CN108151946A - The method that tactile tests measuring apparatus and force-displacement curve is determined in tactile test measures - Google Patents
The method that tactile tests measuring apparatus and force-displacement curve is determined in tactile test measures Download PDFInfo
- Publication number
- CN108151946A CN108151946A CN201711229585.4A CN201711229585A CN108151946A CN 108151946 A CN108151946 A CN 108151946A CN 201711229585 A CN201711229585 A CN 201711229585A CN 108151946 A CN108151946 A CN 108151946A
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- Prior art keywords
- tactile
- test
- measuring apparatus
- force
- holding meanss
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0095—Gripping heads and other end effectors with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
- G01L5/228—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping using tactile array force sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
Abstract
A kind of tactile test measuring apparatus (1), includes at least：Holding meanss (4) are used to accommodate test object (7)；Robot (2), with executor (3) and executing agency, wherein, the executing agency includes at least one measurement head (5), carries measuring system (6)；And stablize unit, wherein, the stable unit includes support component (9) and support base (8), wherein, by the stable unit, the measurement head (5) can be relative to the holding meanss (4) fixed on fixed position.
Description
Technical field
It is wanted the present invention relates to tactile test measuring apparatus as described in the preamble according to claim 1 and according to right
Seek 12 method as described in the preamble that force-displacement curve is determined in tactile test measures.
Background technology
The switch and button of high-quality should touch up " having texture ", and be provided in tactile to operating personnel about opening
Close the clear feedback of operating process.Particularly in automotive field, operation panel and button requirement very high quality.It is put into be split
Using measuring device, constantly switch is shifted on entire switch over travel by row qualitative evaluation rapidly for test body (test specimen).It utilizes
Accurate force snesor creates power-displacement diagram, shows the tactile conclusion of switch (button) to be measured.For this purpose, as one
The Linear actuator and dynamometer of unit must be very hard and cannot cave in when operating part to be measured, can just prevent from measuring inclined
Difference.
In the industry, robot is increasingly extensive is used for tactile measuring technique.In this case, it is tested using robot tactile
Feel operating element and button, such as the button of the button of the operating element of electric appliance or vehicle or electronic equipment.In this tactile
In test, product to be tested is retained in holding/clamping device of tactile test measuring apparatus.It then, will be in robot
One end of executor be moved to test position as the measuring system that executing agency arranges, so that measuring system can be surveyed
Examination.For this purpose, measuring system performs scheduled test record to test object.In the test, for example, in pressing test object
Button and record relevant force-displacement curve.For this purpose, generally use is fixed on robot head, has length decoder
Accurate push rod with load cell is as measuring system.
In the measurement of this force-displacement curve, since the rigidity of joint limitation and executor (i.e. mechanical arm) may
It is too low, the error in stroke measurment need to be calibrated.In this case, the measurement head with measuring system, on executor is being made
Its position is no longer kept to stablize in the case of firmly increased, thus measurement result is distorted.Test force is higher, and robot architecture gets over
Small, then measurement error is bigger.For example, under the full test power of 10 newton, the test occurred in 80 to 150 micron ranges misses
Difference.For example, this is equivalent in the expection switch over travel of about 200 microns of smart mobile phone button, it is likely to be breached in measurement and is more than
50% measurement error or even may also in the key/switch of other electric appliances and/or the key/switch of other electronic equipments
There is the error of same number grade.
To reduce this interference as possible, the robot used in the prior art is oversized due to its stability.This just leads
The cost of test equipment is caused to increase sharply, due to size super large, measurement error can only be reduced, and measurement error can not be eliminated.Using more
Great Geng Ying robots, experiment show that measurement error is still up to 20%.
Invention content
The object of the present invention is to provide a kind of tactile measurements that can be eliminated or at least almost eliminate measurement error to set
It is standby.Another object of the present invention is to provide a kind of tactiles to test measuring apparatus, wherein the machine of oversize can not used
Device people's system.
To reach above-mentioned purpose, the present invention proposes the characteristic of claim 1 and claim 12.Advantageous techniques scheme
Refering to dependent claims.
