WO2021212937A1 - 一种模拟人体卷烟抽吸过程和抽吸环境的机械手臂及其模拟方法 - Google Patents

一种模拟人体卷烟抽吸过程和抽吸环境的机械手臂及其模拟方法 Download PDF

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WO2021212937A1
WO2021212937A1 PCT/CN2021/073107 CN2021073107W WO2021212937A1 WO 2021212937 A1 WO2021212937 A1 WO 2021212937A1 CN 2021073107 W CN2021073107 W CN 2021073107W WO 2021212937 A1 WO2021212937 A1 WO 2021212937A1
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Prior art keywords
cigarette
smoking
mechanical arm
height
connection
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PCT/CN2021/073107
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English (en)
French (fr)
Inventor
郑晗
詹建波
王浩
李赓
张莹
余振华
王涛
谢姣
余婷婷
王旭
李利伟
丁海燕
岳保山
余江
张静
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云南中烟工业有限责任公司
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Priority claimed from CN202010313947.3A external-priority patent/CN111426788A/zh
Priority claimed from CN202010329623.9A external-priority patent/CN111426792A/zh
Application filed by 云南中烟工业有限责任公司 filed Critical 云南中烟工业有限责任公司
Priority to JP2021528971A priority Critical patent/JP7153798B2/ja
Priority to US17/414,329 priority patent/US11445746B2/en
Publication of WO2021212937A1 publication Critical patent/WO2021212937A1/zh

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    • A—HUMAN NECESSITIES
    • A24—TOBACCO; CIGARS; CIGARETTES; SIMULATED SMOKING DEVICES; SMOKERS' REQUISITES
    • A24C—MACHINES FOR MAKING CIGARS OR CIGARETTES
    • A24C5/00—Making cigarettes; Making tipping materials for, or attaching filters or mouthpieces to, cigars or cigarettes
    • A24C5/32—Separating, ordering, counting or examining cigarettes; Regulating the feeding of tobacco according to rod or cigarette condition
    • A24C5/34—Examining cigarettes or the rod, e.g. for regulating the feeding of tobacco; Removing defective cigarettes
    • A24C5/3406—Controlling cigarette 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
    • B25J15/0019—End effectors other than grippers
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • 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

Definitions

  • the invention relates to the field of cigarette smoking detection, in particular to a mechanical arm that simulates the smoking process and smoking environment of human cigarettes and a simulation method thereof.
  • Cigarettes will form ash pillars during the combustion process. Due to the differences in cigarette leaf formulas, material formulations, physical indicators, etc., cigarette ash pillars will shrink to different degrees compared to the unburned cigarettes, and ash cracks will also occur. And ash splitting (ash splitting refers to the ash flakes of the cigarette burning ash column peeling off the main body of the ash column and splitting outwards), and cigarette ash is an important appearance that consumers intuitively feel during the combustion process of cigarette products, and the ash-packing effect is excellent Inferiority directly affects consumers' judgment on the quality of cigarette products. At the same time, during the smoking process of cigarettes, cigarettes frequently fall off and fly ash, and in severe cases, the burning cone falls off. This not only pollutes the environment, but also causes consumers and forced smokers to feel uncomfortable and disgusted with the environment. One of the influencing factors will also affect consumers' loyalty to cigarette brands and even bring certain safety hazards.
  • the detection equipment and technology for cigarette burning ash samples mainly include: static combustion image analysis method, puff mode image analysis method, CT scanning method, etc.
  • the technical means used are all cigarette samples placed in a fixed position for detection ,
  • the test data cannot accurately reflect the ash performance status of the cigarette burning pack in the actual consumption process of consumers.
  • the specific reasons are two aspects.
  • the static cigarette burning test cannot reflect the typical smoking action of the human body, that is, it cannot simulate the human body smoking.
  • the arm swing motion path is based on the suction point as the starting point and the ashtray as the end point. When the cigarette moves during the combustion process, the air flow will have a greater impact on the performance of the cigarette ash column.
  • the purpose of the present invention is to solve the deficiencies of the existing standing combustion detection method, and provide a mechanical arm that simulates the smoking process and smoking environment of human cigarettes, which includes a base 1, a first mechanical arm 3, and a second mechanical arm that are connected in sequence.
