information to the control device.

[0023] The control device is configured to control the three-axis motion platform to drive the sensor suction device to suck the tactile array sensor to be tested according to the position information, and move the tactile array sensor to the base of the test module.

[0024] Optionally, the base is provided with a plurality of positioning grooves;

[0025] The positioning grooves are configured to determine the installation position of the tactile array sensor to be tested.

[0026] Each positioning groove is provided with a plurality of vacuum holes;

[0027] The vacuum holes are configured to fix the tactile array sensor.

[0028] Optionally, the signal detection device comprises a data acquisition box and a multimeter;

[0029] A plurality of first ends of the data acquisition box correspond to and are electrically connected with a plurality of tactile array sensors one by one; at least one second end of the data acquisition box corresponds to and is electrically connected with at least one pressure detection module one by one; a third end of the data acquisition box is electrically connected with a first end of the multimeter, and a second end of the multimeter is electrically connected with the control device.

[0030] The data acquisition box is configured to control each tactile array sensor and each pressure detection module to be sequentially turned on with the multimeter; the multimeter is configured to detect a first electric signal transmitted by each tactile array sensor, and input a first detection signal to the control device according to the detection result; and the multimeter is further configured to detect a second electric signal transmitted by each pressure detection module, and input a second detection signal to the control device according to the detection result.

[0031] Optionally, a heating device is arranged in the constant-temperature cavity;

[0032] The temperature controller is configured to set an experimental temperature in the constant-temperature cavity, and control the working state of the heating device according to the first temperature value, so that the first temperature value is equal to the experimental temperature.

[0033] Optionally, the sensor suction device comprises a suction nozzle, a vacuum generator and a vacuum electromagnetic valve;

[0034] The first end of the vacuum generator is electrically connected with the control device, the second end of the vacuum generator is electrically connected with the first end of the vacuum electromagnetic valve, and the second end of the vacuum electromagnetic valve is electrically connected with the suction nozzle.

[0035] The vacuum generator is configured to control the working state of the vacuum electromagnetic valve to control the suction nozzle to generate suction force.

[0036] Optionally, the vision device comprises a CCD camera, a lens and a light source.

[0037] The light source is configured to provide light for the CCD camera.

[0038] The CCD camera is configured to take a position picture of the tactile array sensor through the lens and transmit the position picture to the control device.

[0039] The control device is configured to control the three-axis motion platform to drive the sensor suction device to suck the to-be-tested tactile array sensor according to the position picture, and move the to-be-tested tactile array sensor to the base of the test module.

[0040] Optionally, the tactile array sensor batch test system further comprises a display screen.

[0041] The display screen is connected with the control device, and the control device is configured to transmit the precision value of each tactile array sensor to the display screen for display after calibrating the precision value of each tactile array sensor.

[0042] Optionally, the tactile array sensor batch test system further comprises a box body, a sample tray and a program-controlled power supply.

[0043] The test module, the constant temperature control module, the grabbing device and the sample tray are arranged on the upper part of the box body.

[0044] The signal detection device, the control device and the program-controlled power supply are arranged in the box body.

[0045] The program-controlled power supply is configured to provide electric energy for the operation of the tactile array sensor batch test system.

[0046] The sample tray is configured to place the to-be-tested tactile array sensor.

[0047] The haptic array sensor batch test system designed in the embodiment of the application comprises a test module, a constant temperature control module, a grabbing device, a signal detection device and a control device. The test module comprises a base, a driving device and a pressing device. The temperature sensor, the base and the pressing device are arranged in the constant temperature cavity. The grabbing device is electrically connected with the control device. The temperature sensor is electrically connected with the temperature controller. The pressing device is connected with the driving device. The first end of the signal detection device is electrically connected with the haptic array sensor. The second end of the signal detection device is electrically connected with the pressure detection module. The third end of the signal detection device is electrically connected with the control device. The control device controls the grabbing device to move the plurality of haptic array sensors to be tested to the base of the test module. The temperature sensor detects the first temperature value in the constant temperature cavity in real time and transmits the first temperature value to the temperature controller. The temperature controller adjusts the temperature in the constant temperature cavity in real time according to the first temperature value, so that the first temperature value is equal to the experimental temperature. After the first temperature value is equal to the experimental temperature, the temperature satisfaction signal is sent to the control device. According to the temperature satisfaction signal, the control device controls the driving device to drive the pressing device to apply the test pressure to each haptic array sensor at the same time. After receiving the test pressure, the haptic array sensor outputs the first electric signal to the signal detection device. The pressure detection module detects the test pressure applied by the pressing device and converts the test pressure into the second electric signal and transmits the second electric signal to the signal detection device. The signal detection device detects each first electric signal and outputs the first detection signal to the control device according to the detection result. The signal detection device is also configured to detect each second electric signal and output the second detection signal to the control device according to the detection result. The control device receives the first detection signal and the second detection signal and compares the first detection signal and the second detection signal of the corresponding haptic array sensor and pressure detection module. According to the comparison result, the precision value of each haptic array sensor is calibrated. At the same time, the grabbing device moves the haptic array sensor out of the test module. According to the precision value of each haptic array sensor, the haptic array sensor is classified and placed. Compared with the manual test in the prior art, the haptic array sensor batch test system designed in the embodiment of the application can automatically test a plurality of haptic array sensors, reduces the test cost and improves the production capacity.