Tactile test measuring apparatus according to the present invention includes at least one holding meanss, the packet for accommodating test object
It includes the robot of at least one executor and executing agency and stablizes unit.The executing agency of the robot includes at least one
A measurement head carries measuring system.The stable unit includes at least one support component and support base, and wherein measurement head is led to
Cross and stablize unit and can be fixed on fixed position relative to holding meanss, it is possible thereby to realize robot and measurement head relative to
Complete " rigidity " of test object.Be not in error in stroke measurment as a result, when determining force-displacement curve, reason exists
In stable unit avoids the machine of the executor because being limited to robot by the way that measurement head is made to be fixed relative to holding meanss position
The joint of tool arm element and error is generated without rigidity and in stroke measurment.By the support base and support component, in machine
Stability can be increased in the positioning of people, whereby measuring system and the test body of regular collocation will not be collapsed in measurement process and by
This is distorted measurement.Low power minimum humanoid robot, such as folding robert can also be used as a result, wherein can show
Writing reduces the cost of tactile test measuring apparatus.
In one embodiment, the executor of the robot is more piece humanoid robot articulated arm/multiaxis arm, by passing through
A series of rigid links composition that rotation and/or slip joint are connected with each other, wherein the connector can pass through controllable driver
To adjust.The executing agency of the robot is located on the free movable end of multiaxis arm and is at least equipped with measuring system.
In typical embodiment, the executing agency of the robot includes rotation/replacement head, has both been equipped with the measurement with measuring system
Head in another example being equipped with grip element, is suitable for replacing test object along holding direction.In this case, the grip element
Test object can be inserted into holding meanss, and after a test again by it from taking out and be placed into from temporary storage area
In another temporary storage area, new test object is inserted into holding meanss from the first temporary storage area before this.
In an exemplary embodiment, the measurement head includes stablizing the support component of unit or the stable unit
Support component is disposed in measurement head.In this embodiment, stabilization is typically comprised for the holding meanss of test object
The support base of the support base of unit or stable unit is disposed in holding meanss.
In another embodiment, the bottom plate of the tactile test measuring apparatus includes support base or the support base
It is disposed on the bottom plate of tactile test measuring apparatus.Equally, in this embodiment, the measurement head can also be relative to guarantor
It holds device and test object is secured in place.
In another embodiment, the measurement head includes stablizing the support base of unit, and the holding meanss or bottom
Plate includes the support component for stablizing unit.As an alternative, the support base of the stable unit can be disposed in measurement head or
The support component is disposed on holding meanss or bottom plate.
In one embodiment, the support component includes magnet, for example, the magnet can pass through current feed
The electromagnet of activation.In this embodiment, the support base includes magnetic element, for example, the magnetic element is in ferromagnetism base
The form of seat or ferromagnetic base element.
In another embodiment, the support base includes receiving portion, for the branch that accommodates and feel relieved in form-fit manner
Support element is configured to the end component of shape cooperation.In addition it is also feasible that the end component includes magnet, such as electricity
Magnet, and the receiving portion in the support base includes magnetic element, in this way except measuring system is relative to the survey in holding meanss
Except trying during object shapes are connected and determine, force-fitting connection can also be generated.By support component additionally with shape cooperation side
In addition formula, which is accommodated and is centered at, can be used to the test pair so that in the test body and holding meanss of measuring system in support base
As being more accurately aligned with.
In addition, in the mating connection of the shape of support base and support component, for example, on a support element using rotatable
End component, can for example to engage the recess of corresponding support base at rear portion by the protrusion part on end component
To realize that bayonet type is sealed, stability of the measurement head relative to test object thus can be equally improved again.Furthermore, it is also possible to
Using the end component corresponding to receiving portion, and not in rear portion snap-fit element, it is preferable that support component is pressed into and supports by mechanical arm
The receiving portion of seat, wherein, the power used in the receiving portion of support component press-in support base is more than to measure by the executor of robot is
System is applied to the power of test object.The distortion of stroke measurment can be equally eliminated or at least almost eliminated as a result,.
In other embodiments, the support component includes adjustable rod element so that measurement head and holding meanss it
Between distance can be adjusted by adjustable rod element according to measuring system used.For this purpose, the bar of the support component
Element is for example slidably mounted in can be by the fixed unit of tightening member.
In another embodiment, the support component is constructed in a manner of partially flexible, such as in gooseneck or movable proboscis
Form temporary can at least be hardened during measurement.As a result, for example, with identical measuring system and identical support component
Measurement head can be used for different test objects to be tested in support device, which is because, according to the size of test object, lead to
The flexible member that can be preferably controlled in support component by control unit is crossed, respectively close to the difference on support component, with
The flexible member temporary is hardened to measure afterwards.In this case, entire support component can be configured to flexible member
Part, and the subregion of flexible member can also be merely compriseed.As described above, fixation of the support component on support base/
Contact is connected to realize by force-fitting and/or shape herein.
