Filter testing device and method

Abstract

The present invention provides a filter testing device and method, wherein the testing device includes: an image acquisition component, a transmission component, at least one test component, at least one gripping manipulator, and a master controller; wherein the transmission component, the test component, and the gripping manipulator are each electrically connected to the master controller; the image acquisition component is disposed at the front end of the transmission component and is used to capture an image on the transmission component; the master controller locates the filter on the transmission component based on the image, and controls the gripping manipulator based on the positioning result to grab the filter and place the filter on the test component for testing. The filter testing device of the present invention implements automated measurement, avoiding the re-measurement that may occur in manual measurement.

Description

Technical Field

[0001] The present invention relates to the technical field of filter measurement and testing, and in particular to a filter testing device and method. Background Art

[0002] A filter is a frequency-selective device that allows specific frequency components in a signal to pass while significantly attenuating other frequency components. This frequency-selective function can be used to filter out interfering noise or perform spectrum analysis. In other words, any device or system that allows specific frequency components in a signal to pass while significantly attenuating or suppressing other frequency components is called a filter. A filter is a device that filters waves. To accommodate surface mount technology, filters are packaged in a regular shape, with lead tabs on the bottom surface.

[0003] However, the existing testing of filters during production still relies on workers manually placing the filters into test fixtures and removing them after the test is completed. This is inefficient and requires manual differentiation after the test is completed. It is very easy for human errors to occur, and filters that failed the test are placed in the group that passed the test, which requires retesting. Summary of the Invention

[0004] One of the purposes of the present invention is to provide a filter testing device and method to achieve automated measurement and avoid the re-measurement situation that may occur in manual measurement.

[0005] A filter testing device provided by an embodiment of the present invention includes: an image acquisition component, a transmission component, at least one testing component, at least one grabbing manipulator and a general controller;

[0006] The transmission component, the test component and the grasping manipulator are electrically connected to the main controller respectively;

[0007] The image acquisition component is set at the front end of the transmission component to capture the image on the transmission component; the main controller positions the filter on the transmission component according to the image, and controls the grabbing robot to grab the filter based on the positioning result and place the filter on the test component for testing.

[0008] Preferably, the grasping robot includes: two first guide rails arranged in parallel and located above the transmission component, a second guide rail with both ends respectively arranged on the two first guide rails, a moving platform arranged on the second guide rails, a first telescopic mechanism arranged below the moving platform, a rotating ring arranged at the end of the first telescopic mechanism, and a camera arranged on the lower end face of the rotating ring, an L-shaped component arranged on the outer periphery of the rotating ring, and a suction cup arranged at the end of the L-shaped component.

[0009] Preferably, the test assembly includes: a test platform for placing the filter and a cover plate arranged at the end of the lifting device; a groove for accommodating the filter is provided on the test platform; a test probe assembly is provided at a position corresponding to the groove on the cover plate; a plurality of through holes and a plurality of guide pillars are respectively provided on the cover plate and the test platform, and the guide pillars and the through holes realize the positioning between the test probe assembly on the cover plate and the pin piece of the filter in the groove.

[0010] Preferably, the filter testing device further comprises: a qualified product packaging component for packaging qualified products detected by the test component;

[0011] Among them, the qualified product packaging assembly includes: a first unloading unit, a second unloading unit, a pressing unit and a receiving unit; the first unloading unit is arranged on one side of the test assembly; the second unloading unit, the pressing unit and the receiving unit are arranged on the other side of the test assembly; the first unloading unit releases the first strip of material provided for accommodating the cavity of the filter; the first strip passes under the test platform of the test assembly and is sent into the pressing unit, and synchronously the second unloading unit sends the second strip used to seal the cavity into the pressing unit; the pressing unit presses the first strip and the second strip to form a third strip for completing the filter packaging; the receiving unit winds and receives the third strip.

[0012] Preferably, a gate valve is provided at the bottom of the groove, and a blanking slide is provided on the gate valve; the end face shape of the upper end of the blanking slide is adapted to the shape of the filter, and the end face shape of the lower end is adapted to the cavity of the first strip; and a blanking sensing probe is provided on the side wall near the end face of the lower part of the blanking slide.