  • the cigarette holder 6 includes a cigarette insertion port 61 and a cigarette suction pipe 62, the cigarette suction pipe 62 is connected to a smoking simulator;
  • the robotic arm also includes at least one air extraction port 8 located around the cigarette holder 6, and the air extraction port 8 communicates with an air extractor through an air extraction pipe.
  • the connecting part between the base 1 and the rotating table 2 is a first connecting part 11, and the connecting part between the rotating table 2 and the first robot arm 3 is a second connecting part 22, and the first robot arm 3 and the second mechanical arm 4 are connected at a third connection 33, and the first mechanical arm 4 and the manipulator 5 are connected at a fourth connection 44;
  • connection place 22 the third connection place 33, and the fifth connection place 55 are rotary connection
  • first connection place 11 and the fourth connection place 44 are rotary connection.
  • the rotating table 2 rotates relative to the base 1 along the plane where the first connection 11 is located; the manipulator 5 rotates relative to the first mechanical arm 4 along the plane where the fourth connection 44 is located; thereby simulating real suction
  • the smoker's shoulders, elbows, and wrists are turned.
  • a typical consumer smoking process includes, after completing a puff, the consumer holds the cigarette, takes the elbow as the axis, the mouth as the starting point, and the ashtray as the end point. It is the pivotal wrist-turning action or during the swinging of the arm, the wrist-turning action is completed at the same time, and the soot-flicking action is finally completed.
  • the suction port 8 is provided with a filter screen 9, which can filter the soot while extracting the smoke.
  • the robotic arm further includes an ashes ejection mechanism 7, which includes a support 71 and an elastic piece 72, and the ashes ejection mechanism 7 is fixed to the cigarette holder 6 or is separately placed in operation. On stage.
  • the second aspect of the present invention provides a method for simulating the smoking process and smoking environment of human cigarettes based on the mechanical arm, which specifically includes the following steps:
  • the shrapnel 72 points the cigarette to flick the ash.
  • the cigarette holder 6 carries the cigarette and swings the arm from the ash position to the suction position to complete One sucking action;
  • the cigarette holder 6 carries the cigarettes from the smoking position to the popping position and the arm swing process passes through the desk position in the middle, and stays for a certain period of time, so as to simulate the human body smoking. The staying state of the cigarette during the popping action.
  • the height from the suction position to the bottom of the base 1 is the first height
  • the height from the desk position to the bottom of the base 1 is the second height
  • the height from the pop-up position to the bottom of the base 1 is the first height.
  • the first height is greater than the second height
  • the second height is greater than the third height.
  • the pumping rate of the pump in step (1) is less than 10 m/s, and does not include 0 m/s.
  • the smoking mode of the smoking simulator in step (1) is ISO, FTC, or Massachusetts smoking mode.
  • the present invention has the following beneficial effects:
  • the mechanical arm of the present invention includes an ashes popping mechanism 7, the ashes popping mechanism 7 includes a support 71 and an elastic sheet 72, and the ashes popping mechanism 7 is fixed on the cigarette holder 6 or placed separately. After the cigarette holder 6 carries the cigarette from the smoking position to the popping position, the shrapnel 72 pops the cigarette and performs popping, which more realistically simulates the smoking process of a human cigarette.
  • the mechanical arm of the present invention controls the cigarette holder 6 to swing the arm from the smoking position to the dust ejection position to carry the cigarettes.
  • the typical consumer smoking process includes, after completing a puff, the consumer holds the cigarette, using the elbow as the axis, the mouth as the starting point, and the ashtray as the end point, and the swinging motion of the arm with the wrist after reaching the ashtray.
  • the joint is the axis of the wrist-turning motion or during the swinging of the arm, the wrist-turning motion is completed at the same time, and finally the soot-flicking motion is completed.
  • the mechanical arm of the present invention more realistically simulates the influence of the air flow on the ash column of the cigarette when the cigarette moves during the combustion process.
  • the robotic arm of the present invention also includes at least one air extraction port 8 located around the cigarette holder 6, and the air extraction port 8 communicates with an air extractor through an air extraction pipe.
  • the function of extracting air at the position of the air extraction port 8 through an air extractor is to: (1) extract the smoke generated by the burning of the cigarette; (2) to form an air flow near the air extraction port 8 in the form of air extraction to regulate the air extractor
  • the air extraction rate is simulating the impact of wind in the outdoor environment on the ash column when real human cigarettes are smoked.
