WO2021212938A1 - 一种基于机械手的抽烟路径仿真系统 - Google Patents

一种基于机械手的抽烟路径仿真系统 Download PDF

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Publication number
WO2021212938A1
WO2021212938A1 PCT/CN2021/073108 CN2021073108W WO2021212938A1 WO 2021212938 A1 WO2021212938 A1 WO 2021212938A1 CN 2021073108 W CN2021073108 W CN 2021073108W WO 2021212938 A1 WO2021212938 A1 WO 2021212938A1
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WO
WIPO (PCT)
Prior art keywords
cigarette
manipulator
working end
smoking
simulation system
Prior art date
Application number
PCT/CN2021/073108
Other languages
English (en)
French (fr)
Inventor
郑晗
詹建波
王浩
余振华
张莹
李赓
余婷婷
程量
李利伟
王涛
王旭
丁海燕
谢姣
岳保山
余江
Original Assignee
云南中烟工业有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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 US17/428,991 priority Critical patent/US11412776B2/en
Publication of WO2021212938A1 publication Critical patent/WO2021212938A1/zh

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Classifications

    • 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
    • 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control

Definitions

  • the invention belongs to the technical field of cigarette detection equipment, and specifically relates to a smoking path simulation system based on a manipulator.
  • Consumers smoking cigarettes are a combination of dynamic and static process actions.
  • the whole process actions are mainly completed through the arms, which usually include typical actions such as lighting up cigarettes, smoking, holding cigarettes statically at multiple angles, turning the wrists, and flicking cigarette ashes.
  • the detection and research on the relevant indicators of the cigarette smoking process usually only introduce the above-mentioned typical actions, such as: the smoking machine includes cigarette lighting and smoking actions, and the cigarette burning cone detection includes cigarette lighting, smoking, and soot popping actions. It can be seen that For the study of the smoking process and state of cigarettes, there is no device and system that includes the whole process of cigarette smoking and the smoking path.
  • the purpose of the present invention is to solve the shortcomings of the prior art and provide a manipulator-based smoking path simulation system that can effectively simulate real smoking actions.
  • a smoking path simulation system based on a manipulator including a chassis, a manipulator fixedly arranged in the chassis, and a cigarette holder installed at the working end of the manipulator, and also includes a feeding device and a cigarette popping device arranged in the chassis and located around the manipulator And the cigarette lighter, and the image acquisition device installed on the working end of the manipulator;
  • the cigarette popping device includes a popping cigarette holder located on the periphery of the manipulator, a driving motor installed on the popping cigarette support, a pull rod provided at the output end of the driving motor, and a flute mounted on the popping support for centralizing the cigarettes.
  • Support plate ;
  • the cigarette lighter includes a cigarette lighter bracket located on the periphery of the manipulator, and a cigarette lighter installed on the cigarette lighter bracket;
  • the image acquisition device includes a frame body fixedly connected to the working end of the manipulator and having N support rods, N cameras respectively fixedly connected to different support rods with the lens facing the working end of the manipulator, and N cameras respectively fixedly connected to different On the support rod, the light source surface faces the fill light lamp at the working end of the manipulator; among them, N ⁇ 2.
  • the cigarette holder is a tubular rubber sleeve.
  • the groove is a V-shaped groove.
  • the smoking path simulation system further includes a discharging device located at the periphery of the manipulator; the discharging device includes a gripper and a gripper which are installed on the cigarette lighter support and used to pull out the cigarette.
  • Cylinder The power output end of the gripper cylinder is connected with the gripper and is used to drive the gripper to clamp or loosen the cigarette.
  • the smoking path simulation system further includes an ambient airflow detecting device;
  • the ambient airflow detecting device includes a connecting seat installed at the working end of the manipulator, and a connecting seat installed on the connecting seat for collecting the work of the manipulator Air flow measurement sensor for air velocity when the cigarette moves at the end;
  • the cigarette holder When testing cigarettes, the cigarette holder is connected to the working end of the manipulator through the connecting seat;
  • the connecting seat When measuring the airflow at the position of the cigarette, the connecting seat is connected to the airflow measuring sensor.
  • an air-conditioning motor is installed on the top of the cabinet, and the air-conditioning motor is connected to the cabinet through an airflow pipe and controls the airflow in the cabinet.
  • the feeding device includes a complete machine frame located on the periphery of the manipulator, a hopper installed on the complete machine frame, a hopper drive motor, a cigarette steering mechanism, and a guide tube;
  • the upper part of the hopper is provided with a trough that can pass a single cigarette in a horizontal state, and an installation panel is installed on the front side of the hopper;
  • the hopper driving motor is connected with the hopper to drive the hopper to rotate. Under the action of gravity, a single cigarette is obtained from the cigarettes to be tested in the hopper through the slot and falls into the cigarette turning mechanism;
  • the cigarette turning mechanism is set directly below the hopper, with an open upper end and a slope inside, which is used to convert the axis of the obtained cigarettes from the horizontal direction to the vertical direction;
  • the lower end of the slope in the cigarette steering mechanism is connected with the inlet at the top of the guide tube;
  • the guide tube is arranged vertically.
  • the field of view of the camera is parallel to the axis of the working end of the manipulator; the ray direction of the light of the fill light is perpendicular to the axis of the working end of the manipulator.
  • the manipulator carries the fixed cigarette holder and moves from the initial position to just below the outlet of the guide, so that the axis of the cigarette holder coincides with the axis of the guide, and the cigarette passes
  • the guide enters the cigarette holder, and after the cigarette holder clamps the cigarette, the manipulator simulates the smoking action of the consumer in the space; wherein, the axis of the cigarette holder is consistent with the axis of the working end of the manipulator.
  • N 3, that is, there are 3 cameras, and there are 3 supplementary lights arranged symmetrically with the cigarette as the center, and symmetrically arranged with the cigarette as the center.
  • the fill light is close to the camera to ensure uniform lighting of the cigarette.
  • the invention adopts multiple sets of cameras to collect the detection images in an all-round way, which greatly reduces the detection data error caused by the single-sided collection of images, at the same time increases the detection effective data, and improves the detection efficiency.