[0048] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the application, nor is it configured to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiment description will be briefly introduced. Obviously, the accompanying drawings in the following description only show some embodiments of the present application, and all other embodiments obtained by those skilled in the art without any creative effort based on the accompanying drawings should belong to the protection scope of the present application.

[0050] Fig. 1 is a structural schematic diagram of a tactile array sensor batch testing system according to an embodiment of the present application;

[0051] Fig. 2 is a partial structural schematic diagram of a tactile array sensor batch testing system according to an embodiment of the present application;

[0052] Fig. 3 is a partial structural schematic diagram of another tactile array sensor batch testing system according to an embodiment of the present application;

[0053] Fig. 4 is a schematic diagram of three kinds of flat terminal shapes according to an embodiment of the present application;

[0054] Fig. 5 is a partial structural schematic diagram of still another tactile array sensor batch testing system according to an embodiment of the present application;

[0055] Fig. 6 is a partial structural schematic diagram of yet another tactile array sensor batch testing system according to an embodiment of the present application;

[0056] Fig. 7 is a structural schematic diagram of a sensor sucking device according to an embodiment of the present application;

[0057] Fig. 8 is a structural schematic diagram of a visual device according to an embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiment description will be briefly introduced. Obviously, the accompanying drawings in the following description only show some embodiments of the present application, and all other embodiments obtained by those skilled in the art without any creative effort based on the accompanying drawings should belong to the protection scope of the present application.

[0059] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and the above-described accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular chronological or sequential order. It should be understood that the data thus used can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in other than the order illustrated or described herein. Furthermore, the terms "comprise" and "have", and any variations thereof, are intended to cover non-exclusive inclusion, for example, processes, methods, systems, products, or devices that include a list of steps or units as processes, methods, systems, products, or devices not necessarily limited to those clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0060] The embodiments of the present application provide a batch testing system for tactile array sensors, Fig. 1 is a structural schematic diagram of a batch testing system for tactile array sensors according to an embodiment of the present application, Fig. 2 is a partial structural schematic diagram of a batch testing system for tactile array sensors according to an embodiment of the present application, and Fig. 3 is a partial structural schematic diagram of another batch testing system for tactile array sensors according to an embodiment of the present application. Referring to Figs. 1-3, the batch testing system for tactile array sensors comprises:

[0061] The testing module 1, the constant temperature control module 2, the grabbing device 3, the signal detection device 4, and the control device 5;

[0062] The testing module 1 comprises a base 11, a driving device 12, and a pressure applying device 13;

[0063] The constant temperature control module 2 comprises a temperature sensor 21, a temperature controller 22, and a constant temperature cavity 23; the temperature sensor 21, the base 11, and the pressure applying device 13 are arranged in the constant temperature cavity 23;

[0064] The grabbing device 3 is electrically connected with the control device 5, and the control device 5 is configured to control the grabbing device 3 to move the plurality of tactile array sensors 6 to be tested onto the base 11 of the testing module 1; the temperature sensor 21 is electrically connected with the temperature controller 22, and the temperature sensor 21 is configured to detect a first temperature value in the constant temperature cavity 23 in real time and transmit the first temperature value to the temperature controller 22;

[0065] The temperature controller 22 is configured to adjust the temperature in the constant temperature cavity 23 in real time according to the first temperature value, so that the first temperature value is equal to an experimental temperature, and send a temperature satisfaction signal to the control device 5 after the first temperature value is equal to the experimental temperature;