  • the air extraction port 8 is provided with a filter 9 which can filter the soot while extracting the smoke.
  • the cigarette holder 6 carries the cigarette from the smoking position to the popping position and passes through the desk position during the arm swing process, and stays for a certain period of time to simulate the human body after smoking , The status of the cigarette staying when no popping action is performed.
  • the mechanical arm of the present invention simulates the action path of consumers smoking cigarettes, which can ensure the consistency of each simulated action path, and then effectively improve the accuracy of the detection of the ash characteristics of cigarette burning.
  • Fig. 1 is a state diagram of the robot arm in the suction position in the first embodiment of the present invention
  • Fig. 2 is a state diagram of the robot arm in the desk position in the first embodiment of the present invention
  • Fig. 3 is a state diagram of the manipulator in the first embodiment of the present invention in the spring position
  • Fig. 4 is a state diagram of the mechanical arm in the suction position in the second embodiment of the present invention.
  • Fig. 5 is a schematic diagram of the structure of the air suction port 8 of the mechanical arm according to the second embodiment of the present invention.
  • FIG. 6 is a schematic diagram of the structure of the air suction port 8 of the mechanical arm according to the second embodiment of the present invention.
  • Fig. 7 is a state diagram of the robot arm in the desk position in the second embodiment of the present invention.
  • Fig. 8 is a state diagram of the manipulator in the second embodiment of the present invention in the spring position
  • the mechanical arm of the present invention is used to simulate a real human cigarette smoking environment and a smoking process, so as to more accurately detect the ash-packing performance of the cigarette during the smoking process.
  • the specific test process is as follows:
  • the shrapnel 72 points the cigarette to flick the ash.
  • the cigarette holder 6 carries the cigarette and swings the arm from the ash position to the suction position to complete One sucking action;
  • step (2) the cigarette holder 6 carries the cigarettes from the smoking position to the ejection position and passes through the desk position during the arm swinging process, and stays for a certain period of time, to simulate the human body after smoking, the ejection action is not performed When the cigarette stays in the state.
  • the height from the suction position to the bottom of the base 1 is the first height
  • the height from the desk position to the bottom of the base 1 is the second height
  • the height from the popping position to the bottom of the base 1 is the first height.
  • the first height is greater than the second height
  • the second height is greater than the third height.
  • step (1) the smoking mode of the smoking simulator is the FTC smoking mode.
  • sample 1 in the two groups belong to the same batch, but sample 1 and sample 2-5 are not the same batch
  • sample 2-5 are not the same batch
  • real-time recording and analysis of the image of the test sample are performed.
  • the test sample After the test sample reaches the set acquisition burn length, the test ends. After the end, the average value of the index data within the burn length range is collected as the sample test index result.
  • Table 1 shows the test results of the tuff index of a cigarette sample collected and burned at a length of 30mm under different conditions.
  • Figure 9 shows the corresponding image acquisition when the set acquisition burn length is reached.
  • the cigarette burning tuff index AI is calculated by the following formula:
  • S r is the area of cracks in the ash column
  • S t is the overall area of the ash column
  • the cigarette combustion tuff index AI of the cigarette to be tested is the average value of the calculation results of the images collected by multiple cameras;
  • the simulated human smoking process is because part of the image is collected after the cigarette cartridge soot during the simulated smoking process.
  • the cigarette combustion cone is compared with the image processing to remove the actual combustion cone.
  • the simulated dynamic suction tuff index of the same batch of samples is higher than the tuff index collected during static suction.
  • the simulated dynamic smoking cigarette pouffing index is useful for studying the actual cigarette smoking.
  • Tuff index has reference value.
  • the mechanical arm of the present invention is used to simulate a real human cigarette smoking environment and a smoking process, so as to more accurately detect the ash-packing performance of the cigarette during the smoking process.
  • the specific test process is as follows:
  • the shrapnel 72 points the cigarette to flick the ash.
  • the cigarette holder 6 carries the cigarette and swings the arm from the ash position to the suction position to complete One sucking action;
  • step (2) the cigarette holder 6 carries the cigarettes from the smoking position to the ejection position and passes through the desk position during the arm swinging process, and stays for a certain period of time, to simulate the human body after smoking, the ejection action is not performed When the cigarette stays in the state.