  • the manipulator moves the cigarette to the lighting position, and the cigarette lighter ignites the cigarette carried by the manipulator; then, the manipulator simulates the smoking path of the consumer.
  • the manipulator Move from the suction position to the bounce position, the drive motor drives the pull rod to bounce the cigarettes on the cigarette holder, and the manipulator moves from the bounce position to the righting position, and the cigarettes on the cigarette holder pass The groove of the support plate is centered; then, the above simulation is repeated to simulate the consumer's smoking path, popping cigarettes, and centering until the suction is completed (or the test is over); after that, the manipulator moves to the unloading position, and the gripper cylinder drives the gripper clamp Tighten the cigarette carried by the manipulator, the manipulator moves in the opposite direction to the direction where the gripper is.
  • the gripper cylinder drives the gripper to loosen the cigarette and complete the unloading.
  • the manipulator moving from the suction position to the bounce position, it simulates the swinging and turning of the wrist of the consumer holding the cigarette in the space.
  • the airflow in the chassis is controlled between 150mm/s and 250mm/s.
  • the present invention has the following beneficial effects:
  • test results are more accurate and credible, which can effectively guide the research and development of cigarettes and optimize product quality upgrades;
  • the present invention realizes the simulation of human cigarette smoking path conditions.
  • Functional units such as manipulators, feeding devices, cigarette bombing devices, ignition devices, unloading devices, environmental simulation devices, suction devices, and image acquisition devices.
  • Fully automatic continuous detection under the system ensures the consistency of each simulated action path, and effectively improves the accuracy of cigarette combustion characteristic index detection;
  • the ash crack index (the area of ash column cracks divided by the overall area of the ash column ⁇ 100%) is tested using single-sided shooting detection equipment.
  • the SD value is larger, and the detection value is It also exhibits large fluctuations, and it is difficult to accurately determine the test results of the samples.
  • three-sided full-vision detection it can be seen from the SD value that the detection stability is better, and at the same time, due to the full-vision image acquisition, the objectivity and accuracy of the detection results are better.
  • the system of the present invention is used to detect the deviation of the ash column more objectively.
  • the deviation of the ash column indicates the deviation of the ash column from the axis of the cigarette filter rod during the cigarette burning process.
  • the problem caused the measurement of the deviation of the cigarette burning ash column to fail, and it could not accurately indicate the deviation of the entire cigarette burning ash column from the axis of the cigarette filter rod, as shown in Figure 10 (taken with 3 cameras).
  • the present invention effectively solves the above-mentioned problems by limiting the relative position angle of the camera and the cigarette for visual collection.
  • the cigarette industry does not have a uniform and systematic test method for ash holding performance.
  • the commonly used method is to ignite the cigarette and place it horizontally, and observe the ash holding length of the cigarette burning ash column without smoking. Since the above method has no smoking conditions and is based on a static level test, when consumers actually hold the cigarette statically, in order to avoid smoking their fingers, the cigarette will naturally rise at a certain angle. Therefore, the common static test method cannot simulate the consumer's suction action.
  • the system of the present invention can realize dynamic detection of ash holding performance, improve the objectivity and accuracy of ash holding performance detection and evaluation, and better guide the development and research of cigarette products.
  • FIG. 1 is a schematic diagram of a top view structure of a smoking path simulation system based on a manipulator according to the present invention
  • Figure 2 is a schematic diagram of the structure of the smoke bomb device
  • Figure 3 is a schematic diagram of the structure of a cigarette lighter device and a discharge device
  • Figure 4 is a schematic diagram of the structure of the image acquisition device
  • Figure 5 is a schematic diagram of the structure of the ambient airflow detection device
  • Figure 6 is a schematic diagram of the structure of airflow measurement
  • Figure 7 is a schematic diagram of the structure of the feeding device
  • Figure 8 is a partial cross-sectional view of the feeding device
  • Figure 9 is a test diagram of the burning ash cracking index of each parallel sample cigarette.
  • Figure 10 shows the pictures taken by three cameras of the same cigarette to be tested during the movement measurement of the deviation of the burning ash column of a cigarette.
  • plural means two or more.
  • the terms “inner”, “upper”, “lower”, etc. indicate the position or state relationship based on the position or state relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying what is meant.
  • the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.
  • a manipulator-based smoking path simulation system includes a chassis 1, a manipulator 2 fixedly arranged in the chassis 1, and a cigarette holder 3 installed at the working end of the manipulator 2, and also includes The feeding device 4, the cigarette popping device 5, and the cigarette lighter 6 located around the manipulator 2 in the chassis 1, and the image acquisition device 7 installed at the working end of the manipulator; preferably, the cigarette holder 3 is a tubular rubber tube sleeve ;
  • the popping device 5 includes a popping frame 8 located on the periphery of the manipulator, a driving motor 9 mounted on the popping frame 8, a pull rod 10 provided at the output end of the driving motor 9, and a popping frame 8 for centralizing.
  • the cigarette lighter 6 includes a cigarette lighter bracket 12 located on the periphery of the manipulator 2 and a cigarette lighter 13 installed on the cigarette lighter bracket 12; the present invention does not limit the specific structure of the cigarette lighter 13, and the existing equipment is used. Can;
  • the image acquisition device 7 includes a frame 15 fixedly connected to the working end of the manipulator 2 and having N struts 14, N cameras 16 respectively fixedly connected to different struts 14 and facing the working end of the manipulator 2, and N fill lights 17 respectively fixedly connected to different struts 14 with the light source facing the working end of the manipulator 2; wherein, N ⁇ 2.
  • N 3.
  • a manipulator-based smoking path simulation system includes a chassis 1, a manipulator 2 fixedly arranged in the chassis 1, and a cigarette holder 3 installed at the working end of the manipulator 2, and also includes The feeding device 4, the cigarette popping device 5, and the cigarette lighter 6 located around the manipulator 2 in the chassis 1, and the image acquisition device 7 installed at the working end of the manipulator; preferably, the cigarette holder 3 is a tubular rubber tube sleeve ;
  • the popping device 5 includes a popping frame 8 located on the periphery of the manipulator, a driving motor 9 mounted on the popping frame 8, a pull rod 10 provided at the output end of the driving motor 9, and a popping frame 8 for centralizing.