[0066] The pressing device 13 comprises at least one pressure detection module 131, the pressing device 13 is connected with the driving device 12, and the control device 5 is configured to control the driving device 12 to drive the pressing device 13 to simultaneously apply a test pressure to each tactile array sensor 6 according to the temperature satisfaction signal; a first end of the signal detection device 4 is electrically connected with the tactile array sensor 6, and a second end of the signal detection device 4 is electrically connected with the pressure detection module 131; the tactile array sensor 6 is configured to output a first electric signal to the signal detection device 4 after receiving the test pressure; the pressure detection module 131 is configured to detect the test pressure applied by the pressing device 13 and convert the test pressure into a second electric signal transmitted to the signal detection device 4;

[0067] A third end of the signal detection device 4 is electrically connected with the control device 5, the signal detection device 4 is configured to detect each first electric signal and output a first detection signal to the control device 5 according to a detection result, and the signal detection device 4 is also configured to detect each second electric signal and output a second detection signal to the control device 5 according to a detection result;

[0068] The control device 5 is configured to receive the first detection signal and the second detection signal, compare the first detection signal and the second detection signal corresponding to each tactile array sensor 6 and pressure detection module 131, calibrate an accuracy value of each tactile array sensor 6 according to a comparison result, simultaneously control the grabbing device 3 to move the tactile array sensor 6 out of the test module 1, and classify and place the tactile array sensor 6 according to the accuracy value of each tactile array sensor 6.

[0069] The control device 5 can be a computer host. The accuracy value of the tactile array sensor 6 can be understood as the measurement accuracy of a range, sensitivity, nonlinearity parameter, repeatability parameter, hysteresis parameter, zero point output parameter, accuracy and the like of the tactile array sensor 6.

[0070] Specifically, after the tactile array sensor batch test system starts testing, the control device 5 sends a grabbing signal to the grabbing device 3, and the grabbing device 3 moves the plurality of tactile array sensors 6 to be tested to the base 11 of the test module 1 after receiving the grabbing signal. After moving the plurality of tactile array sensors 6 to be tested to the base 11 of the test module 1, the temperature sensor 21, the base 11 and the pressing device 13 are sealed in the constant temperature cavity 23, the first temperature value in the constant temperature cavity 23 is detected in real time through the temperature sensor 21, the first temperature value is transmitted to the temperature controller 22, the temperature controller 22 adjusts the temperature in the constant temperature cavity 23 in real time according to the first temperature value, so that the first temperature value is equal to the experimental temperature, and the constant temperature state that the first temperature value is equal to the experimental temperature is maintained during the test, and a temperature satisfaction signal is sent to the control device 5, wherein the experimental temperature can be set in the temperature controller 22 according to actual conditions, and the embodiment of the application does not limit this.

[0071] At least one can be understood as one or more than one, for example, one or more than one pressure detection device 131 can be arranged in the pressure applying device 13, the number of pressure detection devices 131 can be arranged to be the same as the number of tactile array sensors 6, or the number of pressure detection devices 131 can be arranged to be different from the number of tactile array sensors 6. The embodiment of the present application takes the example of the number of pressure detection devices 131 being the same as the number of tactile array sensors 6 for detailed description. After receiving the temperature satisfaction signal, the control device 5 controls the driving device 12 to drive the pressure applying device 13 to apply test pressure to each tactile array sensor 6 at the same time. At this time, the pressure detection module 131 can detect the test pressure applied by the pressure applying device 13 and convert the test pressure into a second electric signal and transmit it to the signal detection device 4. For example, a plurality of pressure detection modules 131 can be arranged in the pressure applying device 13, and the signal detection device 4 can sequentially detect the second electric signal transmitted by each pressure applying device 13 arranged therein and generate a second detection signal according to the detection result and transmit it to the control device 5. Each tactile array sensor 6 outputs a first electric signal to the signal detection device 4 after receiving the test pressure. For example, the signal detection device 4 can sequentially detect the first electric signal transmitted by each tactile array sensor 6 and generate a first detection signal according to the detection result and transmit it to the control device 5.

[0072] After receiving the first detection signal and the second detection signal, the control device 5 compares the first detection signal and the second detection signal of the corresponding tactile array sensor 6 and the pressure detection module 131, and calibrates the accuracy value of each tactile array sensor 6 according to the comparison result. For example, a plurality of first detection signals and second detection signals can be generated by adjusting the test pressure and the experimental temperature in the constant temperature cavity 23 multiple times, and then the plurality of accuracy values of each tactile array sensor 6 can be calibrated. According to the plurality of accuracy values of each tactile array sensor 6 calibrated, the average accuracy value of each tactile array sensor 6 can be calibrated, and the accuracy of the accuracy value of each tactile array sensor 6 is improved. By adjusting the test pressure and the experimental temperature in the constant temperature cavity 23 multiple times, linear testing, hysteresis testing, repeatability testing, etc. of the tactile array sensor 6 can be realized.