[0013] Preferably, the first discharge unit is arranged in the first main body; the second discharge unit, the pressing unit and the receiving unit are arranged in the second main body; a discharge port is arranged on a side of the first main body close to the test assembly, and the discharge port is provided with a first clamping mechanism; a feed port is arranged on a side of the second main body close to the test assembly, and the feed port is provided with a second clamping mechanism;

[0014] The first clamping mechanism includes: two symmetrically arranged C-shaped clamping bodies, a first clamping roller, and two symmetrically arranged second clamping rollers; positioning rods are provided at both ends of the first clamping roller and on the side of the second clamping roller close to the C-shaped clamping body; the positioning rods penetrate into the connecting grooves provided on the C-shaped clamping body; the first clamping roller and the second clamping roller are provided at the opening of the C-shaped clamping body; and a second telescopic mechanism is provided between the first clamping roller, the second clamping roller, and both ends of the C-shaped clamping body.

[0015] The length of the second clamping roller is less than 1 / 2 of the length of the first clamping roller; the spacing between the two second clamping rollers is greater than or equal to the width of the cavity tested from the lower end surface of the first strip and less than the width of the first strip.

[0016] Preferably, the first body is arranged on a translation guide rail.

[0017] Preferably, the second unloading unit comprises: an unloading roller shaft and at least one positioning roller; the positioning roller is arranged above the first strip of material being fed next to a side of the lamination unit close to the test assembly.

[0018] Preferably, the filter testing device further comprises: a filter commutation component;

[0019] The filter commutation assembly includes: a symmetrically arranged elastic clamping body, a third telescopic mechanism and a rotating mechanism; one end of the third telescopic mechanism is fixedly connected to the elastic clamping body, and the other end is connected to the rotating mechanism; the rotating mechanism is fixed to the side of the test assembly close to the transmission assembly through an L-shaped fixing body.

[0020] The present invention also provides a filter testing method, comprising:

[0021] Capturing an image on the transmission component by an image acquisition component disposed at the front end of the transmission component;

[0022] Positioning the filter on the transmission component based on the image;

[0023] According to the positioning result, the grabbing robot is controlled to grab the filter and place the filter on the test assembly for testing.

[0024] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0025] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0027] Figure 1 This is a control schematic diagram of a filter testing device according to an embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of a filter in an embodiment of the present invention;

[0029] Figure 3 A schematic diagram of the installation position of a filter testing device according to an embodiment of the present invention;

[0030] Figure 4Schematic diagram of the suction end of the grabbing robot in an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of a test component in an embodiment of the present invention;

[0032] Figure 6 Schematic diagram of a qualified product packaging component according to an embodiment of the present invention;

[0033] Figure 7 is a schematic diagram of a first clamping mechanism in an embodiment of the present invention;

[0034] Figure 8 Schematic diagram of a filter commutation component according to an embodiment of the present invention;

[0035] Figure 9 Schematic diagram of the transmission positioning coordinate axis in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0037] The embodiment of the present invention provides a filter testing device, such as Figures 1 to 3 As shown, it includes: an image acquisition component 1, a transmission component 2, at least one testing component 3, at least one grabbing manipulator 4 and a main controller 5;

[0038] The transmission component 2, the test component 3 and the grabbing manipulator 4 are electrically connected to the main controller 5 respectively;

[0039] The image acquisition component 1 is set at the front end of the transmission component 2 to capture the image on the transmission component 2; the main controller 5 positions the filter 5 on the transmission component 2 according to the image, and controls the grasping robot 4 to grasp the filter 5 according to the positioning result and places the filter 5 on the test component 3 for testing.