  • the cigarette lighter 6 includes a cigarette lighter bracket 12 located on the periphery of the manipulator 2 and a cigarette lighter 13 installed on the cigarette lighter bracket 12; the present invention does not limit the specific structure of the cigarette lighter 13, and the existing equipment is used. Can;
  • the image acquisition device 7 includes a frame 15 fixedly connected to the working end of the manipulator 2 and having N struts 14, N cameras 16 respectively fixedly connected to different struts 14 and facing the working end of the manipulator 2, and N fill lights 17 respectively fixedly connected to different struts 14 with the light source facing the working end of the manipulator 2; wherein, N ⁇ 2.
  • N 3.
  • the smoking path simulation system also includes a discharging device 18 located around the manipulator; the discharging device 18 includes a gripper 19 and a gripper cylinder 20 installed on the cigarette lighter holder 12 and used to pull out the cigarette. ; The power output end of the gripper cylinder 20 is connected to the gripper 19 for driving the gripper 19 to clamp or loosen the cigarette 21.
  • a smoking path simulation system based on a manipulator includes a case 1, a manipulator 2 fixedly arranged in the case 1, and a cigarette holder 3 installed on the working end of the manipulator 2, and also includes a The feeding device 4, the cigarette popping device 5, and the cigarette lighter 6 located around the manipulator 2 in the chassis 1, and the image acquisition device 7 installed at the working end of the manipulator; preferably, the cigarette holder 3 is a tubular rubber tube sleeve ;
  • the popping device 5 includes a popping frame 8 located on the periphery of the manipulator, a driving motor 9 mounted on the popping frame 8, a pull rod 10 provided at the output end of the driving motor 9, and a popping frame 8 for centralizing.
  • the cigarette lighter 6 includes a cigarette lighter bracket 12 located on the periphery of the manipulator 2 and a cigarette lighter 13 installed on the cigarette lighter bracket 12; the present invention does not limit the specific structure of the cigarette lighter 13, and the existing equipment is used. Can;
  • the image acquisition device 7 includes a frame 15 fixedly connected to the working end of the manipulator 2 and having N struts 14, N cameras 16 respectively fixedly connected to different struts 14 and facing the working end of the manipulator 2, and N fill lights 17 respectively fixedly connected to different struts 14 with the light source facing the working end of the manipulator 2; wherein, N ⁇ 2.
  • N 3.
  • the smoking path simulation system also includes a discharging device 18 located around the manipulator; the discharging device 18 includes a gripper 19 and a gripper cylinder 20 installed on the cigarette lighter holder 12 and used to pull out the cigarette. ; The power output end of the gripper cylinder 20 is connected to the gripper 19 for driving the gripper 19 to clamp or loosen the cigarette 21.
  • the smoking path simulation system also includes an ambient airflow detection device 22;
  • the ambient airflow detection device 22 includes a connecting seat 23 installed at the working end of the manipulator, and installed on the connecting seat 23 for collecting the working end of the manipulator 2 Air flow measuring sensor 24 for air velocity when the cigarette is moving;
  • the connecting seat 23 When detecting cigarettes, the connecting seat 23 is connected to the cigarette holder 3, that is, the cigarette holder 3 is connected to the working end of the manipulator 2 through the connecting seat 23;
  • the connecting seat 23 When measuring the airflow at the position of the cigarette, the connecting seat 23 is connected to the airflow measuring sensor 24.
  • an air adjustment motor 25 is installed on the top of the case 1, and the air adjustment motor 25 is connected to the case 1 through an air duct 26 and controls the air flow in the case 1.
  • a manipulator-based smoking path simulation system includes a chassis 1, a manipulator 2 fixedly arranged in the chassis 1, and a cigarette holder 3 installed at the working end of the manipulator 2, and also includes a The feeding device 4, the cigarette popping device 5, and the cigarette lighter 6 located around the manipulator 2 in the chassis 1, and the image acquisition device 7 installed at the working end of the manipulator; preferably, the cigarette holder 3 is a tubular rubber tube sleeve ;
  • the popping device 5 includes a popping frame 8 located on the periphery of the manipulator, a driving motor 9 mounted on the popping frame 8, a pull rod 10 provided at the output end of the driving motor 9, and a popping frame 8 for centralizing.
  • the cigarette lighter 6 includes a cigarette lighter bracket 12 located on the periphery of the manipulator 2 and a cigarette lighter 13 installed on the cigarette lighter bracket 12; the present invention does not limit the specific structure of the cigarette lighter 13, and the existing equipment is used. Can;
  • the image acquisition device 7 includes a frame 15 fixedly connected to the working end of the manipulator 2 and having N struts 14, N cameras 16 respectively fixedly connected to different struts 14 and facing the working end of the manipulator 2, and N fill lights 17 respectively fixedly connected to different struts 14 with the light source facing the working end of the manipulator 2; wherein, N ⁇ 2.
  • N 3.
  • the smoking path simulation system also includes a discharging device 18 located around the manipulator; the discharging device 18 includes a gripper 19 and a gripper cylinder 20 installed on the cigarette lighter holder 12 and used to pull out the cigarette. ; The power output end of the gripper cylinder 20 is connected to the gripper 19 for driving the gripper 19 to clamp or loosen the cigarette 21.
  • the smoking path simulation system also includes an ambient airflow detection device 22;
  • the ambient airflow detection device 22 includes a connecting seat 23 installed at the working end of the manipulator, and installed on the connecting seat 23 for collecting the working end of the manipulator 2 Air flow measuring sensor 24 for air velocity when the cigarette is moving;
  • the connecting seat 23 When detecting cigarettes, the connecting seat 23 is connected to the cigarette holder 3, that is, the cigarette holder 3 is connected to the working end of the manipulator 2 through the connecting seat 23;
  • the connecting seat 23 When measuring the airflow at the position of the cigarette, the connecting seat 23 is connected to the airflow measuring sensor 24.
  • an air adjustment motor 25 is installed on the top of the case 1, and the air adjustment motor 25 is connected to the case 1 through an air duct 26 and controls the air flow in the case 1.