  • the height from the suction position to the bottom of the base 1 is the first height
  • the height from the desk position to the bottom of the base 1 is the second height
  • the height from the pop-up position to the bottom of the base 1 is the first height.
  • the first height is greater than the second height
  • the second height is greater than the third height.
  • step (1) the pumping rate of the pump is 0m/s, 2m/s, 4m/s.
  • the smoking mode of the smoking simulator is the ISO smoking mode.
  • sample 1 in the two groups belongs to the same batch, but sample 1 and sample 2-5 are not the same batch
  • the pumping speeds of the present invention as 0m/s and 2m/s respectively.
  • s, 4m/s simulated dynamic suction, real-time recording and analysis of the test sample image during the pumping process, after the test sample reaches the set acquisition burn length, the test ends, and after the end, the average value of the index data within the burn length range is collected as Sample test index results.
  • Table 2 shows the test results of the tuff index of a cigarette sample collected and burned at a length of 35mm under different conditions.
  • Figure 10 shows the corresponding image acquisition from the sample detection to the set acquisition burn length.
  • the cigarette burning tuff index AI is calculated by the following formula:
  • S r is the area of cracks in the ash column
  • S t is the overall area of the ash column
  • the cigarette combustion tuff index AI of the cigarette to be tested is the average value of the calculation results of the images collected by multiple cameras;
  • the tuff index of cigarette samples 1-5 has decreased to varying degrees, which further illustrates that the wind in the outdoor environment during the actual smoking process cannot be ignored.
