CN111426792A - Mechanical arm for simulating whole process of smoking cigarettes and simulation method thereof - Google Patents
Mechanical arm for simulating whole process of smoking cigarettes and simulation method thereof Download PDFInfo
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- CN111426792A CN111426792A CN202010329623.9A CN202010329623A CN111426792A CN 111426792 A CN111426792 A CN 111426792A CN 202010329623 A CN202010329623 A CN 202010329623A CN 111426792 A CN111426792 A CN 111426792A
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- 235000019504 cigarettes Nutrition 0.000 title claims abstract description 111
- 230000000391 smoking effect Effects 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000004088 simulation Methods 0.000 title description 4
- 238000005452 bending Methods 0.000 claims description 5
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000005086 pumping Methods 0.000 claims description 3
- 238000002485 combustion reaction Methods 0.000 abstract description 12
- 238000001514 detection method Methods 0.000 description 12
- 230000003068 static effect Effects 0.000 description 6
- 210000000707 wrist Anatomy 0.000 description 5
- 230000015271 coagulation Effects 0.000 description 4
- 238000005345 coagulation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000003703 image analysis method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N31/00—Investigating or analysing non-biological materials by the use of the chemical methods specified in the subgroup; Apparatus specially adapted for such methods
- G01N31/12—Investigating or analysing non-biological materials by the use of the chemical methods specified in the subgroup; Apparatus specially adapted for such methods using combustion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a mechanical arm for simulating the whole process of human body cigarette suction, which comprises a base (1), a first mechanical arm (3), a second mechanical arm (4), a mechanical arm (5) and a cigarette holder (6) which are connected in sequence; cigarette holder (6) are including a cigarette inserted hole (61) and a cigarette suction tube (62), a cigarette suction tube (62) are connected with the smoking analog machine, robotic arm still includes bullet ash mechanism (7). The mechanical arm controls the swing arm of the cigarette holder (6) carrying the cigarette from the suction position to the ash ejection position, so that the influence of air flow on the cigarette combustion ash column when the cigarette moves in the combustion process is simulated more truly. Meanwhile, when the cigarette holder (6) carries a cigarette from a smoking position to an ash ejecting position, the cigarette is ejected by the elastic sheet (72) to eject the ash, so that the smoking process of the cigarette is simulated more truly.
Description
Technical Field
The invention relates to the field of cigarette smoking detection, in particular to a mechanical arm for simulating the whole process of smoking cigarettes and a simulation method thereof.
Background
The cigarette can form ash columns in the combustion process, and due to differences of cigarette leaf group formulas, material formulas, physical indexes and the like, the cigarette ash columns can shrink to different degrees compared with cigarettes before unburnt, and meanwhile, ash cracking and ash splitting conditions (ash splitting refers to that ash pieces of the cigarette combustion ash columns are stripped from ash column main bodies and split outwards) can be generated. Meanwhile, in the smoking process of the cigarette, frequent ash falling and flying ash of the cigarette can cause the phenomenon that the combustion cone falls off when serious, thereby not only polluting the environment, but also causing discomfort and dislike to the environment of the consumer and the forced smoker, and further influencing the loyalty of the consumer to the cigarette brand and even bringing certain potential safety hazard.
At present, the detection equipment and the technology aiming at the cigarette burning ash wrapping sample mainly comprise: the method is characterized in that a static combustion image analysis method, a smoking mode image analysis method, a CT scanning method and the like are adopted, a cigarette sample is placed at a fixed position for detection, detection data cannot accurately reflect the performance state of cigarette burning ash wrapping in the actual consumption process of a consumer, and the specific reason is that firstly, the static cigarette burning test cannot reflect typical smoking actions of a human body, namely, a swing arm movement path of the human body taking a smoking point as a starting point and an ashtray as a finishing point in the smoking process cannot be simulated. When the cigarette moves in the combustion process, the air flow has great influence on the performance of the cigarette ash column. On the other hand, in a typical smoking process of a consumer, after a puff is finished, the consumer holds the cigarette to reach the ashtray and then performs ash ejection action, which is particularly critical to the ash performance test of the cigarette packet, so that the static measurement cannot accurately reflect the advantages and disadvantages of the test sample in production and life.
The present invention has been made to solve the above problems.
Disclosure of Invention
The invention aims to overcome the defects of the existing static combustion detection method and provides a mechanical arm for simulating the whole process of smoking cigarettes and a simulation method thereof.