  • the feeding device 4 includes a complete machine frame 32 located on the periphery of the manipulator 1, a hopper 28 installed on the complete machine frame 32, a hopper drive motor 29, a cigarette steering mechanism 30, and a guide pipe 31;
  • the upper part of the hopper 28 is provided with a through slot that can pass a single cigarette in a horizontal state, and a mounting panel 27 is installed on the front side of the hopper;
  • the hopper driving motor 29 is connected to the hopper 28 and is used to drive the hopper 28 to rotate. Under the action of gravity, a single cigarette is obtained from the cigarettes to be tested in the hopper 28 through the through slot and dropped into the cigarette turning mechanism 30;
  • the cigarette turning mechanism 30 is set directly below the hopper 28, with an open upper end and a slope inside, which is used to convert the axis of the obtained cigarette 21 from a horizontal direction to a vertical direction;
  • the lower end of the slope in the cigarette steering mechanism 30 is communicated with the inlet at the top of the guide tube 31;
  • the guide tube 31 is vertically arranged.
  • the guide tube 31 is used to guide the cigarette 21 to be tested to the cigarette holder 3 that is matched and fixed by the manipulator 1.
  • the installation panel 27 and the hopper 28 are detachable connection or movable link.
  • the installation panel 27 is connected to the machine frame 32, and the cigarettes to be tested are loaded into the hopper 28 from the opening of the installation panel 27.
  • the installation panel 27 can prevent the cigarettes to be tested. 21 overflow hopper 28;
  • the present invention does not impose any special restrictions on the specific installation position of the frame 32 of the whole machine, and it is preferably fixed on the inner wall of the chassis 1.
  • the field of view of the camera 16 is parallel to the axis of the working end of the manipulator 2; the ray direction of the light of the fill light 17 is perpendicular to the axis of the working end of the manipulator 2.
  • the air flow in the chassis 1 is controlled between 150 mm/s and 250 mm/s.
  • the cigarette lighter 13 is a power device for igniting the cigarette 21;
  • the cigarette holder 3 is used for holding cigarettes 21;
  • the cigarette lighter bracket 12 is used to fix the cigarette lighter 13, the clamping jaw 19 and the clamping jaw cylinder 20;
  • the clamping jaw 19 is used to clamp and loosen the cigarette 21 (cigarette butt) after smoking;
  • the gripper cylinder 20 is used to drive the gripper 19 to complete the clamping and unclamping action of the cigarette 21 (cigarette butt) after smoking.
  • the pull rod 10 is used to simulate the action of a consumer's finger flicking soot
  • the smoke bomb holder 8 is used to fix and install the pull rod 10 and the drive motor 9; preferably, the smoke bomb holder 8 is an inverted L-shaped support;
  • the driving motor 9 is used to drive the pulling rod 10, which can simulate the process of consumers flicking soot, including the strength of flicking soot and the number of times of flicking soot;
  • the support plate 11 is used to cooperate with the downward movement of the manipulator 2 to complete the function of centralizing the cigarette after popping the soot.
  • the movement of the manipulator 2 from the bounce position to the righting position is usually a downward movement (the downward displacement is small).
  • the air flow adjustment motor 25 is used to adjust the air flow in the chassis 1 as required.
  • the airflow measurement sensor 24 is installed on the connecting seat 23 and performs real-time dynamic measurement according to the movement of the manipulator 2 in the chassis 1.
  • the installation panel 27 and the hopper 28 are detachably connected or movably connected. After the installation panel 27 is removed or opened, the cigarette to be tested is put into the hopper 28, and then the installation panel 27 is installed or closed.
  • the manipulator 2 carrying the fixed cigarette holder 3 moves from the initial position to just below the exit of the guide 31, so that the axis of the cigarette holder 3 coincides with the axis of the guide 31, and the cigarette holder 3 21 enters the cigarette holder 3 through the guide 31.
  • the manipulator 2 simulates the smoking action of the consumer in the space; among them, the axis of the cigarette holder 3 and The axis of the working end of the manipulator 2 is kept consistent.
  • the manipulator 2 After the device of the present invention is powered on, the manipulator 2, the drive motor 9, the cigarette lighter 13, the camera 16, the fill light 17, the gripper cylinder 20, the air flow adjustment motor 25, and the hopper drive motor 29 are in an activated enabling state.
  • the manipulator 2 After the cigarette holder 3 clamps the cigarette, the manipulator 2 carries the cigarette 21 to move to the cigarette lighter position, and the cigarette lighter 13 ignites the cigarette 21 carried by the manipulator 2; then, the manipulator 2 simulates the smoking path of the consumer, When the cigarette needs to be popped, the manipulator 2 moves from the suction position to the bounce position, the drive motor 9 drives the pull rod 10 to bounce the cigarette 21 on the cigarette holder 3, and the manipulator 2 moves from the bounce position to the bounce position.
  • the cigarettes 21 on the cigarette holder 3 are centered through the grooves of the support plate 11; then, repeat the above simulation to simulate the consumer's smoking path, popping cigarettes, and centering until the smoking is completed (or the test ends);
  • the manipulator 2 moves to the unloading position
  • the gripper cylinder 20 drives the gripper 19 to clamp the cigarette 21 carried by the manipulator 2, the manipulator 2 moves in the opposite direction to the direction where the gripper 19 is, and the cigarette 21 is separated from the manipulator 2 ,
  • the gripper cylinder 20 drives the gripper 19 to loosen the cigarette 21 to complete the discharge.
  • the manipulator 2 moves from the suction position to the bounce position, simulating the swinging and turning of the wrist of the consumer in the space while holding the cigarette.
  • the manipulator 2 plans its simulated motion smoking path in a preset program, and the frame 15 where the pole 14 carrying the camera 16 and the fill light 17 is located is fixedly connected to the manipulator 2, and moves along with the smoking path of the manipulator 2 in the space. And sports.
  • the manipulator 1 is driven by a preset program, the fill light 17 is turned on, and the camera 16 starts to work. Under the real-time movement of the manipulator 2, the camera 16 can collect effective images in the area where the fill light 17 is evenly distributed in real time at any time according to requirements. After the collection is completed, the corresponding images can be analyzed and processed (Note: image Performing analysis and processing is not part of the work content of the components of the present invention).