[0040] The working principle and beneficial effects of the above technical solution are:

[0041] The filter testing device of the present invention transports the finished filters 5 to the corresponding grabbing areas of each grabbing manipulator 4 through the transmission component 2. In order to achieve accurate grabbing, it is necessary to position each filter 5 on the transmission component 2. Positioning mainly involves analyzing the image captured by the image acquisition component 1, thereby marking and determining the position of the filter 5 on the image acquisition area of ​​the image acquisition component 1. Then, combined with the transmission speed of the transmission component 2, the position of each filter 5 on the transmission component 2 can be accurately positioned. After achieving accurate positioning, the grabbing manipulator 4 can be controlled to grab. The grabbing manipulator 4 grabs the filter 5 and places the filter 5 on the test component 3 for testing. After the test is completed, the grabbing manipulator 4 can be controlled to remove the filter 5 from the test component 3. The filter that passes the test is placed in the test pass area, and the filter that fails the test is placed in the test fail area. The test pass area and the test fail area can be configured between the test component 3 and the transmission component 2. Among them, the image acquisition component 1 includes a camera 48 set on the gantry; the transmission component 2 includes a conveyor belt.

[0042] In one embodiment, Figure 3 and Figure 4 As shown, the grasping robot 4 includes: two first guide rails 41 arranged in parallel and located above the transmission component 2, a second guide rail 43 with both ends respectively arranged on the two first guide rails 41, a moving platform 42 arranged on the second guide rail 43, a first telescopic mechanism 44 arranged below the moving platform 42, a rotating ring 45 arranged at the end of the first telescopic mechanism 44, and a camera 48 arranged on the lower end surface of the rotating ring 45, an L-shaped component 46 arranged on the outer periphery of the rotating ring 45, and a suction cup 47 arranged at the end of the L-shaped component 46.

[0043] Among them, such as Figure 5 As shown, the test component 3 includes: a test platform 34 for placing the filter 5 and a cover plate 32 arranged at the end of the lifting device 31; a groove 35 for accommodating the filter 5 is provided on the test platform 34; a test probe assembly 33 is provided at a position corresponding to the groove 35 on the cover plate 32; a plurality of through holes and a plurality of guide pillars are respectively provided on the cover plate 32 and the test platform 34, and the guide pillars and the through holes realize the positioning between the test probe assembly 33 on the cover plate 32 and the pin piece 6 of the filter 5 in the groove 35.

[0044] The working principle and beneficial effects of the above technical solution are:

[0045] The movement of the gripping manipulator 4 above the transmission assembly 2 in this embodiment is mainly achieved by the first guide rail 41, the second guide rail 43 and the mobile platform 42; the mobile platform 42 can slide on the second guide rail 43, and the second guide rail 43 can slide on the first guide rail 41; the specific implementation method is: the first guide rail 41 and the second guide rail 43 can be configured as ball screw guides, electric cylinder guides or pneumatic cylinder guides. After moving into position, the first telescopic mechanism 44 is controlled to extend and then the suction cup 47 is moved above the filter 5 and contacts the filter 5. The suction cup 47 sucks the filter 5. The above action realizes the suction of the filter 5. The L-shaped member 46 is set to enable the suction cup 47 to extend into the test assembly 3, facilitating the placement of the filter 5 in the test assembly 3 for testing and the re-sucking of the filter 5 from the test assembly 3; the camera 48 is set to reposition the filter 5 during the suction process, facilitating the adjustment of the suction position.

[0046] After the gripper 4 places the filter 5 into the groove 35 on the test platform 34, the cover 32 engages with the test platform 34 under the action of the lifting device 31. The probes on the test probe assembly 33 on the cover 32 contact the pins 6 of the filter 5 in the groove 35. This facilitates the signal generating unit of the test assembly 3 to input the signal into the filter 5 and receive the output of the filter 5 through the signal receiving unit. The filter 5 is judged based on the output and the pre-configured output threshold. In addition, a display screen can be configured to display the test process and test results of the filter 5.