The invention provides a mechanical arm for simulating the whole process of smoking cigarettes on a human body, which comprises a base 1, a first mechanical arm 3, a second mechanical arm 4, a mechanical arm 5 and a cigarette holder 6 which are connected in sequence;
the cigarette holder 6 comprises a cigarette insertion port 61 and a cigarette suction pipe 62, and the cigarette suction pipe 62 is connected with the smoking simulator;
the mechanical arm further comprises an ash ejecting mechanism 7.
Preferably, a connection portion between the base 1 and the turntable 2 is a first connection portion 11, a connection portion between the turntable 2 and the first robot arm 3 is a second connection portion 22, a connection portion between the first robot arm 3 and the second robot arm 4 is a third connection portion 33, and a connection portion between the first robot arm 4 and the robot arm 5 is a fourth connection portion 44;
the second joint 22, the third joint 33 and the fifth joint 55 are rotatably connected, and the first joint 11 and the fourth joint 44 are rotatably connected.
The rotary table 2 rotates along the plane of the first connection 11 with respect to the base 1; the manipulator 5 rotates relative to the first manipulator 4 along the plane of the fourth joint 44; so as to simulate the actions of shoulder rotation, elbow rotation and wrist overturning of the smoker during the real smoking process. The typical smoking process of a consumer comprises the steps of holding cigarettes by the consumer after completing smoking, swinging the arm with an elbow as an axis, a mouth as a starting point and an ashtray as a terminal point, and completing the wrist turning action and the cigarette ash flicking action at the same time in the wrist turning action or the arm swinging process after reaching the ashtray and with a wrist joint as an axis.
Preferably, the ash ejecting mechanism 7 comprises a supporting member 71 and an elastic sheet 72, and the ash ejecting mechanism 7 is fixed on the cigarette holder 6 or is separately arranged on the workbench.
The invention provides a method for simulating the whole process of human body cigarette smoking based on the mechanical arm, which comprises the following steps:
(1) igniting the cigarette, setting a smoking mode of a smoking simulator, and starting smoking; at the same time or after that,
(2) starting the mechanical arm and setting control parameters to enable the cigarette holder 6 to swing the arm from the suction position to the ash ejection position;
(3) after the cigarette reaches the ash ejecting position, the cigarette is ejected by the elastic sheet 72 points to eject ash, and after the ash ejection is finished, the cigarette holder 6 carries the cigarette to swing the arm from the ash ejecting position to the suction position to finish one suction action;
(4) repeating the steps (2) to (3) to finish multiple pumping actions.
Preferably, in the step (2), the cigarette holder 6 carries the cigarette to pass through a bending position in the swing arm process from the suction position to the ash ejection position, and stays for a certain time to simulate the cigarette staying state when the ash ejection action is not performed after the human body is sucked.
The height from the suction position to the bottom of the base 1 is a first height, the height from the bend position to the bottom of the base 1 is a second height, the height from the ash ejection position to the bottom of the base 1 is a third height, the first height is larger than the second height, and the second height is larger than the third height.
Preferably, the smoking simulator smoking mode in step (1) is ISO, FTC, Massachusetts smoking mode.
Compared with the prior art, the invention has the following beneficial effects:
1. the mechanical arm comprises an ash ejecting mechanism 7, wherein the ash ejecting mechanism 7 comprises a supporting piece 71 and an elastic piece 72, and the ash ejecting mechanism 7 is fixed on the cigarette holder 6 or is independently arranged. When the cigarette holder 6 carries a cigarette from a suction position to an ash ejecting position, the cigarette is ejected by the elastic pieces 72 points to eject ash, so that the cigarette suction process of a human body is simulated more truly.
2. The mechanical arm controls the swing arm of the cigarette holder 6 to carry cigarettes from a suction position to an ash ejection position. The typical smoking process of a consumer includes the steps that after smoking is finished, the consumer holds a cigarette in a hand, swings the arm with the elbow as the axis, the mouth as the starting point and the ashtray as the terminal point, and turns over the wrist with the wrist joint as the axis after the cigarette reaches the ashtray or finishes the wrist turning action in the swing process of swinging the arm, and finally finishes the cigarette ash flicking action. The mechanical arm of the invention more truly simulates the influence of air flow on the cigarette ash column when the cigarette moves in the combustion process.
3. In the preferred embodiment of the invention, the cigarette holder 6 carries the cigarette to go through the bending position from the suction position to the ash ejection position in the swinging process and stays for a certain time to simulate the stay state of the cigarette when the ash ejection action is not carried out after the human body sucks.