  • the manipulator 2 returns to the initial position and stops moving, the fill light 17 is turned off, and the camera 16 stops collecting images.
  • the specific action of righting is: the cigarette 21 held by the cigarette holder 3 continues to move to the notch of the V-shaped groove structure under the action of the preset program of the manipulator 2.
  • the position of stay at this time is the spatial coordinate position determined by the relative position of the cigarette 21 with the V-shaped groove when the cigarette 21 was not bounced in the early stage and is located in the center position of the cigarette holder 3.
  • the bounced cigarette 21 is in the manipulator 2 Under the combined action of the controlled cigarette holder 3 and the V-shaped groove, the centralizing operation is completed.
  • the manipulator 2 carries the cigarettes 21 clamped by the cigarette holder 3, and returns from the centering position to the bomb base position, and the centering action ends.
  • the manipulator 2 carries the fixed cigarette holder 3 and moves from the initial position to the position where it is ready to start taking and feeding the cigarettes, that is, directly below the guide 31 matched with the hopper 28. Then, the manipulator 2 controls the cigarette holder 3 to move to a position where the axis of the cigarette holder 3 coincides with the axis of the guide 31. In the case that the two axis lines are always in the same straight line, the manipulator 2 is controlled to move upwards so that the cigarette holder 3 and the guide 31 are aligned in space.
  • the exit of the guide 31 enters the smoke
  • the sealing ring inside the holder 3 makes the cigarette holder 3 and the guide 31 form a negative distance, ensuring that the cigarette to be tested enters the cigarette holder 3 from the exit of the guide 31 and is clamped by the cigarette
  • the sealing ring of the hopper is tightly enclosed, as shown in Figure 2; the hopper driving motor 29 drives the hopper 28 to make a rotary motion, and obtains a single cigarette from the cigarettes to be tested in the hopper 28 (through the hopper containing only one cigarette) Through the slot to obtain a single cigarette); the obtained cigarette 21 falls to the cigarette turning mechanism 30 under the action of gravity, and the cigarette 21 slides downwards by gravity on the slope of the cigarette turning mechanism 30, thereby achieving the completion of the cigarette
  • the stick 21 is converted from the horizontal direction to the vertical direction.
  • the cigarette 21 enters the cigarette holder 3 through the guide 31. After the cigarette holder 3 clamps the cigarette 9, the manipulator 2 moves vertically downwards ; Until the cigarettes held by the cigarette holder 3 are completely separated from the guide 31, and finally the cigarette loading is completed.
  • the environmental airflow detection is specifically: connecting the connecting seat 23 on the clamping end of the manipulator 2 to the airflow measurement sensor 24, and the manipulator 2 carries the airflow measurement sensor 24 to move to the position that needs to be measured.