[0047] In order to further improve the test efficiency, in one embodiment, the filter testing device further includes: a qualified product packaging component for packaging products that have passed the test of the test component 3;

[0048] Among them, such as Figure 6 As shown, the qualified product packaging assembly includes: a first unloading unit 61, a second unloading unit 62, a pressing unit 63 and a receiving unit 64; the first unloading unit 61 is arranged on one side of the test assembly 3; the second unloading unit 62, the pressing unit 63 and the receiving unit 64 are arranged on the other side of the test assembly 3; the first unloading unit 61 releases a first strip 65 provided for accommodating a cavity of the filter 5; the first strip 65 passes under the test platform of the test assembly 3 and is sent into the pressing unit 63, and synchronously the second unloading unit 62 sends the second strip used for sealing the cavity into the pressing unit 63; the pressing unit 63 presses the first strip 65 and the second strip to form a third strip for packaging the filter 5; the receiving unit 64 winds and receives the third strip.

[0049] The bottom of the groove 35 of the test platform 34 is equipped with a gate valve 38, which houses a blanking chute 36. The upper end of the blanking chute 36 is shaped to match the shape of the filter 5, while the lower end is shaped to match the cavity of the first strip 65. A blanking sensor 37 is located on the sidewall of the blanking chute 36, near the lower end. The blanking sensor 37 includes a proximity sensor that controls the operation of the first unloading unit 61, the second unloading unit 62, and the receiving unit 64 by testing the blanking of the filter 5, thereby achieving continuous packaging of the filter 5.

[0050] The first discharge unit 61 is disposed in the first body 50; the second discharge unit 62, the pressing unit 63, and the receiving unit 64 are disposed in the second body 60; a discharge port is disposed on a side of the first body 50 close to the test assembly 3, and a first clamping mechanism 66 is disposed on the discharge port; a feed port is disposed on a side of the second body 60 close to the test assembly 3, and a second clamping mechanism 67 is disposed on the feed port;

[0051] Among them, such as Figure 7 As shown, the first clamping mechanism 66 or the second clamping mechanism 67 includes: two symmetrically arranged C-shaped clamping bodies 661, a first clamping roller 662, and two symmetrically arranged second clamping rollers 663; positioning rods 664 are provided at both ends of the first clamping roller 662 and on the side of the second clamping roller 663 close to the C-shaped clamping body 661; the positioning rods 664 penetrate into the connecting groove provided on the C-shaped clamping body 661; the first clamping roller 662 and the second clamping roller 663 are provided at the opening position of the C-shaped clamping body 661; and a second telescopic mechanism 665 is provided between the first clamping roller 662 and the second clamping roller 663 and the two ends of the C-shaped clamping body 661.

[0052] The length of the second clamping roller 663 is less than 1 / 2 of the length of the first clamping roller 662; the spacing between the two second clamping rollers 663 is greater than or equal to the width of the portion of the cavity tested from the lower end face of the first strip 65 and is less than the width of the first strip 65.

[0053] The first body 50 is arranged on the translation guide rail 501 .

[0054] The second unloading unit 62 includes: an unloading roller shaft 621 and at least one positioning roller 622 ; the positioning roller 622 is arranged above the first strip 65 being fed next to a side of the lamination unit 63 close to the test assembly 3 .

[0055] The working principle and beneficial effects of the above technical solution are:

[0056] In this embodiment, a plug-in valve 38 and a blanking slide 36 are set under the groove 35 of the test platform 34, so that the filter 5 can slide down the blanking slide 36 after the test is completed, and there is no need to use the grasping robot 4 to take the material after the test is completed, thereby improving the test efficiency of the test device; in addition, qualified products can be packaged by qualified product packaging components, but unqualified products can be processed by the following steps: a receiving tray is placed under the blanking slide 36; when unqualified, the first main body 50 slides a certain displacement on the translation guide rail 501, and after the displacement, the first strip 65 is moved away from the corresponding position of the blanking slide 36, so that the unqualified filter 5 falls into the receiving tray; in order to ensure that the displacement of the first main body 50 does not cause damage to the first strip 65, the first clamping mechanism 66 relaxes the clamping force, the second clamping mechanism 67 increases the clamping force, and the first clamping mechanism 68 increases the clamping force. A discharge unit 61 adaptively performs discharge control and can adaptively rewind in the process of moving back to its original position, and keeps the second clamping mechanism 67 clamping the first strip 65 during rewinding; the adjustment of the clamping force of the first clamping mechanism 66 and the second clamping mechanism 67 is achieved by the telescopic second telescopic mechanism 665 provided between the first clamping roller 662 and the second clamping roller 663 and the two ends of the C-shaped clamping body 661; wherein, the second telescopic mechanism 665 includes any one of a telescopic electric cylinder, a telescopic air cylinder, and a spring; in order to ensure the clamping effect, the end face of the second clamping roller 663 should correspond to any position between the edge of the first strip 65 and the middle of the area of ​​the outer arm of the cavity to the outer wall of the cavity; the pressing unit 63 realizes the pressing between the first strip 65 and the second strip, which is an existing mature structure and will not be explained here; the receiving unit 64 includes a receiving roller. Among them, in order to achieve the auxiliary fixation of the position of the second clamping roller 663, the end of the second telescopic mechanism 665 is set in the annular groove of the second clamping rod 663 and the contact surface of the end with the second clamping roller 663 is set as an arc surface. Similarly, the first clamping rod 662 and the second telescopic mechanism 665 can also be connected in the same way. This part of the structure is not shown in the figure. Figure 7 Shown in.

[0057] Due to the uncertainty of the filter 5 during the transmission process, the orientation of the filter 5 may not correspond to the orientation required by the test component 3. In order to implement the test of this part of the filter 5, in one embodiment, the filter testing device further includes: a filter switching component;

[0058] like Figure 8 As shown, the filter reversing assembly includes: a symmetrically arranged elastic clamping body 71 (rubber pad or resilient foam pad), a third telescopic mechanism 72 and a rotating mechanism 73; one end of the third telescopic mechanism 75 is fixedly connected to the elastic clamping body 71, and the other end is connected to the rotating mechanism 73; the rotating mechanism 73 is fixed to the side of the test assembly 3 close to the transmission assembly 2 through an L-shaped fixing body 74.

[0059] After the grabbing robot 4 grabs the filter 5 and before placing it into the test assembly 3, the filter 5 is placed between the two elastic clamping bodies 71, the third telescopic mechanism 72 is extended, clamping the filter 5 between the two elastic clamping bodies 71, and then the rotating mechanism 73 is rotated to adjust the posture of the filter 5; the grabbing robot 4 then grabs the filter 5 and places it on the test assembly 3. In addition, the position of the filter 5 can also be flipped during the secondary screening of unqualified products after the test assembly 3 is tested. Specifically, the unqualified products slide through the blanking chute 36 to the receiving tray set below the blanking chute 36. If secondary screening is required, the filter 5 in the receiving tray can be directly poured onto the front end of the transmission assembly 2 for flattening, and then a secondary screening is performed.

[0060] In order to reasonably utilize the space on both sides of the transmission component 2, in one embodiment, the test components 3 are alternately arranged on both sides of the transmission component 2. In addition, the transmission distance required by the transmission component 2 can be reduced, saving energy.

[0061] The present invention also provides a filter testing method, comprising:

[0062] Capturing an image on the transmission component by an image acquisition component disposed at the front end of the transmission component;

[0063] Positioning the filter on the transmission component based on the image;

[0064] According to the positioning result, the grabbing robot is controlled to grab the filter and place the filter on the test assembly for testing.

[0065] The positioning step includes:

[0066] Step S1: Identify the image, identify each filter in the image and determine the position of the filter corresponding to the image;

[0067] Specifically, the image is first contour extracted, and the extracted contour is matched with the standard contour corresponding to the pre-configured filter. When the match is satisfactory, the coordinates of the area center of the filter contour on the coordinate axis corresponding to the image are determined;

[0068] Step S2: constructing the transmission positioning coordinate axis;

[0069] like Figure 9 As shown, the transmission positioning axis includes: an X-axis parallel to the transmission direction, a Y-axis along the width direction of the transmission component, and a transmission area corresponding to the transmission surface of the transmission component; the coordinates within the transmission area are updated in the positive direction of the X-axis according to the transmission direction and transmission speed;

[0070] Step S3: Mapping the filters to the positioning coordinate axis according to the position of each filter in the image and the area of ​​the image corresponding to the positioning coordinate axis.