  • an airflow is formed near the suction port 8 in the form of suction, and the suction rate of the suction machine is adjusted to simulate the influence of wind in the outdoor environment on the ash column when a real human cigarette is smoked. Therefore, in this embodiment, When the air velocity is 2m/s or 4m/s, the cigarette pouring index has a reference value for studying the cigarette pouring index during actual smoking. Therefore, in this example, the cigarette sample 1, the cigarette sample 3, and the cigarette sample 4 are windy outdoors. Under the actual smoking situation of cigarettes, the curdling performance of cigarettes is better than that of cigarette sample 2 and cigarette sample 5.

Abstract

一种模拟人体卷烟抽吸过程和抽吸环境的机械手臂，包括依次连接的底座(1)、第一机械臂(3)、第二机械臂(4)、机械手(5)、烟支夹持器(6)；烟支夹持器(6)包括烟支插入口(61)和烟支抽吸管(62)，烟支抽吸管(62)与吸烟模拟机连接；机械手臂还包括至少一个抽气口(8)，抽气口(8)位于烟支夹持器(6)周围，抽气口(8)通过抽气管道与抽气机连通。机械手臂控制烟支夹持器(6)携带烟支从抽吸位置到弹灰位置摆臂，真实的模拟运动过程中气流对灰柱的影响。模拟人体卷烟抽吸过程和抽吸环境的机械手臂以抽气的形式使抽气口(8)附近形成气流，模拟人体卷烟抽吸时户外环境中风速对于灰柱的影响，真实的模拟人体卷烟抽吸环境。

Description

一种模拟人体卷烟抽吸过程和抽吸环境的机械手臂及其模拟方法 技术领域
本发明涉及卷烟抽吸检测领域，尤其是涉及一种模拟人体卷烟抽吸过程和抽吸环境的机械手臂及其模拟方法。
背景技术
卷烟在燃烧过程中会形成灰柱，由于卷烟叶组配方，材料配方，物理指标等方面的差异性，卷烟灰柱相比未燃烧前烟支会有不同程度的收缩，同时也会产生裂灰和劈灰情况(劈灰指卷烟燃烧灰柱灰片剥离灰柱主体而向外劈开)，而卷烟包灰是卷烟产品在燃烧过程中消费者直观感受到的重要外观形态，包灰效果优劣直接影响着消费者对卷烟产品质量的判断。同时，卷烟在抽吸过程中，烟支的频繁落灰、飞灰，严重时发生燃烧锥脱落的现象，不仅污染环境，也是引起消费者及被迫吸烟者对所处环境不适、反感的重要影响因素之一，还会影响消费者对于卷烟品牌的忠诚度，甚至带来一定安全隐患。
目前，针对卷烟燃烧包灰样品的检测设备和技术主要包括：静燃图像分析法，抽吸模式图像分析法，CT扫描法等，所采用的技术手段均是在卷烟样品置于固定位置进行检测，检测数据不能精准反应出消费者在实际消费过程中卷烟燃烧包灰性能状态，具体原因在于两个方面，首先静止的烟支燃烧测试不能反映人体典型抽吸动作，即不能模拟人体在抽吸过程中是以抽吸点为起点，烟灰缸为终点的挥臂运动路径。当烟支在燃烧过程中发生运动时，空气气流将对烟支灰柱性能产生较大影响。另一方面，典型的消费者抽吸过程中，完成一口抽吸后，消费者手持烟支到达烟灰缸后会进行弹灰动作，该动作对卷烟包灰性能的测试尤为关键，因此，静止测量不能准确反映测试样品应用于生产和生活时的优劣性。另外，真正人体卷烟抽吸往往是在户外环境中，风速对于灰柱有很大的影响，然而静止燃烧测试往往是在环境相对稳定的室内，所以想要更加真实的模拟实际人体卷烟抽吸，那抽吸环境的模拟也尤为重要。
为了解决以上问题，提出本发明。
发明内容
本发明的目的是为了解决现有静置燃烧检测方法的不足，提供一种模拟人体 卷烟抽吸过程和抽吸环境的机械手臂，其包括依次连接的底座1、第一机械臂3、第二机械臂4、机械手5、烟支夹持器6；所述烟支夹持器6包括烟支插入口61和烟支抽吸管62，所述烟支抽吸管62与吸烟模拟机连接；所述机械手臂还包括至少一个抽气口8，所述抽气口8位于所述烟支夹持器6周围，所述抽气口8通过抽气管道与抽气机连通。