Preferably, the flexible member is hardened by current feed.In other embodiments, the support of adjustable flexible
The flexible portion of element can also be for example hardened by hydraulic pressure and/or pneumatic element.The flexible member of the support base can be with
E.g. gooseneck/form of crooking one's arm can be along the free-moving element of multiple directions, can be such as after desired locations are reached
It is hardened by electromagnetic action to carry out tactile measurement and temporary.
In an exemplary embodiment, force-displacement curve is determined using push rod system as measuring system, the push rod system
Including at least one propulsion element, stroke measuring device, device for measuring force and test body.The propulsion element is e.g. telescopic
Main shaft, stroke are determined by being used as the length decoder of stroke measuring device.Usually using as be known in the art
Load cell or load cell are as measuring apparatus.Test body can be used, for example, the button for the button for manipulating test object
Element, the wherein Key element are effectively connect with load cell/load cell.
In addition to device, another aspect of the present invention is that a kind of utilization tactile according to the present invention test measuring apparatus is being touched
Feel test determines force-displacement curve method in measuring.Here, this method includes at least following steps：
Test object is inserted into holding meanss；
The measurement head with measuring system is made to shift to test object；
Support component is made to be contacted with stablizing the support base of unit；
By stablizing unit, measurement head is made to be fixed relative to holding meanss and test object position；
By measuring system, perform the measurement of force-displacement curve and determine；
Support component is discharged with stablizing unit and support base contact；
Test object is removed from holding meanss.
In an exemplary embodiment, contact of the support component with support base includes shape cooperation and/or preferred electromagnetism
Property force-fitting.
Description of the drawings
Other advantages, features, and details of the present invention are subject to by the description of following preferred embodiment and with reference to attached drawing
It illustrates.
Fig. 1 shows the schematic diagram of the tactile test measuring apparatus of the reflection prior art；
Fig. 2 shows the schematic diagrames of the first embodiment of tactile according to the present invention test measuring apparatus；
Fig. 3 shows the schematic diagram of another embodiment of tactile test measuring apparatus according to the present invention；
Fig. 4 shows the schematic diagram of the measuring system of tactile test measuring apparatus according to the present invention；
Fig. 5 shows the force-displacement curve recorded by measuring system；
Fig. 6 shows the schematic diagram of the tactile test measuring apparatus of a further embodiment according to the present invention；And
Fig. 7 shows the schematic diagram of the another embodiment of tactile test measuring apparatus according to the present invention, wherein with including
The support component of flexible member.
Specific embodiment
Fig. 1 shows the tactile test measuring apparatus 1 corresponding to the prior art.In the example shown, tactile test measures
Equipment 1 includes the robot 2 and holding meanss 4 that are arranged on bottom plate 10.Robot 2 has corresponding with the executor of robot
Multiaxis arm 3.The measurement head 5 as actuator is disposed in the free end of the multiaxis arm 3 of robot 2, is including measuring
System 6.By measuring system 6, the power-displacement generated when can be recorded in the button 11 for manipulating test object 7 by measuring system 6 is bent
Line.
For this purpose, test object 7 is inserted into the test object receiving portion 23 of holding meanss 4.In the measurements, further comprise
The propulsion element 16 of stroke measuring device 17 with device for measuring force 14 so that keep the test body effectively connecting 15 along shown movement
Direction 12 is moved on the button 11 of test object 7, to determine force-displacement curve during operating buttons 11.In this case,
Test body 15 is for example moved with constant speed, until reaching specified test force/maximum, force towards button in the direction of motion 12
Fmax.Be limited to the multiaxis arm 3 of robot 2 joint and multiaxis arm 3 without rigidity, in tactile test measures, in stroke
Calibration error is needed in measurement, because the measurement head 6 on multiaxis arm 3 no longer keeps its position in the case that active force is increased
Stablize, and the direction that measurement head moves 13 along shown measurement head is moved.It is lost as a result, using the measurement result that measuring system 6 determines
Very.In this case, specified test force FmaxHigher, the structure and its multiaxis arm 3 of robot 2 are smaller, then measurement error is bigger.