  • the airflow measurement sensor 24 is used to measure the airflow size, and the airflow size is between 150mm/s and 250mm/s, and the rotation speed R of the airflow adjustment motor 25 is recorded.
  • the rotation speed R of the air flow regulating motor 25 is taken as the calibration value for measurement.
  • the airflow size corresponding to the known motor speed of the airflow adjustment motor 25 is used as the calibration value, and then at this motor speed, the airflow value measured by the airflow measurement sensor 24 is calibrated against the standard calibration value, and the airflow value measured by the actual airflow measurement sensor 24 If the airflow is not within this range, recalibration is required.
  • the manipulator 2 carries the airflow measurement sensor 24 to move to the test position. Setting the rotation speed of the air flow adjustment motor 25 to the calibrated value R can ensure that the air flow size is between 150 mm/s and 250 mm/s.

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Abstract

一种基于机械手（2）的抽烟路径仿真系统，属于卷烟检测技术领域。系统包括机箱（1），固定设置于机箱（1）内的机械手（2），以及安装于机械手（2）工作端的烟支夹持器（3），还包括设置于机箱（1）内位于机械手（2）周边的给料装置（4）、弹烟装置（5）及点烟装置（6），以及安装于机械手（2）工作端的图像采集装置（7）。能够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等卷烟燃烧性能指标检测的精度。

Description

一种基于机械手的抽烟路径仿真系统 技术领域
本发明属于卷烟检测设备技术领域，具体涉及一种基于机械手的抽烟路径仿真系统。
背景技术
消费者抽吸卷烟是一个动态和静态相结合的过程动作，主要通过手臂完成整个过程动作，通常包括点烟、抽吸、多角度静态持烟、翻转手腕、弹烟灰等典型动作。目前，对卷烟抽吸过程相关指标的检测和研究通常仅引入上述部分典型动作，如：吸烟机包括点烟和抽吸动作，卷烟燃烧锥检测包括点烟、抽吸、弹烟灰动作等，可见，对于卷烟抽吸过程及状态的研究，尚没有包括卷烟抽吸全过程动作和抽吸路径的装置和系统来实现。在对卷烟抽吸过程中，卷烟燃烧锥掉落，包灰性能，飞灰、落灰状态等指标的测定和研究，都与卷烟抽吸全过程动作密切相关。如果仅在部分抽吸动作条件下进行卷烟燃烧指标检测，显然不能实现模拟消费者真实抽吸状态下卷烟实际状态，检测结果缺乏客观性，不能精确地指导相关科研和生产工作，甚至会形成一定的误导。
随着社会经济的发展，生活质量的提升，消费者对卷烟品质的要求也不断提升，消费者在抽吸卷烟过程中，对卷烟燃烧状态关注越来越重视。由于卷烟燃烧状态是消费者能直观捕捉到的产品特征，因此对卷烟燃烧过程中相关指标的研究，一直以来都是卷烟研究工作的重要方向。如何对卷烟燃烧状态及相关指标的准确检测，是指导卷烟研究，优化产品质量升级的关键。
为此，结合实际需求，克服现有技术不足，针对卷烟抽吸全过程特征，开发一整套用于模拟人体抽吸卷烟的仿真系统是卷烟检测技术领域亟需解决的问题。
发明内容
本发明的目的是为了解决现有技术的不足，提供一种可有效模拟真实吸烟动作的基于机械手的抽烟路径仿真系统。
为实现上述目的，本发明采用的技术方案如下：
一种基于机械手的抽烟路径仿真系统，包括机箱，固定设置于机箱内的机械手，以及安装于机械手工作端的烟支夹持器，还包括设置于机箱内位于机械手周边的给料装置、弹烟装置及点烟装置，以及安装于机械手工作端的图像采集装置；
所述的弹烟装置包括位于机械手外围的弹烟支架，安装于弹烟支架上的驱动电机，设置于驱动电机输出端的拔杆，以及安装于弹烟支架用于扶正烟支的、具有凹槽的支撑板；
所述的点烟装置包括位于机械手外围的点烟支架，安装于点烟支架上的点烟器；
所述的图像采集装置包括固连于机械手工作端、具有N个支杆的架体，N个分别固连于不同支杆上、且镜头朝向机械手工作端的摄像机，以及N个分别固连于不同支杆上、光源面朝向机械手工作端的补光灯；其中，N≥2。
进一步，优选的是，所述烟支夹持器为管状的橡胶管套。
进一步，优选的是，所述的凹槽为V型槽。
进一步，优选的是，所述的抽烟路径仿真系统还包括位于机械手周边的卸料装置；所述的卸料装置包括装于点烟支架上、用于将烟支拔脱的夹爪和夹爪气缸；夹爪气缸的动力输出端与夹爪连接，用于驱动夹爪夹紧或松开烟支。
进一步，优选的是，所述的抽烟路径仿真系统还包括环境气流检测装置；所述的环境气流检测装置包括安装于机械手工作端处的连接座，以及安装于连接座上、用于采集机械手工作端处烟支运动时空气流速的气流测量传感器；
在对烟支进行检测时，烟支夹持器通过连接座连接在机械手的工作端上；
在测量烟支所在位置的气流时，连接座连接所述气流测量传感器。
进一步，优选的是，在机箱顶端安装有气流调节电机，气流调节电机通过气流管道连接机箱并控制机箱内的气流。
进一步，优选的是，所述的给料装置包括位于机械手外围的整机框架，安装于整机框架上的料斗、料斗驱动电机和烟支转向机构，导向管；
料斗的上部设有能够使水平状态的单支烟通过的通槽，料斗前侧安装有安装面板；
料斗驱动电机与料斗相连，用于驱动料斗旋转，在重力作用下，通过通槽从料斗的待测烟支中获取单支烟下落至烟支转向机构中；
烟支转向机构设在料斗的正下方，上端开口，内设有斜坡，用于将获取的烟支的轴线由水平方向转换为竖直方向；