优选地，所述底座1和旋转台2之间连接部位为第一连接处11，所述旋转台2与第一机械臂3之间连接部位为第二连接处22，所述第一机械臂3与所述第二机械臂4之间连接部位为第三连接处33，所述第一机械臂4和所述机械手5之间连接部位为第四连接处44；
所述第二连接处22、第三连接处33、第五连接处55为转动式连接，所述第一连接处11、第四连接处44为旋转式连接。
所述旋转台2沿第一连接处11所在平面相对于所述底座1旋转；所述机械手5沿第四连接处44所在平面相对于所述第一机械臂4旋转；以此模拟真实抽吸过程中吸烟者肩膀转动、肘部转动以及翻转手腕的动作。典型的消费者抽吸过程包括，完成一口抽吸后，消费者手持烟支，以肘为轴心，嘴为起点，烟灰缸为终点的挥臂摆动动作，以及到达烟灰缸后，以腕关节为轴心的翻手腕动作或者在挥臂摆动过程中，同时完成翻手腕动作，最后完成弹烟灰动作。
优选地，所述抽气口8上具有过滤网9，可以在抽去烟气的同时过滤烟灰。
优选地，所述机械手臂还包括弹灰机构7，所述弹灰机构7包括支撑件71和弹片72，所述弹灰机构7固定于所述烟支夹持器6上或者单独置于工作台上。
本发明第二方面提供一种基于所述的机械手臂模拟人体卷烟抽吸过程和抽吸环境的方法，其具体包括以下步骤：
(1)点燃烟支，设置吸烟模拟机抽吸模式，并启动抽吸；同时或然后，
(2)启动机械手臂并设置控制参数，使所述烟支夹持器6携带烟支从抽吸位置到弹灰位置摆臂；
(3)到达弹灰位置后，所述弹片72点弹烟支，进行弹灰，弹灰结束后，所述烟支夹持器6携带烟支从弹灰位置到抽吸位置摆臂，完成一次抽吸动作；
(4)重复步骤(2)-(3)完成多次抽吸动作。
优选地，步骤(2)中所述烟支夹持器6携带烟支从抽吸位置到弹灰位置摆 臂过程在中经过伏案位置，并停留一定时间，以模拟人体抽吸之后，不进行弹灰动作时的烟支停留状态。
所述抽吸位置到所述底座1底部的高度为第一高度，所述伏案位置到所述底座1底部的高度为第二高度，所述弹灰位置到所述底座1底部的高度为第三高度，所述第一高度大于所述第二高度，所述第二高度大于所述第三高度。
优选地，步骤(1)中抽气机的抽气速率小于10m/s，且不包括0m/s。
优选地，步骤(1)中吸烟模拟机抽吸模式为ISO，FTC，Massachusetts抽吸模式。
相对于现有技术，本发明具有以下有益效果：
1、本发明机械手臂，包括弹灰机构7，所述弹灰机构7包括支撑件71和弹片72，所述弹灰机构7固定于所述烟支夹持器6上或者单独放置。当所述烟支夹持器6携带烟支从抽吸位置到弹灰位置后，所述弹片72点弹烟支，进行弹灰，更加真实的模拟人体卷烟抽吸过程。
2、本发明机械手臂控制所述烟支夹持器6携带烟支从抽吸位置到弹灰位置摆臂。而典型的消费者抽吸过程包括，完成一口抽吸后，消费者手持烟支，以肘为轴心，嘴为起点，烟灰缸为终点的挥臂摆动动作，以及到达烟灰缸后，以腕关节为轴心的翻手腕动作或者在挥臂摆动过程中，同时完成翻手腕动作，最后完成弹烟灰动作。本发明机械手臂更加真实的模拟了烟支在燃烧过程中发生运动时，空气气流将对烟支灰柱的影响。
3、本发明所述机械手臂还包括至少一个抽气口8，所述抽气口8位于所述烟支夹持器6周围，所述抽气口8通过抽气管道与抽气机连通。通过抽气机对抽气口8位置进行抽气的作用在于：(1)将烟支燃烧产生的烟气抽走；(2)以抽气的形式使抽气口8附近形成气流，调控抽气机的抽气速率，模拟真实人体卷烟抽吸时户外环境中风对于灰柱的影响，进一步的，所述抽气口8上具有过滤网9，可以在抽去烟气的同时过滤烟灰。
4、在本发明优选地实施方案中，所述烟支夹持器6携带烟支从抽吸位置到弹灰位置摆臂过程在中经过伏案位置，并停留一定时间，以模拟人体抽吸之后，不进行弹灰动作时的烟支停留状态。
5、本发明机械手臂模拟消费者抽吸卷烟的动作路径，可确保每次模拟动作 路径的一致性，继而有效提高卷烟燃烧包灰特性检测的精度。
附图说明
图1本发明实施例1机械手臂处于抽吸位置的状态图；
图2本发明实施例1机械手臂处于伏案位置的状态图；
图3本发明实施例1机械手臂处于弹灰位置的状态图；
图4本发明实施例2机械手臂处于抽吸位置的状态图；
图5本发明实施例2机械手臂抽气口8结构示意图；
图6本发明实施例2机械手臂抽气口8结构示意图；