[0073] After calibrating the accuracy value of each tactile array sensor 6, the control device 5 issues a move-out classification instruction to the grabbing device 3. After receiving the move-out classification instruction, the grabbing device 3 moves the tactile array sensor 6 from the test module 1 to different positions according to the accuracy of each tactile array sensor 6.

[0074] The haptic array sensor batch test system designed in the embodiment of the application comprises a test module 1, a constant temperature control module 2, a grabbing device 3, a signal detection device 4 and a control device 5. The test module 1 comprises a base 11, a driving device 12 and a pressure applying device 13. The temperature sensor 21, the base 11 and the pressure applying device 13 are arranged in the constant temperature cavity 23. The grabbing device 3 is electrically connected with the control device 5. The temperature sensor 21 is electrically connected with the temperature controller 22. The pressure applying device 13 is connected with the driving device 12. The first end of the signal detection device 4 is electrically connected with the haptic array sensor 6. The second end of the signal detection device 4 is electrically connected with the pressure detection module 131. The third end of the signal detection device 4 is electrically connected with the control device 5. The control device 5 controls the grabbing device 3 to move the plurality of haptic array sensors 6 to be tested to the base 11 of the test module 1. The temperature sensor 21 detects the first temperature value in the constant temperature cavity 23 in real time and transmits the first temperature value to the temperature controller 22. The temperature controller 22 adjusts the temperature in the constant temperature cavity 23 in real time according to the first temperature value, so that the first temperature value is equal to the experimental temperature. After the first temperature value is equal to the experimental temperature, the temperature controller 22 sends a temperature satisfaction signal to the control device 5. According to the temperature satisfaction signal, the control device 5 controls the driving device 12 to drive the pressure applying device 13 to apply test pressure to each haptic array sensor 6 at the same time. After receiving the test pressure, the haptic array sensor 6 outputs a first electric signal to the signal detection device 4. The pressure detection module 131 detects the test pressure applied by the pressure applying device 13 and converts the test pressure into a second electric signal and transmits the second electric signal to the signal detection device 4. The signal detection device 4 detects each first electric signal and outputs a first detection signal to the control device 5 according to the detection result. The signal detection device 4 is also configured to detect each second electric signal and output a second detection signal to the control device 5 according to the detection result. The control device 5 receives the first detection signal and the second detection signal and compares the first detection signal and the second detection signal corresponding to each haptic array sensor 6 and the pressure detection module 131. According to the comparison result, the accuracy value of each haptic array sensor 6 is calibrated. At the same time, the grabbing device 3 moves the haptic array sensor 6 out of the test module 1. According to the accuracy value of each haptic array sensor 6, the haptic array sensor 6 is classified and placed. Compared with the manual test in the prior art, the haptic array sensor batch test system designed in the embodiment of the application can automatically test a plurality of haptic array sensors 6, reduce the test cost and improve the production capacity.

[0075] Optionally, with continued reference to FIGS. 1-3, the pressure applying device 13 comprises a pressure applying rod 132, at least one pressure applying probe 133 and at least one flat terminal 134.

[0076] The driving device 12 is connected with the first end of the pressing rod 132, the second end of the pressing rod 132 is connected with the first end of each pressure detection module 131; the second end of the pressure detection module 131 is correspondingly arranged and connected with the first end of the pressing probe 133, the second end of the pressing probe 133 is correspondingly connected with the flat terminal 134;

[0077] The control device 4 is configured to control the driving device 12 to drive the pressing rod 132 to move towards the direction close to the tactile array sensor 6 to apply the test pressure to each tactile array sensor 6 through the flat terminal 134 according to the temperature satisfaction signal.

[0078] Wherein, at least one can be understood as one or more than one, the number of the pressing probe 133 and the flat terminal 134 can be set according to actual conditions, the number of the pressing probe 133 and the number of the flat terminal 134 are the same as the number of the pressure detection module 131, and the embodiment of the application does not limit this.