烟支转向机构内斜坡低端与导向管顶端的入口相连通；
导向管竖直设置。
进一步，优选的是，所述摄像机视场平行于机械手工作端的轴心；补光灯 的光的射线方向垂直于机械手工作端的轴心。
进一步，优选的是，所述机械手携带固连的烟支夹持器从初始位置运动到导向器出口的正下方，使得烟支夹持器的轴心与导向器的轴心重合，烟支通过导向器进入所述烟支夹持器，烟支夹持器夹紧烟支后，机械手模拟消费者在空间的抽烟动作；其中，烟支夹持器轴心与机械手工作端轴心保持一致。
进一步，优选的是，N＝3，即摄像机有3个，且以烟支为中心对称设置补光灯有3个，且以烟支为中心对称设置。补光灯与摄像机位置邻近，以保证烟支打光均匀。本发明采用多组摄像头全面采集检测图像，大幅度降低了由于单面采集图像带来的检测数据误差，同时增加了检测有效数据，提升检测效率。
烟支夹持器夹紧烟支后，机械手携带烟支运动到点烟位置，点烟器点燃机械手所携带的烟支；然后，机械手仿真模拟消费者抽吸路径，当需要弹烟时，机械手由抽吸位置运动到弹击位置，驱动电机驱动拔杆对烟支夹持器上的烟支进行弹击，机械手再由弹击位置运动到扶正位置，烟支夹持器上的烟支经支撑板的凹槽进行扶正；接着，重复上述仿真模拟消费者抽吸路径及弹烟、扶正直至抽吸完成(或检测结束)；之后，机械手运动到卸料位置，夹爪气缸驱动夹爪夹紧机械手携带的烟支，机械手向夹爪所在方向的反方向运动，烟支从机械手上脱离后，夹爪气缸驱动夹爪松开烟支，完成卸料。其中，机械手由抽吸位置运动到弹击位置过程中，模拟消费者持烟在空间的挥臂摆动和翻手腕动作。
优选的是，机箱内气流控制在150mm/s～250mm/s之间。
本发明与现有技术相比，其有益效果为：
1.提供了一整套模拟人体抽吸卷烟过程动作，包括点烟、抽吸、多角度静态持烟、翻转手腕、弹烟灰等全部典型动作的抽烟路径仿真系统；
2.提供了在模拟不同环境条件下，仿真人体卷烟抽吸动作，对卷烟燃烧过程状态，包括卷烟包灰性能、碳线质量、多角度持灰率等性能指标的检测，提升检测结果的客观性和准确性，检测结果更加精确可信，能有效指导卷烟研究开发工作，优化产品质量升级；
3、本发明通过机械手、给料装置、弹烟装置、点火装置、卸料装置、环境模拟装置、抽吸装置、图像采集装置等功能单元系统集成，实现了在模拟人体卷烟抽吸动作路径条件下的全自动连续检测，重复性好，确保每次模拟动作路径的一致性，有效提高卷烟燃烧特性指标检测的精度；
4、实现了对卷烟燃烧过程中图像的全视觉实时采集，避免了由于单面拍照 采集图像，导致检测结果缺少客观性和准确性，大幅度提升了检测结果的精确度，为指导产品技术研发和生产优化提供准确的数据支持；表1和图9是对检测指标改进的举例说明。
由表1数据可以看出，对于同一平行样品进行灰裂指数(灰柱裂痕部分面积除以灰柱整体面积×100％)检测，采用单面拍摄检测设备进行检测，SD值较大，检测值也呈现出较大波动，难以对样品检测结果进行准确判定。采用三面全视觉检测，从SD值可以看出检测稳定性较好，同时，由于全视觉图像采集，检测结果客观性和精确度更好。
表1各平行样品不同检测方法卷烟灰裂指数检测值
Figure PCTCN2021073108-appb-000001
由图9数据检测结果和相应采集图像可以看出，如果采用单面拍摄，由于拍摄角度受限，很难实现对卷烟灰柱偏离度进行准确检测和评价；
5、采用本发明系统对灰柱偏离情况检测更为客观，灰柱偏离表示的是卷烟燃烧过程中灰柱偏离卷烟滤棒轴心的情况，如果从其他视角平面进行单一图像采集，会由于视觉问题从而引起卷烟燃烧灰柱偏离度的测定失败，不能正确表示出整个卷烟燃烧灰柱偏离卷烟滤棒轴心的程度，如图10所示(采用3个摄像机拍摄)。本发明通过限定摄像与烟支的相对位置视角进行视觉采集的方法有效解决了上述难题。
6、目前，卷烟行业对持灰性能的考察没有较为统一和系统的测试方法，常用的方法是将卷烟点燃后水平放置，在没有抽吸条件下观察卷烟燃烧灰柱持灰长度。上述方法由于没有抽吸条件，且基于静态水平测试，而消费者在实际静态持烟时，为了避免烟熏手指，都会让卷烟自然上翘呈一定角度。所以，常见的静态测试方法不能模拟消费者抽吸动作。采用本发明系统可实现对持灰性能 的动态检测，提高了持灰性能检测和评价的客观性和精确度，更好地指导卷烟产品开发研究工作。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为本发明基于机械手的抽烟路径仿真系统的俯视结构示意图；
图2为弹烟装置的结构示意图；
图3为点烟装置和卸料装置的结构示意图；
图4为图像采集装置的结构示意图；
图5为环境气流检测装置的结构示意图；
图6为气流测量的的结构示意图；
图7为给料装置的结构示意图；
图8为给料装置局部剖示图；
其中，1、机箱；2、机械手；3、烟支夹持器；4、给料装置；5、弹烟装置；6、点烟装置；7、图像采集装置；8、弹烟支架；9、驱动电机；10、拔杆；11、支撑板；12、点烟支架；13、点烟器；14、支杆；15、架体；16、摄像机；17、补光灯；18、卸料装置；19、夹爪；20、夹爪气缸；21、烟支；22、环境气流检测装置；23、连接座；24、气流测量传感器；25、气流调节电机；26、气流管道；27、安装面板；28、料斗；29、料斗驱动电机；30、烟支转向机构；31、导向器；32、整机框架；
图9为各平行样品卷烟燃烧灰裂指数的检测图；
图10为运动测量卷烟燃烧灰柱偏离情况过程中同一只待测烟支3个摄像头拍摄到的图片。
具体实施方式
下面结合实施例对本发明作进一步的详细描述。
本领域技术人员将会理解，下列实施例仅用于说明本发明，而不应视为限定本发明的范围。实施例中未注明具体技术或条件者，按照本领域内的文献所描述的技术或条件或者按照产品说明书进行。所用材料或设备未注明生产厂商者，均为可以通过购买获得的常规产品。
本技术领域技术人员可以理解，除非特意声明，这里使用的单数形式“一”、“一个”、“所述”和“该”也可包括复数形式。应该进一步理解的是，本发明的说明书中使用的措辞“包括”是指存在所述特征、整数、步骤、操作、元件和/或组件，但是并不排除存在或添加一个或多个其他特征、整数、步骤、操作、元件、组件和/或它们的组。应该理解，当我们称元件被“连接”到另一元件时，它可以直接连接到其他元件，或者也可以存在中间元件。
在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。术语“内”、“上”、“下”等指示的方位或状态关系为基于附图所示的方位或状态关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“连接”、“设有”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，根据具体情况理解上述术语在本发明中的具体含义。
本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。
实施例1
如图1～4所示，一种基于机械手的抽烟路径仿真系统，包括机箱1，固定设置于机箱1内的机械手2，以及安装于机械手2工作端的烟支夹持器3，还包括设置于机箱1内位于机械手2周边的给料装置4、弹烟装置5及点烟装置6，以及安装于机械手工作端的图像采集装置7；优选，所述烟支夹持器3为管状的橡胶管套；