4. The mechanical arm simulates the action path of a consumer for smoking the cigarette, can ensure the consistency of the simulated action path each time, and further effectively improves the precision of detecting the burning ash-wrapping characteristic of the cigarette.
Drawings
FIG. 1 is a state diagram of the robot of the present invention in a suction position;
FIG. 2 is a state diagram of the robot arm in the bending position;
FIG. 3 is a state diagram of the robot arm of the present invention in the ash ejection position;
1-base, 2-rotating table, 3-first mechanical arm, 4-second mechanical arm, 5-mechanical arm, 6-cigarette holder, 7-ash ejection mechanism, 11-first connection, 22-second connection, 33-third connection, 44-fourth connection, 55-fifth connection, 61-cigarette insertion opening, 62-cigarette suction pipe, 71-shrapnel and 72-shrapnel support.
The specific implementation mode is as follows:
in the embodiment, the mechanical arm provided by the invention is adopted to simulate the real human cigarette smoking environment and smoking process, so that the ash coating performance of cigarettes in the cigarette smoking process can be more accurately detected. The specific test process is as follows:
(1) igniting the cigarette, setting a smoking mode of a smoking simulator, and starting smoking; at the same time or after that,
(2) starting the mechanical arm and setting control parameters to enable the cigarette holder 6 to swing the arm from the suction position to the ash ejection position;
(3) after the cigarette reaches the ash ejecting position, the cigarette is ejected by the elastic sheet 72 points to eject ash, and after the ash ejection is finished, the cigarette holder 6 carries the cigarette to swing the arm from the ash ejecting position to the suction position to finish one suction action;
(4) repeating the steps (2) to (3) to finish multiple pumping actions.
In the step (2), the cigarette holder 6 carries the cigarette to pass through the bending table position from the suction position to the ash ejection position in the swing arm process, and stays for a certain time to simulate the cigarette stay state when the ash ejection action is not performed after the human body is sucked.
The height from the suction position to the bottom of the base 1 is a first height, the height from the bend position to the bottom of the base 1 is a second height, the height from the ash ejection position to the bottom of the base 1 is a third height, the first height is larger than the second height, and the second height is larger than the third height.
And (3) the smoking simulator in the step (1) adopts an FTC smoking mode.
Selecting two groups of same cigarette samples 1-5 (the sample 1 in the two groups belongs to the same batch, but the sample 1 and the sample 2-5 are not the same batch), respectively carrying out simulated dynamic suction and static suction, carrying out real-time recording analysis on a detection sample image in the suction process, finishing detection after the sample to be detected reaches a set collection burning length, and collecting an index data average value in a burning length range as a sample detection index result after the detection is finished. Table 1 shows the ash condensation index detection results of a certain cigarette sample under different conditions with the collected burning length of 30 mm. Table 2 corresponds to image acquisition up to the set acquisition burn length.
Formula for calculating ash index: the cigarette combustion ash coagulation index AI is calculated by adopting the following formula:
wherein S isrThe area of the ash column crack part; stThe whole area of the ash column;
the cigarette burning ash coagulation index AI of the cigarette to be detected is the mean value of the calculation results of the images collected by the plurality of cameras;
TABLE 1 detection results of ash index of cigarette under different conditions
TABLE 2 corresponding image acquisition for set acquisition burn length
As seen from the detection result, the simulated human body smoking carries out image acquisition after part of images are collected in the cigarette ash springing process in the simulated smoking process, the image processing is carried out on the cigarette combustion cone in the image processing process, and the image acquisition of the part of the image without ash falling in the actual smoking process after the combustion cone is removed. Thus, the ash index of the same batch of samples simulated dynamic suction was higher than that collected at static suction. Because the smoker can drive the cigarette to move by swinging arms in the real smoking process, the air flow can influence the cigarette ash column, so that the simulated dynamic smoking cigarette ash coagulation index has a reference value for researching the cigarette ash coagulation index in the real smoking process in the embodiment.
Claims (7)
1. A mechanical arm for simulating the whole process of smoking cigarettes on a human body is characterized by comprising a base (1), a first mechanical arm (3), a second mechanical arm (4), a mechanical arm (5) and a cigarette holder (6) which are connected in sequence;
the cigarette holder (6) comprises a cigarette insertion port (61) and a cigarette suction pipe (62), and the cigarette suction pipe (62) is connected with the smoking simulator;
the mechanical arm further comprises an ash ejecting mechanism (7).