[0079] Specifically, the control device 5 receives the temperature satisfaction signal, which indicates that the temperature value in the constant temperature cavity 23 has met the test requirements of the tactile array sensor 6, at this time, the driving device 12 is controlled to drive the pressing rod 132 to move towards the direction close to the tactile array sensor 6 to apply the test pressure to each tactile array sensor 6 through the flat terminal 134, for example, one flat terminal 134 can apply the test pressure to one tactile array sensor 6; one flat terminal 134 can also apply the test pressure to one tactile array sensor 6. Wherein, the shape and size of the flat terminal 134 need to be correspondingly set with the shape and size of the tactile array sensor 6, for example, FIG. 4 is a schematic diagram of three kinds of flat terminal shapes according to the embodiment of the application, as shown in FIG. 4, the shape of the flat terminal 134 can be adjusted in real time according to the specific shape of the tactile array sensor 6.

[0080] Optionally, FIG. 5 is a partial structure schematic diagram of another tactile array sensor batch test system according to the embodiment of the application, referring to FIGS. 1-5, the grabbing device 3 includes a three-axis motion platform 31, a sensor suction device 32 and a vision device 33; the sensor suction device 32 and the vision device 33 are arranged on the three-axis motion platform 31;

[0081] The sensor suction device 32 is electrically connected with the control device 5; the vision device 33 is electrically connected with the control device 5; the three-axis motion platform 31 is electrically connected with the control device 5;

[0082] The vision device 33 is configured to determine the specific position of the tactile array sensor 6 after receiving the control signal sent by the control device 5, and generate the position information and transmit it to the control device 5;

[0083] The control device 5 is configured to control the three-axis motion platform 31 to drive the sensor suction device 32 to suck the to-be-tested tactile array sensor 6 according to the position information, and move the tactile array sensor 6 to the base 11 of the test module 1.

[0084] The three-axis motion platform 31 can be composed of a three-axis frame, a servo motor and a guide rail. The displacement positioning accuracy of the three-axis motion platform 31 can reach ±0.03 mm.

[0085] Specifically, after the tactile array sensor batch test system starts testing, the control device 5 sends a control signal to the vision device 33. After receiving the control signal sent by the control device 5, the vision device 33 takes a position picture of the to-be-tested tactile array sensor 6, and generates a first position signal. The first position signal is transmitted to the control device 5. After receiving the first position signal, the control device 5 controls the three-axis motion platform 31 to drive the sensor suction device 32 to move to the position of the to-be-tested tactile array sensor 6, and sends a suction signal to the sensor suction device 32. After receiving the suction signal, the sensor suction device 32 sucks the to-be-tested tactile array sensor 6, and sends a suction completion signal to the control device 5. After receiving the suction completion signal, the control device 5 controls the three-axis motion platform 31 to drive the sensor suction device 32 to move to the base 11 of the test module 1, and sends a suction cancellation signal to the sensor suction device 32. After receiving the suction cancellation signal, the sensor suction device 32 performs a cancellation suction process on the tactile array sensor 6, that is, places the tactile array sensor 6 on the base 11 of the test module 1.

[0086] Optionally, FIG. 6 is a partial structure schematic diagram of another tactile array sensor batch test system according to an embodiment of the present application. Referring to FIG. 6, the base is provided with a plurality of positioning grooves 111.

[0087] The positioning groove 111 is configured to determine the installation position of the to-be-tested tactile array sensor 6.

[0088] Each positioning groove 111 is provided with a plurality of vacuum holes 112.

[0089] The vacuum hole 112 is configured to fix the tactile array sensor 6.

[0090] The plurality can be understood as two or more.

[0091] Specifically, the number of positioning grooves 111 can be set according to the number of haptic array sensors 6 that can be detected by the haptic array sensor batch testing system. The haptic array sensor 6 can be fixed by setting multiple vacuum holes 112 in each positioning groove 111, so that the haptic array sensor 6 to be tested is in a flat state, which can ensure that the direction of the test pressure applied to the haptic array sensor 6 is perpendicular to the direction of the pressure contact surface of the haptic array sensor 6.

