The invention provides a tactile signal automatic acquisition device which comprises a drive device, a roller, a detection system and a control system. The drive device is connected with the roller, the detection system comprises a sample group, an acceleration sensor, a torque sensor and a tactile sensor, the base of the tactile sensor is arranged on the outer circle surface of the roller, a plurality of pressure sensors and a plurality of temperature sensors are arranged at intervals on the base; the torque sensor is fixed at the bottom of the roller; the sample group comprises a plurality of samples which are detachably arranged on the tactile sensor; the acceleration sensor is arranged on the test object and used for detecting vibration of the test object during touch. The tactile signal automatic acquisition device can provide a rich tactile information source, and accurately express a tactile signal such as pressure, vibration, temperature and friction force.