Fig. 2 shows tactiles according to the present invention to test measuring apparatus 1, and the tactile test for corresponding essentially to Fig. 1 measures
Equipment.However, compared with the tactile test measuring apparatus 1 of Fig. 1, the tactile test measuring apparatus 1 of Fig. 2, which also has, stablizes unit,
It includes support base 8 and support component 9.In an illustrated embodiment, support component 9 is magnet 18, is passed through by rod element 20
Measurement head 5 is fixed to by tightening member 21.In an illustrated embodiment, support base 8 is magnetic element 19, such as ferromagnetic base
Element 19.By the way that magnet 18 is installed on magnetic element 19, wherein magnet 18 is, for example, electromagnet 18, can be presented by electric current
Electricity and activate and can be passed through by cutting off circuit and deactivation so as to fulfill measurement head 5 by support base 8 and support component
The stabilization unit of 9 compositions is positioned relative to test object 7 and holding meanss 4 and fixed to fixed position.It is particularly real as a result,
Existing the distance between measurement head 5 and the button 11 of test object 7 are constant, thus can be to prevent when determining power-displacement measurement curve
The only direction movement of measurement head negative test movement 12.The tactile of high precision is can be realized as by simple means as a result,
Test measures.
Another embodiment of tactile test measuring apparatus 1 according to the present invention is shown in FIG. 3.The tactile test of Fig. 3 is surveyed
Measure the tactile test measuring apparatus of equipment 1 and Fig. 2 the difference lies in, in addition to measurement head 5, the machine as executing agency
The free end of the multiaxis arm 3 of people 2 is disposed with grip element 26, can be by test object 7 from temporary by the grip element 26
Storage area is transported in the test object receiving portion of holding meanss 4, and perform tactile test measure after, can again by
It is transported to another temporary storage area.
In addition, the tactile test measuring apparatus 1 of Fig. 3 is also differ in that, except the support base 8 of 19 form of magnetic element
Except, holding meanss 4 further include the support base 8 of another 25 form of receiving portion, correspond to the end component 24 of supporting member 9
Molding.In other embodiments, holding meanss 4 can include multiple and different support bases 8, can be steady by these support bases
Determine to obtain force-fitting connection or force-fitting between the support component 9 of device and support base 8 and shape is connected.Match for power
It closes and shape is connected, receiving portion 25 for example can be introduced into magnetic element 19 or be disposed therein.
In addition, the tactile test measuring apparatus of tactile test measuring apparatus 1 and Fig. 2 of Fig. 3 is also differ in that,
In this case, the propulsion element 16 of measuring system 6 does not reach horizontal movement, but moves vertically 12, thus need to prevent from surveying
Amount head moves in the vertical direction.In other embodiments, any direction other than test movement 12 may be horizontally or vertically, is surveyed
Test run moves 12 always towards test object 7, and the measurement head 5 with measuring system 6 is always by by support base 8 and support member
The stabilization unit that part 9 forms remains fixed position relative to test object 7.
The typical measuring system 6 for determining power-displacement measurement curve is shown in FIG. 4, such as refering to the use in Fig. 5
Situation.In addition to propulsion element 16, such as can be accurate main shaft, measuring system 6 further includes stroke measuring device 17, example
It such as can be length decoder well known in the prior art.In addition, measuring system 6 includes test body 15, with device for measuring force 14
Effectively connection is kept, for example, manipulating the button of test object 7 using the test body 15 in the test of typical tactile.
The a further embodiment of tactile test measuring apparatus 1 according to the present invention is shown in FIG. 6.Tactile test, which measures, to be set
The standby tactile test measuring apparatus 1 for corresponding essentially to Fig. 3, has holding meanss 4, therefore only elaborate as shown in Figure 2
Distinguishing characteristics.
It is tested in measuring apparatus 1 in the tactile, support component 9 is made of rod element 20 and electromagnet 18.It is different from Fig. 3's
Tactile tests measuring apparatus 1, and in the figure, bottom plate 10 includes the support base 8 for stablizing unit.By making electromagnet 18 and magnetism member
Part 19 contacts, and similarly, the measurement head 5 with measuring system 6 is fixed also relative to the test object 7 in holding meanss 4, thus
It prevents measurement head 5 from being moved with 6 negative test direction 12 of measuring system, thus avoids occurring measurement error in stroke measurment.
The another embodiment of tactile test measuring apparatus 1 according to the present invention is shown in FIG. 7.Tactile test, which measures, to be set
The standby tactile test measuring apparatus 1 for corresponding essentially to Fig. 6.However, substitute the solid support element with 20 form of rod element
Stabilization unit, herein using flexible member 26, such as can be hardened by current feed, thus correspondingly stably measured
Structure so that measurement head 6 will not negative test direction 12 move, it is minimum to be at most that 6 negative test direction 12 of measurement head occurs
Offset.If allowing minimum offset, then it must ensure that the measurement error generated is sufficiently small, measurement so is just remained to fully infer and be treated
Survey the tactile of button 11.