[0092] Optionally, referring to FIGS. 1-3, the signal detection device 4 includes a data acquisition box 41 and a multimeter 42;

[0093] The plurality of first ends of the data acquisition box 41 correspond to and are electrically connected to the plurality of haptic array sensors 6; at least one second end of the data acquisition box 41 corresponds to and is electrically connected to at least one pressure detection module 131; a third end of the data acquisition box 41 is electrically connected to a first end of the multimeter 42, and a second end of the multimeter 42 is electrically connected to the control device 5;

[0094] The data acquisition box 41 is configured to control each haptic array sensor 6 and each pressure detection module 131 and the multimeter 42 to be sequentially turned on; the multimeter 42 is configured to detect a first electrical signal transmitted by each haptic array sensor 6 and input a first detection signal to the control device 5 according to the detection result; the multimeter 42 is also configured to detect a second electrical signal transmitted by each pressure detection module 131 and input a second detection signal to the control device 5 according to the detection result.

[0095] Specifically, after receiving the temperature satisfaction signal, the control device 5 controls the driving device 12 to drive the pressure applying device 13 to simultaneously apply a test pressure to each haptic array sensor 6, each haptic array sensor 6 outputs a plurality of first electrical signals to the data acquisition box 41 after receiving the test pressure, and the pressure detection module 131 can detect the test pressure applied by the pressure applying device 13 and convert the test pressure into a second electrical signal transmitted to the data acquisition box 41, the data acquisition box 41 controls each haptic array sensor 6 and each pressure detection module 131 and the multimeter 42 to be sequentially turned on after receiving the plurality of first electrical signals and the plurality of second electrical signals, so that the multimeter 42 sequentially detects the first electrical signal transmitted by each haptic array sensor 6 and the second electrical signal transmitted by each pressure detection module 131, and inputs the first detection signal and the second detection signal to the control device 5 according to the detection result.

[0096] Optionally, a heating device is arranged in the constant-temperature cavity;

[0097] The temperature controller is configured to set an experimental temperature in the constant-temperature cavity and control the working state of the heating device according to the first temperature value, so that the first temperature value is equal to the experimental temperature.

[0098] Specifically, the experimental temperature in the constant-temperature cavity can be set according to experimental requirements, so that the tactile array sensor can be tested at different ambient temperatures. The temperature controller adjusts the working state of the heating device in real time according to the first temperature value detected by the temperature sensor. For example, if the difference between the first temperature value and the experimental temperature is less than or equal to a first preset value, the temperature controller can control the heating device to heat at a smaller heating power; if the difference between the first temperature value and the experimental temperature is greater than the first preset value, the temperature controller can control the heating device to heat at a larger heating power; and if the first temperature value is equal to the experimental temperature, the temperature controller can control the heating device to stop heating.

[0099] Optionally, FIG. 7 is a structural schematic diagram of a sensor suction device provided by an embodiment of the present application. Referring to FIGS. 1, 2 and 7, the sensor suction device 32 includes a suction nozzle 321, a vacuum generator 322 and a vacuum electromagnetic valve 323.

[0100] The first end of the vacuum generator 322 is electrically connected to the control device 5, the second end of the vacuum generator 322 is electrically connected to the first end of the vacuum electromagnetic valve 323, and the second end of the vacuum electromagnetic valve 323 is electrically connected to the suction nozzle 321.

[0101] The vacuum generator 322 is configured to control the working state of the vacuum electromagnetic valve 323 to control the suction force generated by the suction nozzle 321.

[0102] Specifically, after receiving the suction signal sent by the control device 5, the vacuum generator 322 controls the opening of the vacuum electromagnetic valve 323, so that the suction nozzle 321 generates a suction force to suck the tactile array sensor 6. After receiving the suction cancellation signal sent by the control device 5, the vacuum generator 322 controls the closing of the vacuum electromagnetic valve 323, so that the suction force generated by the suction nozzle 321 disappears, and the tactile array sensor 6 is released. The opening size of the vacuum electromagnetic valve 323 can be controlled by the vacuum generator 322 to control the suction force of the suction nozzle 321.

[0103] Optionally, FIG. 8 is a structural schematic diagram of a visual device provided by an embodiment of the present application. Referring to FIGS. 1, 2 and 8, the visual device 33 includes a CCD camera 331, a lens 332 and a light source 333.

[0104] The light source 333 is configured to provide light for the CCD camera 331.

[0105] The CCD camera 331 is configured to capture a position picture of the tactile array sensor 6 through the lens 332, and transmit the position picture to the control device 5.

[0106] The control device 5 is configured to control the three-axis motion platform 31 to drive the sensor suction device 32 to suck the to-be-tested tactile array sensor 6 according to the position picture, and move the to-be-tested tactile array sensor 6 to the base 11 of the test module 1.