[0071] The mapping process is actually a coordinate system conversion process. Once the correspondence between each point on the image and each point on the positioning coordinate axis is known, the coordinate conversion can be performed directly. In addition, the area corresponding to the transmission component in the positioning coordinate axis is dynamically updated. The coordinates of the filter on the positioning coordinate axis are updated according to the transmission direction and transmission speed. The specific coordinates are (x+vt,y). Where v is the transmission speed and t is the transmission time.

[0072] Among them, the control steps of the grasping manipulator are as follows:

[0073] Step A1: When placing the filter on the test platform, the gripping manipulator determines the target filter from the positioning coordinate axis;

[0074] The positioning coordinate axis is divided into the grasping area and the target determination area of ​​the grasping manipulator; the grasping area is the set of all points that the grasping manipulator can grasp from the transmission component; the target determination area is the area where the grasping area is translated a certain distance in the opposite direction of the transmission direction; this distance is less than or equal to 1 / 2 of the width of the grasping area along the transmission direction; the target filter is the rightmost filter in the target determination area;

[0075] Step A2: Determine the grab points to be screened based on the target filter;

[0076] The grasping point to be screened is the point in the grasping area on the transmission component that is parallel to the point where the center of the target filter is located and located in front of the transmission direction. That is, the point in the grasping area that the center of the target filter passes through after being transmitted by the transmission component.

[0077] Step A3: Determine the shortest time for the gripping manipulator to move to the state corresponding to the filter placed on the test platform to grasp the components on each grasping point to be screened as the first time, and the time for the target filter to be moved to the grasping point to be screened by the transmission component as the second time;

[0078] The shortest time for the gripping manipulator to move to the corresponding state when placing the filter on the test platform to grasp the components on each grasping point to be screened can be determined by querying the constructed shortest time determination table; the grasping point in the shortest time determination table is associated with the shortest time, and in addition, the maximum fluctuation value can also be associated; the maximum fluctuation value is the maximum difference in the shortest time of grasping the same point multiple times;

[0079] Step A4: Eliminate the grasping points to be screened whose first time is greater than the second time; use any one of the remaining grasping points to be screened as a grasping point; and control the grasping manipulator.

[0080] Specifically, the grasping robot can be controlled to move above the grasping point first, and then when the filter moves to the grasping point, the suction cup is controlled to adsorb downward, so that the transmission component can be grasped without pausing, avoiding frequent pauses of the transmission component and improving efficiency.

[0081] In addition, in order to ensure both successful grasping and grasping efficiency, the maximum fluctuation value of the shortest time for the grasping robot to move to the corresponding state when the filter is placed on the test platform can be comprehensively analyzed to grasp the components on each grasping point to be screened; the maximum fluctuation value will be used to further screen and eliminate the grasping points to be screened, and then the grasping point to be screened with the shortest time in the first time will be used as the grasping point.

[0082] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A filter testing device, characterized in that: include: Image acquisition component, transmission component, at least one testing component, at least one grasping manipulator, main controller and qualified product packaging component; Wherein, the transmission component, the testing component and the grasping manipulator are electrically connected to the main controller respectively; The image acquisition component is provided at the front end of the transmission component for capturing images on the transmission component; the main controller locates the filter on the transmission component according to the image, and controls the grabbing manipulator to grab the filter and place the filter on the test component for testing based on the positioning result; The test assembly includes: a test platform for placing the filter and a cover plate arranged at the end of the lifting device; a groove for accommodating the filter is arranged on the test platform; The qualified product packaging assembly includes: a first unloading unit, a second unloading unit, a pressing unit, and a receiving unit; the first unloading unit unloads a first strip of material for accommodating a filter cavity; the first strip of material passes under the test platform of the test assembly and is then fed into the pressing unit; simultaneously, the second unloading unit feeds a second strip of material for sealing the cavity into the pressing unit; A gate valve is provided at the bottom of the groove, and a blanking chute is provided on the gate valve; the end face shape of the upper end of the blanking chute is adapted to the shape of the filter, and the end face shape of the lower end is adapted to the cavity of the first strip; and a blanking sensing probe is provided on the side wall of the lower part of the blanking chute near the end face.