In the embodiment of the tactile test measuring apparatus of Fig. 7, flexible member 26 is designed to moveable " proboscis " simultaneously
Thus it can be moved into different positions and angle.Thereby, it is possible to make the measurement head 6 with measuring system 5 with realizing high flexible
It is supported and fixed relative to test object 7.
The flexibility of the support component 9 of the stabilization unit of tactile test measuring apparatus 1 according to the present invention is shown in FIG. 7
Feasible program, wherein representing that possibility of the magnet 18 on the magnetic element 19 of the support base 8 of substrate 10 contacts by solid line, by dotted line
Represent possibility contact of the magnet 18 on the magnetic element 19 of the support base 8 of holding meanss 4.
Illustrate according to the present invention be used for using tactile test measuring apparatus 1 in tactile referring to Fig. 2, Fig. 4 and Fig. 5
The method that force-displacement curve is determined in measurement.
First, test object 7 is inserted into the test object receiving portion 23 of holding meanss 4 of tactile test measuring apparatus 1.
Then, by the multiaxis arm of robot, measurement head 5 is made to shift to test object 7, so as to perform tactile by measuring system 6
Test measures.Before performing and measuring, make to stablize the support component 9 of unit and contacted with stablizing the support base 8 of unit.In Fig. 2 institutes
In the embodiment shown, realized and contacted with the force-fitting connection of fulcrum bearing 8 by supporting member, wherein electromagnet 18 is presented by electric current
Electricity and activate and with ferromagnetic component 19 in shape mating connection.By stablizing unit, make measurement head relative to test
The holding meanss fixed position of object is then able to implement the measurement of force-displacement curve by measuring system 6 and determine.Institute
In the embodiment shown, the control and power supply of measuring system 6 are completed by connecting element 22.
To determine force-displacement curve, test body 15 is made to be moved to the button 11 of test object 7 by propulsion element 6 first.
In Figure 5, this is by starting stroke SStartTo represent.Then, test body 15 is made to continue with constant speed in test movement 12
It is moved on direction, with pressing keys 11.In this case, active force is cumulative first in stroke, until in operating force
(Operating Force)FOUnder reach inflection point, later active force because with smaller resistance continue pressing keys 11 due to decline, until
Switch over travel SSchaltTerminate.In switch over travel SSchaltAt the end of, button 11 is by the switching pulse to related system or gives
11 switching pulse of button and cut off.In view of this, switching point SP is located at and the switch force of button 11/press bonding force FBCorresponding
In the region of two power inflection points.Then, the stroke measurment of power is still carried out, until device for measuring force 14 reaches specified test force/maximum
Power Fmax, the device for measuring force 14 especially load cell or load cell.Power-position as being formed in an illustrated embodiment
Curve trend is moved, button 11 includes the element from internal bias voltage, such as latch plate, once biased element is pressed, switch force FBIt touches
Switching pulse is sent out, such user is in pressing just in operating force FOThe first power inflection point region in perceive card clatter pulse,
Or this is continuing by user is enabled to generate good switch sense of touch before compressing switch.
It is single with stablizing performing the measurement of force-displacement curve and determining and then release support component by measuring system 6
Contact between the support base of member.In the embodiment shown in Figure 2, this point by the no current pattern of electromagnet 18 come real
It is existing.Then, test object 7 can be removed from holding meanss 4.Then, it can be from the beginning previously described for again in tactile
Test determines force-displacement curve method in measuring.In addition to support component being made to be contacted with support base by force-fitting connection, also
It can be coordinated by shape and/or force-fitting connection contacts to realize.
Although only describing and illustrating herein the preferred embodiment of the present invention, the spirit and scope of the present invention are not being departed from
In the case of, those skilled in the art obviously can be with many modifications may be made.