[0107] Specifically, after the tactile array sensor batch test system starts testing, the control device 5 sends a control signal to the vision device 33, the vision device 33 turns on the light source 333 to illuminate the to-be-tested tactile array sensor 6 after receiving the control signal sent by the control device 5, the CCD camera 331 captures the position picture of the tactile array sensor 6 through the lens 332, and generates a first position signal and transmits the first position signal to the control device 5, the control device 5 controls the three-axis motion platform 31 to drive the sensor suction device 32 to suck the to-be-tested tactile array sensor 6 according to the first position signal, and move the to-be-tested tactile array sensor 6 to the base 11 of the test module 1.

[0108] Optionally, as shown in FIG. 1 and FIG. 2, the tactile array sensor batch test system further comprises a display screen 7.

[0109] The display screen 7 is connected with the control device 5, and the control device 5 is configured to transmit the precision value of each tactile array sensor 6 to the display screen 7 for display after calibrating the precision value of each tactile array sensor 6.

[0110] Specifically, transmitting the precision value of each tactile array sensor 6 to the display screen 7 for display can enable the on-site staff to more intuitively determine the precision value of the tactile array sensor 6.

[0111] Optionally, as shown in FIG. 1, FIG. 2 and FIG. 5, the tactile array sensor batch test system further comprises a box, a sample tray 9 and a program-controlled power supply.

[0112] The test module 1, the constant temperature control module 2, the grabbing device 3 and the sample tray 9 are arranged on the upper part of the box.

[0113] The signal detection device 4, the control device 5 and the program-controlled power supply are arranged in the box.

[0114] The program-controlled power supply is configured to provide electric energy for the operation of the tactile array sensor batch test system.

[0115] The sample tray 9 is configured to place the to-be-tested tactile array sensor 6.

[0116] Specifically, the tactile array sensor batch test system can include multiple sample trays 9, and each sample tray 9 can be stacked to facilitate testing. For example, a two-dimensional code can be arranged on the outside of the box, and the tactile array sensor batch test system can obtain the test result by scanning the two-dimensional code after completing the test.

[0117] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, the steps described in this application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0118] The above detailed description does not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application. Industrial applicability

[0119] The batch test system for the tactile array sensor provided by the present application can automatically test multiple groups of tactile array sensors, thereby reducing the test cost, improving the production capacity, and being more practical compared with the manual test in the prior art.

Claims

1. A haptic array sensor batch testing system, comprising: The application relates to a batch testing system for a tactile array sensor, which comprises a testing module, a constant-temperature control module, a grabbing device, a signal detection device and a control device. The testing module comprises a base, a driving device and a pressure applying device. The constant-temperature control module comprises a temperature sensor, a temperature controller and a constant-temperature cavity; the temperature sensor, the base and the pressure applying device are arranged in the constant-temperature cavity. The grabbing device is electrically connected with the control device, and the control device is configured to control the grabbing device to move a plurality of tactile array sensors to be tested onto the base of the testing module; the temperature sensor is electrically connected with the temperature controller, and the temperature sensor is configured to detect a first temperature value in the constant-temperature cavity in real time and transmit the first temperature value to the temperature controller. The temperature controller is configured to adjust the temperature in the constant-temperature cavity according to the first temperature value in real time, so that the first temperature value is equal to an experimental temperature, and send a temperature satisfaction signal to the control device after the first temperature value is equal to the experimental temperature. The pressure applying device comprises at least one pressure detection module, and the pressure applying device is connected with the driving device; the control device is configured to control the driving device to drive the pressure applying device to apply test pressure to each tactile array sensor at the same time according to the temperature satisfaction signal; a first end of the signal detection device is electrically connected with the tactile array sensor, and a second end of the signal detection device is electrically connected with the pressure detection module; the tactile array sensor is configured to output a first electric signal to the signal detection device after receiving the test pressure. The pressure detection module is configured to detect the test pressure applied by the pressure applying device and convert the test pressure into a second electric signal and transmit the second electric signal to the signal detection device. A third end of the signal detection device is electrically connected with the control device; the signal detection device is configured to detect each first electric signal and output a first detection signal to the control device according to the detection result, and the signal detection device is also configured to detect each second electric signal and output a second detection signal to the control device according to the detection result. The control device is configured to receive the first detection signal and the second detection signal, compare the first detection signal and the second detection signal of the corresponding tactile array sensor and pressure detection module, calibrate the precision value of each tactile array sensor according to the comparison result, control the grabbing device to move the tactile array sensor out of the testing module, and classify and place the tactile array sensor according to the precision value of each tactile array sensor.