2. The filter testing device according to claim 1, wherein: The grasping robot includes: two first guide rails arranged in parallel and located above the transmission component, second guide rails with both ends respectively arranged on the two first guide rails, a moving platform arranged on the second guide rails, a first telescopic mechanism arranged below the moving platform, a rotating ring arranged at the end of the first telescopic mechanism, a camera arranged on the lower end surface of the rotating ring, an L-shaped component arranged on the outer periphery of the rotating ring, and a suction cup arranged at the end of the L-shaped component.

3. The filter testing device according to claim 2, wherein: A test probe assembly is provided on the cover plate at the corresponding groove position; a plurality of through holes and a plurality of guide pillars are provided on the cover plate and the test platform respectively, and the guide pillars and through holes realize the positioning between the test probe assembly on the cover plate and the pin piece of the filter in the groove.

4. The filter testing device according to claim 3, wherein: The first unloading unit is arranged on one side of the test assembly; the second unloading unit, the pressing unit and the receiving unit are arranged on the other side of the test assembly; the pressing unit presses the first strip and the second strip to form a third strip for completing the filter packaging; the receiving unit winds and receives the third strip.

5. The filter testing device according to claim 4, wherein: The first discharge unit is arranged in the first main body; the second discharge unit, the pressing unit and the receiving unit are arranged in the second main body; a discharge port is arranged on a side of the first main body close to the test assembly, and the discharge port is provided with a first clamping mechanism; a feed port is arranged on a side of the second main body close to the test assembly, and the feed port is provided with a second clamping mechanism; The first clamping mechanism comprises: two symmetrically arranged C-shaped clamping bodies, a first clamping roller, and two symmetrically arranged second clamping rollers; positioning rods are provided at both ends of the first clamping roller and on the side of the second clamping roller close to the C-shaped clamping body; the positioning rods penetrate into the connecting grooves provided on the C-shaped clamping body; the first clamping roller and the second clamping roller are provided at the opening position of the C-shaped clamping body; and a second telescopic mechanism is provided between the first clamping roller, the second clamping roller, and both ends of the C-shaped clamping body. The length of the second clamping roller is less than 1 / 2 of the length of the first clamping roller; the spacing between the two second clamping rollers is greater than or equal to the width of the cavity tested from the lower end surface of the first strip and less than the width of the first strip.

6. The filter testing device according to claim 5, wherein: The first body is arranged on a translation guide rail.

7. The filter testing device according to claim 5, wherein: The second unloading unit comprises: an unloading roller shaft and at least one positioning roller; the positioning roller is arranged above the first strip material fed next to a side of the lamination unit close to the test assembly.

8. The filter testing device according to claim 1, wherein: Also includes: filter commutation components; The filter reversing assembly includes: a symmetrically arranged elastic clamping body, a third telescopic mechanism and a rotating mechanism; one end of the third telescopic mechanism is fixedly connected to the elastic clamping body, and the other end is connected to the rotating mechanism; the rotating mechanism is fixed to the side of the test assembly close to the transmission assembly through an L-shaped fixing body.

9. A filter testing method, applied to the filter testing device according to any one of claims 1 to 8, characterized in that: include: Capturing an image on the transmission component by an image acquisition component disposed at the front end of the transmission component; Positioning the filter on the transmission component based on the image; Controlling a grabbing manipulator to grab the filter according to the positioning result and placing the filter on a test assembly for testing; After the test is completed, the filter slides down the blanking slide and the qualified product is packaged through the qualified product packaging assembly.

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