图7本发明实施例2机械手臂处于伏案位置的状态图；
图8本发明实施例2机械手臂处于弹灰位置的状态图；
图9达设定采集燃烧长度时对应图像采集
图10达设定采集燃烧长度时对应图像采集
1-底座，2-旋转台，3-第一机械臂，4-第二机械臂，5-机械手，6-烟支夹持器，7-弹灰机构，8-抽气口，9-过滤网，11-第一连接处，22-第二连接处，33-第三连接处，44-第四连接处，55-第五连接处，61-烟支插入口，62-烟支抽吸管，71-弹片，72-弹片支撑件。
具体实施方式：
实施例1
本实施例采用本发明所述的机械手臂模拟真实人体卷烟抽吸环境以及抽吸过程，以此更加准确的检测烟支抽吸过程中烟支的包灰性能。具体测试过程如下：
(1)点燃烟支，设置吸烟模拟机抽吸模式，并启动抽吸；同时或然后，
(2)启动机械手臂并设置控制参数，使所述烟支夹持器6携带烟支从抽吸位置到弹灰位置摆臂；
(3)到达弹灰位置后，所述弹片72点弹烟支，进行弹灰，弹灰结束后，所述烟支夹持器6携带烟支从弹灰位置到抽吸位置摆臂，完成一次抽吸动作；
(4)重复步骤(2)-(3)完成多次抽吸动作。
步骤(2)中所述烟支夹持器6携带烟支从抽吸位置到弹灰位置摆臂过程在中经过伏案位置，并停留一定时间，以模拟人体抽吸之后，不进行弹灰动作时的烟支停留状态。
所述抽吸位置到所述底座1底部的高度为第一高度，所述伏案位置到所述底座1底部的高度为第二高度，所述弹灰位置到所述底座1底部的高度为第三高度，所述第一高度大于所述第二高度，所述第二高度大于所述第三高度。
步骤(1)中吸烟模拟机抽吸模式为FTC抽吸模式。
选取两组同一批卷烟样品1-5(两组中样品1属于同一批，但样品1和样品2-5不是同一批)，分别进行本发明所述的模拟动态抽吸以及静态抽吸，抽吸过程中对检测样品图像进行实时记录分析，待检测样品达设定采集燃烧长度后，检测结束，结束后采集燃烧长度范围内指标数据平均值作为样品检测指标结果。表1为在不同条件下设定某卷烟样品采集燃烧长度为30mm条件下的凝灰指数检测结果。图9为达设定采集燃烧长度时对应图像采集。
凝灰指数的计算公式：卷烟燃烧凝灰指数AI，采用下式进行计算：
Figure PCTCN2021073107-appb-000001
其中，S r为灰柱裂痕部分面积；S t为灰柱整体面积；
待检测卷烟烟支的卷烟燃烧凝灰指数AI为多个摄像头采集图像计算结果的均值；
表1不同条件下卷烟凝灰指数检测结果
Figure PCTCN2021073107-appb-000002
由图9检测结果可见，模拟人体抽吸由于在模拟抽吸过程中部分图像在烟支弹烟灰后进行图像采集，在图像处理过程中对卷烟燃烧锥进行了对比图像处理，去除燃烧锥在实际抽吸过程中不会产生落灰部分图像采集。因此，同一批样品模拟动态抽吸凝灰指数高于静止抽吸时采集凝灰指数。由于真实的抽吸过程中吸烟者摆臂带动烟支发生运动时，空气气流将对烟支灰柱的影响，所以本实施例中， 模拟动态抽吸卷烟凝灰指数对于研究真实抽吸时卷烟凝灰指数具有参考价值。
实施例2
本实施例采用本发明所述的机械手臂模拟真实人体卷烟抽吸环境以及抽吸过程，以此更加准确的检测烟支抽吸过程中烟支的包灰性能。具体测试过程如下：
(1)点燃烟支，设置吸烟模拟机抽吸模式启动抽吸，并启动抽气机；同时或然后，
(2)启动机械手臂并设置控制参数，使所述烟支夹持器6携带烟支从抽吸位置到弹灰位置摆臂；
(3)到达弹灰位置后，所述弹片72点弹烟支，进行弹灰，弹灰结束后，所述烟支夹持器6携带烟支从弹灰位置到抽吸位置摆臂，完成一次抽吸动作；
(4)重复步骤(2)-(3)完成多次抽吸动作。
步骤(2)中所述烟支夹持器6携带烟支从抽吸位置到弹灰位置摆臂过程在中经过伏案位置，并停留一定时间，以模拟人体抽吸之后，不进行弹灰动作时的烟支停留状态。
所述抽吸位置到所述底座1底部的高度为第一高度，所述伏案位置到所述底座1底部的高度为第二高度，所述弹灰位置到所述底座1底部的高度为第三高度，所述第一高度大于所述第二高度，所述第二高度大于所述第三高度。
步骤(1)中抽气机的抽气速率分别为0m/s、2m/s、4m/s。
步骤(1)中吸烟模拟机抽吸模式为ISO抽吸模式。
选取两组同一批卷烟样品1-5(两组中样品1属于同一批，但样品1和样品2-5不是同一批)，分别进行本发明所述的抽气速率为0m/s、2m/s、4m/s的模拟动态抽吸，抽吸过程中对检测样品图像进行实时记录分析，待检测样品达设定采集燃烧长度后，检测结束，结束后采集燃烧长度范围内指标数据平均值作为样品检测指标结果。表2为在不同条件下设定某卷烟样品采集燃烧长度为35mm条件下的凝灰指数检测结果。图10为样品检测至设定采集燃烧长度时的对应图像采集。