2. The batch testing system for a tactile array sensor according to claim 1, wherein the pressure applying device comprises a pressure applying rod, at least one pressure applying probe and at least one flat terminal. ​ ​ The driving device is connected with the first end of the pressing rod, the second end of the pressing rod is connected with the first end of each pressure detection module, the second end of the pressure detection module is arranged and connected with the first end of the pressing probe one by one, and the second end of the pressing probe is connected with the flat terminal one by one; The control device is configured to control the driving device to drive the pressing rod to move towards the touch array sensor according to the temperature satisfaction signal, so that the flat terminal applies test pressure to each touch array sensor. 3.The touch array sensor batch test system according to claim 1 or 2, characterized in that, The grabbing device comprises a three-axis motion platform, a sensor suction device and a vision device; the sensor suction device and the vision device are arranged on the three-axis motion platform; The sensor suction device is electrically connected with the control device; the vision device is electrically connected with the control device; and the three-axis motion platform is electrically connected with the control device; The vision device is configured to determine the specific position of the touch array sensor after receiving the control signal sent by the control device, and generate position information and transmit the position information to the control device; The control device is configured to control the three-axis motion platform to drive the sensor suction device to suck the touch array sensor to be tested, and move the touch array sensor to the base of the test module according to the position information. 4.The touch array sensor batch test system according to any one of claims 1 to 3, characterized in that, The base is provided with a plurality of positioning grooves; The positioning grooves are configured to determine the installation position of the touch array sensor to be tested; Each positioning groove is provided with a plurality of vacuum holes; The vacuum holes are configured to fix the touch array sensor. 5.The touch array sensor batch test system according to any one of claims 1 to 4, characterized in that, The signal detection device comprises a data acquisition box and a multimeter; A plurality of first ends of the data acquisition box are electrically connected with a plurality of the touch array sensors one by one; at least one second end of the data acquisition box is electrically connected with at least one pressure detection module one by one; a third end of the data acquisition box is electrically connected with a first end of the multimeter, and a second end of the multimeter is electrically connected with the control device; The data acquisition box is configured to control each touch array sensor and each pressure detection module to be sequentially turned on with the multimeter; the multimeter is configured to detect a first electric signal transmitted by each touch array sensor, and input a first detection signal to the control device according to the detection result; and the multimeter is further configured to detect a second electric signal transmitted by each pressure detection module, and input a second detection signal to the control device according to the detection result. 6.The touch array sensor batch test system according to any one of claims 1 to 5, characterized in that, The constant-temperature cavity is provided with a heating device. The temperature controller is configured to set an experimental temperature in the constant-temperature cavity and control the working state of the heating device according to the first temperature value, so that the first temperature value is equal to the experimental temperature. 7.The tactile array sensor batch test system of claim 3, wherein, The sensor suction device comprises a suction nozzle, a vacuum generator and a vacuum electromagnetic valve. The first end of the vacuum generator is electrically connected to the control device, the second end of the vacuum generator is electrically connected to the first end of the vacuum electromagnetic valve, and the second end of the vacuum electromagnetic valve is electrically connected to the suction nozzle. The vacuum generator is configured to control the working state of the vacuum electromagnetic valve to control the suction nozzle to generate suction force. 8.The tactile array sensor batch test system of claim 3, wherein, The visual device comprises a CCD camera, a lens and a light source. The light source is configured to provide light for the CCD camera. The CCD camera is configured to take a position picture of the tactile array sensor through the lens and transmit the position picture to the control device. The control device is configured to control the three-axis motion platform to drive the sensor suction device to suck the tactile array sensor to be tested according to the position picture, and move the tactile array sensor to be tested to the base of the test module.

9. The haptic array sensor batch testing system of any of claims 1 to 8, wherein, Further comprising: a display screen; The display screen is connected to the control device, and the control device is configured to transmit the precision value of each tactile array sensor to the display screen for display after calibrating the precision value of each tactile array sensor.

10. The haptic array sensor batch testing system of any one of claims 1 to 9, wherein, Further comprising: a box, a sample tray and a program-controlled power supply; The test module, the constant-temperature control module, the grabbing device and the sample tray are arranged on the upper part of the box; The signal detection device, the control device and the program-controlled power supply are arranged in the box; The program-controlled power supply is configured to provide electric energy for the operation of the tactile array sensor batch test system; The sample tray is configured to place the tactile array sensor to be tested.

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