CN111426793A - Mechanical arm for simulating cigarette smoking process and smoking habit of human body and simulation method thereof - Google Patents
Mechanical arm for simulating cigarette smoking process and smoking habit of human body and simulation method thereof Download PDFInfo
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- CN111426793A CN111426793A CN202010330959.7A CN202010330959A CN111426793A CN 111426793 A CN111426793 A CN 111426793A CN 202010330959 A CN202010330959 A CN 202010330959A CN 111426793 A CN111426793 A CN 111426793A
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- 235000019504 cigarettes Nutrition 0.000 title claims abstract description 117
- 230000000391 smoking effect Effects 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000008569 process Effects 0.000 title claims abstract description 31
- 238000004088 simulation Methods 0.000 title description 5
- 238000003780 insertion Methods 0.000 claims abstract description 4
- 230000037431 insertion Effects 0.000 claims abstract description 4
- 230000009471 action Effects 0.000 claims description 19
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000005452 bending Methods 0.000 claims description 5
- 238000005086 pumping Methods 0.000 claims description 3
- 238000005273 aeration Methods 0.000 claims description 2
- 239000000428 dust Substances 0.000 claims 3
- 239000000779 smoke Substances 0.000 abstract description 4
- 238000009423 ventilation Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 11
- 238000002485 combustion reaction Methods 0.000 description 10
- 210000000707 wrist Anatomy 0.000 description 5
- 238000007664 blowing Methods 0.000 description 4
- 238000009833 condensation Methods 0.000 description 4
- 230000005494 condensation Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 230000015271 coagulation Effects 0.000 description 3
- 238000005345 coagulation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000003703 image analysis method Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 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
- 230000001276 controlling effect 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
- 238000000605 extraction Methods 0.000 description 1
- 230000006872 improvement Effects 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
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
-
- 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)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Robotics (AREA)
- Immunology (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Pathology (AREA)
- Biochemistry (AREA)
- Analytical Chemistry (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Molecular Biology (AREA)
- Manufacturing Of Cigar And Cigarette Tobacco (AREA)
Abstract
The invention discloses a mechanical arm for simulating a human body cigarette suction process and a suction habit, 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 at least one blast port (8), the blast port (8) is located around the cigarette holder (6), and the blast port (8) is communicated with the air blower through a ventilation pipeline. The mechanical arm controls the cigarette holder (6) to swing the arm from the suction position to the ash ejection position, so that the influence of air flow on the ash column in motion is simulated more truly. Meanwhile, the invention forms airflow near the blast opening (8) in the form of inflation blast, thus more truly simulating the smoking habit that smokers spit smoke into the environment after smoking in the smoking process.
Description
Technical Field
The invention relates to the field of cigarette smoking detection, in particular to a mechanical arm for simulating a cigarette smoking process and a smoking habit of a human body 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. In addition, real human cigarette smoking is often in outdoor environment, and wind speed has very big influence to the ash column, and the static burning test is often in the room that the environment is relatively stable, so want the simulation actual human cigarette smoking more truly, the simulation of that smoking environment is also especially important, and further, in the smoker smoking process, usually after carrying out each smoking, can spit the habit of cigarette to the environment, the smog that the smoker spits out also can form weak air current around the cigarette that burns, causes the influence to a cigarette burning ash column.
The present invention has been made to solve the above problems.
Disclosure of Invention
The invention aims to solve the defects of the existing standing combustion detection method, and provides a mechanical arm for simulating the smoking process and smoking habit of a human body cigarette, 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 at least one blast port 8, the blast port 8 is located around the cigarette holder 6, and the blast port 8 is communicated with the air blower through a ventilation pipeline.
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 mechanical arm further comprises an ash ejecting mechanism 7, 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 on the workbench.
The invention provides a method for simulating a cigarette smoking process and a cigarette smoking habit of a human body 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 speed of the blower in step (1) is less than 2m/s and does not include 0 m/s.
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. The mechanical arm further comprises at least one blast port 8, the blast port 8 is located around the cigarette holder 6, and the blast port 8 is communicated with an air blower through a ventilation pipeline. The position of the blast opening 8 is aerated and blasted through the blower, and the functions are as follows: (1) forming airflow near the blast opening 8 in an air inflation and blast mode, regulating and controlling the air inflation rate of the blower, and simulating the influence of wind on ash columns in the outdoor environment when real human cigarettes are smoked; (2) the habit of spitting smoke into the environment after each puff is simulated in the smoking process of a smoker.
4. 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.
5. 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 schematic view of a robot tuyere 8 according to the present invention;
FIG. 3 is a state diagram of the robot arm in the bending position;
FIG. 4 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, 8-blast port, 11-first connection, 22-second connection, 33-third connection, 44-fourth connection, 55-fifth connection, 61-cigarette insertion port, 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 cigarette suction habit and the suction process of a human body, so that the ash coating performance of the cigarette in the cigarette suction process can be more accurately detected. The specific test process is as follows:
(1) igniting the cigarettes, setting a smoking simulator suction mode to start suction, and starting an air blower; 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 (2) the aeration rate of the blower in the step (1) is less than 2 m/s.