2. A robot arm according to claim 1, characterized in that the connection between the base (1) and the rotary table (2) is a first connection (11), the connection between the rotary table (2) and the first robot arm (3) is a second connection (22), the connection between the first robot arm (3) and the second robot arm (4) is a third connection (33), and the connection between the first robot arm (4) and the robot arm (5) is a fourth connection (44);
the second joint (22), the third joint (33) and the fifth joint (55) are rotatably connected, and the first joint (11) and the fourth joint (44) are rotatably connected.
3. A robot arm as claimed in claim 1, characterized in that said ash ejecting mechanism (7) comprises a support member (71) and an elastic sheet (72), said ash ejecting mechanism (7) being fixed to said cigarette holder (6) or being placed on the working table separately.
4. The method for simulating the whole process of smoking cigarettes on the basis of the mechanical arm of claim 1 is characterized by comprising the following steps:
(1) igniting the cigarette, setting a smoking mode of a smoking simulator, and starting smoking; at the same time or after that,
(2) starting the mechanical arm and setting control parameters to enable the cigarette holder (6) to swing the arm from a suction position to an ash ejection position;
(3) after the cigarette reaches the ash ejecting position, the cigarette is ejected by the elastic sheet (72) to eject ash, and after the ash ejection is finished, the cigarette holder (6) carries the cigarette to swing the arm from the ash ejecting position to the suction position to finish a suction action;
(4) repeating the steps (2) to (3) to finish multiple pumping actions.
5. The method according to claim 4, characterized in that in step (2) the cigarette holder (6) carries the cigarettes through the bending position in the swing arm process from the suction position to the ash ejection position.
6. The method according to claim 5, characterized in that the height from the suction position to the bottom of the bed (1) is a first height, the height from the couch position to the bottom of the bed (1) is a second height, the height from the ash ejection position to the bottom of the bed (1) is a third height, the first height is greater than the second height, and the second height is greater than the third height.
7. The method according to claim 4, wherein the smoking simulator puff pattern in step (1) is the ISO, FTC, Massachusetts puff pattern.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010329623.9A CN111426792A (en) | 2020-04-20 | 2020-04-20 | Mechanical arm for simulating whole process of smoking cigarettes and simulation method thereof |
| JP2021528971A JP7153798B2 (en) | 2020-04-20 | 2021-01-21 | Manipulator for simulating human cigarette smoking process and smoking environment and its simulation method |
| PCT/CN2021/073107 WO2021212937A1 (en) | 2020-04-20 | 2021-01-21 | Mechanical arm simulating smoking of cigarette and smoking environment, and simulation method thereof |
| US17/414,329 US11445746B2 (en) | 2020-04-20 | 2021-01-21 | Robotic arm for simulating cigarette smoking process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010329623.9A CN111426792A (en) | 2020-04-20 | 2020-04-20 | Mechanical arm for simulating whole process of smoking cigarettes and simulation method thereof |
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| Publication Number | Publication Date |
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| CN111426792A true CN111426792A (en) | 2020-07-17 |
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| CN202010329623.9A Pending CN111426792A (en) | 2020-04-20 | 2020-04-20 | Mechanical arm for simulating whole process of smoking cigarettes and simulation method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021212937A1 (en) * | 2020-04-20 | 2021-10-28 | 云南中烟工业有限责任公司 | Mechanical arm simulating smoking of cigarette and smoking environment, and simulation method thereof |
| US11670007B2 (en) | 2020-09-16 | 2023-06-06 | China Tobacco Yunnan Industrial Co., Ltd | Device and method for detecting cigarette fly ash by gray-scale difference based on machine vision (MV) |
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2020
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021212937A1 (en) * | 2020-04-20 | 2021-10-28 | 云南中烟工业有限责任公司 | Mechanical arm simulating smoking of cigarette and smoking environment, and simulation method thereof |
| JP2022525574A (en) * | 2020-04-20 | 2022-05-18 | 雲南中煙工業有限責任公司 | A manipulator that simulates the smoking process and smoking environment of human cigarettes and its simulation method |
| US11445746B2 (en) | 2020-04-20 | 2022-09-20 | China Tobacco Yunnan Industrial Co., Ltd | Robotic arm for simulating cigarette smoking process |
| JP7153798B2 (en) | 2020-04-20 | 2022-10-14 | 雲南中煙工業有限責任公司 | Manipulator for simulating human cigarette smoking process and smoking environment and its simulation method |
| US11670007B2 (en) | 2020-09-16 | 2023-06-06 | China Tobacco Yunnan Industrial Co., Ltd | Device and method for detecting cigarette fly ash by gray-scale difference based on machine vision (MV) |
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