凝灰指数的计算公式：卷烟燃烧凝灰指数AI，采用下式进行计算：
Figure PCTCN2021073107-appb-000003
其中，S r为灰柱裂痕部分面积；S t为灰柱整体面积；
待检测卷烟烟支的卷烟燃烧凝灰指数AI为多个摄像头采集图像计算结果的均值；
表2不同条件下卷烟凝灰指数检测结果
Figure PCTCN2021073107-appb-000004
由表2和图10可知，随着抽气速率的提高卷烟样品1-5的凝灰指数均有不同程度的下降，进一步说明了真实抽吸过程中户外环境中风对于灰柱的影响因素不可忽略，而本实施例以抽气的形式使抽气口8附近形成气流，调控抽气机的抽气速率，模拟真实人体卷烟抽吸时户外环境中风对于灰柱的影响，所以本实施例中，抽气速率为2m/s或4m/s时，卷烟凝灰指数对于研究真实抽吸时卷烟凝灰指数具有参考价值，故本实施例中卷烟样品1、卷烟样品3、卷烟样品4在户外有风的真实抽吸情况下卷烟凝灰性能比卷烟样品2、卷烟样品5要好。

Claims (8)

  1. 一种模拟人体卷烟抽吸过程和抽吸环境的机械手臂，其特征在于，
    其包括依次连接的底座(1)、第一机械臂(3)、第二机械臂(4)、机械手(5)、烟支夹持器(6)；
    所述烟支夹持器(6)包括烟支插入口(61)和烟支抽吸管(62)，所述烟支抽吸管(62)与吸烟模拟机连接；
    所述机械手臂还包括至少一个抽气口(8)，所述抽气口(8)位于所述烟支夹持器(6)周围，所述抽气口(8)通过抽气管道与抽气机连通。
    所述机械手臂还包括弹灰机构(7)，所述弹灰机构(7)包括支撑件(71)和弹片(72)，所述弹灰机构(7)固定于所述烟支夹持器(6)上或者单独置于工作台上。
  2. 根据权利要求1所述的机械手臂，其特征在于，所述底座(1)和旋转台(2)之间连接部位为第一连接处(11)，所述旋转台(2)与第一机械臂(3)之间连接部位为第二连接处(22)，所述第一机械臂(3)与所述第二机械臂(4)之间连接部位为第三连接处(33)，所述第一机械臂(4)和所述机械手(5)之间连接部位为第四连接处(44)；
    所述第二连接处(22)、第三连接处(33)、第五连接处(55)为转动式连接，所述第一连接处(11)、第四连接处(44)为旋转式连接。
  3. 根据权利要求1所述的机械手臂，其特征在于，所述抽气口(8)上具有过滤网(9)。
  4. 一种基于权利要求1所述的机械手臂模拟人体卷烟抽吸过程和抽吸环境的方法，其特征在于，其具体包括以下步骤：
    (1)点燃烟支，设置吸烟模拟机抽吸模式启动抽吸，并启动抽气机；同时或然后，
    (2)启动机械手臂并设置控制参数，使所述烟支夹持器(6)携带烟支从抽吸位置到弹灰位置摆臂；
    (3)到达弹灰位置后，所述弹片(72)点弹烟支，进行弹灰，弹灰结束后，所述烟支夹持器(6)携带烟支从弹灰位置到抽吸位置摆臂，完成一次抽吸动作；
    (4)重复步骤(2)-(3)完成多次抽吸动作。
  5. 根据权利要求4所述的方法，其特征在于，步骤(2)中所述烟支夹持器 (6)携带烟支从抽吸位置到弹灰位置摆臂过程在中经过伏案位置。
  6. 根据权利要求5所述的方法，其特征在于，所述抽吸位置到所述底座(1)底部的高度为第一高度，所述伏案位置到所述底座(1)底部的高度为第二高度，所述弹灰位置到所述底座(1)底部的高度为第三高度，所述第一高度大于所述第二高度，所述第二高度大于所述第三高度。
  7. 根据权利要求4所述的方法，其特征在于，步骤(1)中抽气机的抽气速率小于10m/s，且不包括0m/s。
  8. 根据权利要求4所述的方法，其特征在于，步骤(1)中吸烟模拟机抽吸模式为ISO，FTC，Massachusetts抽吸模式。
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CN111426792A (zh) * 2020-04-20 2020-07-17 云南中烟工业有限责任公司 一种模拟人体卷烟抽吸全过程的机械手臂及其模拟方法

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