The smoking simulator in the step (1) adopts an ISO smoking mode.
Three groups of the 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) are selected, the simulated dynamic suction with the air extraction rate of 0m/s, 2m/s and 4m/s is respectively carried out, the images of the detected samples are recorded and analyzed in real time in the suction process, after the sample to be detected reaches the set collection combustion length, the detection is finished, and after the detection is finished, the average value of index data in the range of the collection combustion length is collected as the sample detection index result. Table 1 shows the ash condensation index detection results of a certain cigarette sample under different conditions, wherein the collected burning length of the cigarette sample is set to be 35 mm. Table 2 is the corresponding image acquisition from the sample detection 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 can be seen from tables 1 and 2, the ash coagulation indexes of the cigarette samples 1 to 5 are reduced in different degrees along with the improvement of the air inflation rate, so that the influence of the air flow in the outdoor environment on ash columns in the real smoking process and the influence factors of the smoke spitting of part of smokers are further clarified to be non-negligible, and in the embodiment, the air blower is used for carrying out air inflation and air blowing on the position of the air blowing port 8, the air flow is formed near the air blowing port 8 in the form of air inflation and air blowing, the air inflation rate of the air blower is regulated and controlled, and the influence of the air flow in the outdoor environment on the ash columns; and the habit that a smoker spits smoke into the environment after smoking each time is simulated in the smoking process of the smoker, so that in the embodiment, when the inflation rate is 1m/s or 2m/s, the cigarette ash condensation index has a reference value for researching the cigarette ash condensation index in real smoking, so that the cigarette ash condensation performance of the cigarette samples 2 and 3 in the embodiment under the real smoking condition with outdoor wind is better than that of the cigarette samples 1, 4 and 5.
Claims (8)
1. A mechanical arm for simulating the cigarette smoking process and the smoking habit of a human body is characterized in that,
the cigarette holder 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;
robotic arm still includes at least one tuyere (8), tuyere (8) are located cigarette holder (6) are around, tuyere (8) pass through air pipe and air-blower intercommunication.
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. The mechanical arm according to claim 1, further comprising a dust ejection mechanism (7), wherein the dust ejection mechanism (7) comprises a support member (71) and a spring plate (72), and the dust ejection mechanism (7) is fixed on the cigarette holder (6) or is separately arranged on the workbench.
4. The method for simulating the cigarette smoking process and the cigarette smoking habit of the human body based on the mechanical arm of claim 1 is characterized by comprising the following steps:
(1) igniting the cigarettes, setting a smoking simulator suction mode to start suction, and starting an air blower; 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 of claim 4, wherein the aeration rate of the blower in step (1) is less than 2m/s and does not include 0 m/s.
8. The method according to claim 4, wherein the smoking simulator puff pattern in step (1) is the ISO, FTC, Massachusetts puff pattern.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010330959.7A CN111426793B (en) | 2020-04-24 | 2020-04-24 | Mechanical arm for simulating human body cigarette smoking process and smoking habit and simulation method thereof |
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| CN202010330959.7A CN111426793B (en) | 2020-04-24 | 2020-04-24 | Mechanical arm for simulating human body cigarette smoking process and smoking habit and simulation method thereof |
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| CN111426793A true CN111426793A (en) | 2020-07-17 |
| CN111426793B CN111426793B (en) | 2024-05-24 |
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Cited By (3)
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| CN111796052A (en) * | 2020-08-07 | 2020-10-20 | 云南中烟工业有限责任公司 | Movable device and method for heating cigarette paper tube |
| CN112305241A (en) * | 2020-09-30 | 2021-02-02 | 云南中烟工业有限责任公司 | Detection device and detection method for quantitative analysis of cigarette fly ash amount |
| WO2022067595A1 (en) * | 2020-09-30 | 2022-04-07 | 云南中烟工业有限责任公司 | Automatic measurement apparatus and method for quantitative analysis of fly ash amount of cigarette |
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| CN212514451U (en) * | 2020-04-24 | 2021-02-09 | 云南中烟工业有限责任公司 | Mechanical arm for simulating smoking process and smoking habit of human body cigarette |
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2020
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Patent Citations (4)
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| CN102937639A (en) * | 2012-11-06 | 2013-02-20 | 上海烟草集团有限责任公司 | Detection device for cigarette end falling |
| CN105954474A (en) * | 2016-07-06 | 2016-09-21 | 中国烟草总公司郑州烟草研究院 | Rotary smoking method capable of fixing cigarette |
| CN107085075A (en) * | 2017-05-03 | 2017-08-22 | 中国烟草总公司郑州烟草研究院 | It is a kind of based on simulation people tap cigarette ash drop behavioural characteristic cigarette fall head tendency detection method |
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| CN112305241A (en) * | 2020-09-30 | 2021-02-02 | 云南中烟工业有限责任公司 | Detection device and detection method for quantitative analysis of cigarette fly ash amount |
| WO2022067595A1 (en) * | 2020-09-30 | 2022-04-07 | 云南中烟工业有限责任公司 | Automatic measurement apparatus and method for quantitative analysis of fly ash amount of cigarette |
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| CN111426793B (en) | 2024-05-24 |
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