Reference numerals list
1 tactile tests measuring apparatus SP switching points
2 robots
3 multiaxis arm SSchaltSwitch over travel
4 holding meanss SStartOriginate stroke
5 measurement head FOOperating force (Operating Force)
6 measuring system FmaxMaximum, force/specified test force
7 test object FBSwitch force/by bonding force
8 support bases
9 support components
10 bottom plates
11 buttons
12 test movements
13 measurement heads move
14 device for measuring force
15 test bodies
16 propulsion elements
17 stroke measuring devices
18 magnets
19 magnetic elements
20 rod elements
21 fasteners
22 connecting elements
23 test object receiving portions
24 end components
25 receiving portions
26 grip elements
27 flexible members
Claims (13)
1. a kind of tactile test measuring apparatus (1), includes at least：
Holding meanss (4), be used to accommodating test object (7) and
Robot (2), with executor (3) and executing agency,
Wherein, the executing agency includes at least one measurement head (5), carries measuring system (6),
It is characterized in that,
The tactile tests measuring apparatus (1) including stablizing unit,
Wherein, the stable unit includes support component (9) and support base (8),
Wherein, by the stable unit, the measurement head (5) can be relative to the holding meanss (4) fixed to fixed bit
It puts.
2. tactile test measuring apparatus (1) according to claim 1, which is characterized in that the measurement head (5) is including described
Support component (9) or the support component (9) are disposed in the measurement head (5).
3. tactile according to claim 1 or 2 test measuring apparatus (1), which is characterized in that the holding meanss (4) or
Bottom plate (10) is disposed in the holding meanss (4) or the bottom plate including the support base (8) or the support base (8)
(10) on.
4. tactile test measuring apparatus (1) according to claim 1, which is characterized in that the measurement head (5) is including described
Support base (8) or the support base (8) are disposed in the measurement head (5).
5. according to claim 1 or 4 tactile test measuring apparatus (1), which is characterized in that the holding meanss (4) or
The bottom plate (10) including the support component (9) or the support component (9) be disposed in the holding meanss (4) or
On the bottom plate (10).
6. tactile test measuring apparatus (1) according to any one of the preceding claims, which is characterized in that the support member
Part (9) includes magnet (18), and the support base (8) includes magnetic element (19).
7. tactile test measuring apparatus (1) according to claim 4, which is characterized in that the magnet (18) is electromagnet,
And the magnetic element (19) is ferromagnetic base or ferromagnetic base element.
8. tactile test measuring apparatus (1) according to any one of the preceding claims, which is characterized in that the support base
(8) including receiving portion (5), the support component (9) that is used to accommodating and feel relieved in form-fit manner is configured to shape
The end component (24) of cooperation.
9. tactile test measuring apparatus (1) according to any one of the preceding claims, which is characterized in that the support member
Part (9) includes adjustable rod element (20).
10. tactile test measuring apparatus (1) according to any one of the preceding claims, which is characterized in that the support
Element (9) temporary at least partly can be hardened.
11. tactile test measuring apparatus (1) according to any one of the preceding claims, which is characterized in that the measurement
System (6) is the push rod system for determining force-displacement curve, is filled including at least one propulsion element (16), stroke measurment
Put (17), device for measuring force (14) and test body (15).
12. a kind of measured in tactile test measures really using tactile according to any one of claim 1 to 11 test
Determine the method for force-displacement curve, which is characterized in that this method includes the following steps：
Test object is inserted into holding meanss；
The measurement head with measuring system is made to shift to test object；
Support component is made to be contacted with stablizing the support base of unit；
By stablizing unit, measurement head is made to be fixed relative to holding meanss and test object position；
By measuring system, perform the measurement of force-displacement curve and determine；
Support component is discharged with stablizing unit and support base contact；
Test object is removed from holding meanss.
13. the method according to claim 12 that force-displacement curve is determined in tactile test measures, which is characterized in that
Support component contact with the support base includes shape cooperation and/or electromagnetically force-fitting.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016123122.3A DE102016123122B3 (en) | 2016-11-30 | 2016-11-30 | Haptic test measuring device and method for determining a force-displacement curve in a haptic test measurement |
| DE102016123122.3 | 2016-11-30 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108151946A true CN108151946A (en) | 2018-06-12 |
| CN108151946B CN108151946B (en) | 2021-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711229585.4A Active CN108151946B (en) | 2016-11-30 | 2017-11-29 | Tactile measurement device and method for determining a force-displacement curve during a tactile measurement |
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| CN (1) | CN108151946B (en) |
| DE (1) | DE102016123122B3 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113084868A (en) * | 2021-03-24 | 2021-07-09 | 北京航空航天大学 | Flexible finger rigidity testing system |
| CN114235370A (en) * | 2021-12-17 | 2022-03-25 | 中国核动力研究设计院 | Device and method for measuring output precision of electromagnetic actuating mechanism |
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Also Published As
| Publication number | Publication date |
|---|---|
| DE102016123122B3 (en) | 2018-03-15 |
| CN108151946B (en) | 2021-07-27 |
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