所述的弹烟装置5包括位于机械手外围的弹烟支架8，安装于弹烟支架8上的驱动电机9，设置于驱动电机9输出端的拔杆10，以及安装于弹烟支架8用于扶正烟支的、具有凹槽的支撑板11；优选，所述的凹槽为V型槽。
所述的点烟装置6包括位于机械手2外围的点烟支架12，安装于点烟支架12上的点烟器13；本发明对于点烟器13的具体结构不做限制，采用现有设备 即可；
所述的图像采集装置7包括固连于机械手2工作端、具有N个支杆14的架体15，N个分别固连于不同支杆14上、且镜头朝向机械手2工作端的摄像机16，以及N个分别固连于不同支杆14上、光源面朝向机械手2工作端的补光灯17；其中，N≥2。优选N＝3。
实施例2
如图1～4所示，一种基于机械手的抽烟路径仿真系统，包括机箱1，固定设置于机箱1内的机械手2，以及安装于机械手2工作端的烟支夹持器3，还包括设置于机箱1内位于机械手2周边的给料装置4、弹烟装置5及点烟装置6，以及安装于机械手工作端的图像采集装置7；优选，所述烟支夹持器3为管状的橡胶管套；
所述的弹烟装置5包括位于机械手外围的弹烟支架8，安装于弹烟支架8上的驱动电机9，设置于驱动电机9输出端的拔杆10，以及安装于弹烟支架8用于扶正烟支的、具有凹槽的支撑板11；优选，所述的凹槽为V型槽。
所述的点烟装置6包括位于机械手2外围的点烟支架12，安装于点烟支架12上的点烟器13；本发明对于点烟器13的具体结构不做限制，采用现有设备即可；
所述的图像采集装置7包括固连于机械手2工作端、具有N个支杆14的架体15，N个分别固连于不同支杆14上、且镜头朝向机械手2工作端的摄像机16，以及N个分别固连于不同支杆14上、光源面朝向机械手2工作端的补光灯17；其中，N≥2。优选N＝3。
所述的抽烟路径仿真系统还包括位于机械手周边的卸料装置18；所述的卸料装置18包括装于点烟支架12上、用于将烟支拔脱的夹爪19和夹爪气缸20；夹爪气缸20的动力输出端与夹爪19连接，用于驱动夹爪19夹紧或松开烟支21。
实施例3
如图1～6所示，一种基于机械手的抽烟路径仿真系统，包括机箱1，固定设置于机箱1内的机械手2，以及安装于机械手2工作端的烟支夹持器3，还包括设置于机箱1内位于机械手2周边的给料装置4、弹烟装置5及点烟装置6，以及安装于机械手工作端的图像采集装置7；优选，所述烟支夹持器3为管状的橡胶管套；
所述的弹烟装置5包括位于机械手外围的弹烟支架8，安装于弹烟支架8上的驱动电机9，设置于驱动电机9输出端的拔杆10，以及安装于弹烟支架8用于扶正烟支的、具有凹槽的支撑板11；优选，所述的凹槽为V型槽。
所述的点烟装置6包括位于机械手2外围的点烟支架12，安装于点烟支架12上的点烟器13；本发明对于点烟器13的具体结构不做限制，采用现有设备即可；
所述的图像采集装置7包括固连于机械手2工作端、具有N个支杆14的架体15，N个分别固连于不同支杆14上、且镜头朝向机械手2工作端的摄像机16，以及N个分别固连于不同支杆14上、光源面朝向机械手2工作端的补光灯17；其中，N≥2。优选N＝3。
所述的抽烟路径仿真系统还包括位于机械手周边的卸料装置18；所述的卸料装置18包括装于点烟支架12上、用于将烟支拔脱的夹爪19和夹爪气缸20；夹爪气缸20的动力输出端与夹爪19连接，用于驱动夹爪19夹紧或松开烟支21。
所述的抽烟路径仿真系统还包括环境气流检测装置22；所述的环境气流检测装置22包括安装于机械手工作端处的连接座23，以及安装于连接座23上、用于采集机械手2工作端处烟支运动时空气流速的气流测量传感器24；
在对烟支进行检测时，连接座23连接烟支夹持器3，即烟支夹持器3通过连接座23连接在机械手2的工作端上；
在测量烟支所在位置的气流时，连接座23连接所述气流测量传感器24。
优选，在机箱1顶端安装有气流调节电机25，气流调节电机25通过气流管道26连接机箱1并控制机箱1内的气流。
实施例4
如图1～8所示，一种基于机械手的抽烟路径仿真系统，包括机箱1，固定设置于机箱1内的机械手2，以及安装于机械手2工作端的烟支夹持器3，还包括设置于机箱1内位于机械手2周边的给料装置4、弹烟装置5及点烟装置6，以及安装于机械手工作端的图像采集装置7；优选，所述烟支夹持器3为管状的橡胶管套；
所述的弹烟装置5包括位于机械手外围的弹烟支架8，安装于弹烟支架8上的驱动电机9，设置于驱动电机9输出端的拔杆10，以及安装于弹烟支架8用于扶正烟支的、具有凹槽的支撑板11；优选，所述的凹槽为V型槽。
所述的点烟装置6包括位于机械手2外围的点烟支架12，安装于点烟支架12上的点烟器13；本发明对于点烟器13的具体结构不做限制，采用现有设备即可；
所述的图像采集装置7包括固连于机械手2工作端、具有N个支杆14的架体15，N个分别固连于不同支杆14上、且镜头朝向机械手2工作端的摄像机16，以及N个分别固连于不同支杆14上、光源面朝向机械手2工作端的补光灯17；其中，N≥2。优选N＝3。
所述的抽烟路径仿真系统还包括位于机械手周边的卸料装置18；所述的卸料装置18包括装于点烟支架12上、用于将烟支拔脱的夹爪19和夹爪气缸20；夹爪气缸20的动力输出端与夹爪19连接，用于驱动夹爪19夹紧或松开烟支21。
所述的抽烟路径仿真系统还包括环境气流检测装置22；所述的环境气流检测装置22包括安装于机械手工作端处的连接座23，以及安装于连接座23上、用于采集机械手2工作端处烟支运动时空气流速的气流测量传感器24；
在对烟支进行检测时，连接座23连接烟支夹持器3，即烟支夹持器3通过连接座23连接在机械手2的工作端上；
在测量烟支所在位置的气流时，连接座23连接所述气流测量传感器24。
优选，在机箱1顶端安装有气流调节电机25，气流调节电机25通过气流管道26连接机箱1并控制机箱1内的气流。
所述的给料装置4包括位于机械手1外围的整机框架32，安装于整机框架32上的料斗28、料斗驱动电机29和烟支转向机构30，导向管31；
料斗28的上部设有能够使水平状态的单支烟通过的通槽，料斗前侧安装有安装面板27；
料斗驱动电机29与料斗28相连，用于驱动料斗28旋转，在重力作用下，通过通槽从料斗28的待测烟支中获取单支烟下落至烟支转向机构30中；
烟支转向机构30设在料斗28的正下方，上端开口，内设有斜坡，用于将获取的烟支21的轴线由水平方向转换为竖直方向；
烟支转向机构30内斜坡低端与导向管31顶端的入口相连通；
导向管31竖直设置。导向管31用于将待测烟支21导向到机械手1配合固定的烟支夹持器3中。
安装面板27与料斗28为可拆卸连接或活动链接，安装面板27连接整机框 架32，将待测烟支从安装面板27的开口处装入料斗28中，安装面板27可防止待测烟支21溢出料斗28；
本发明对于整机框架32的具体安装位置不做特殊限制，优选固定在机箱1内壁上。
优选，所述摄像机16视场平行于机械手2工作端的轴心；补光灯17的光的射线方向垂直于机械手2工作端的轴心。
优选，机箱1内气流控制在150mm/s～250mm/s之间。
所述点烟器13是烟支21点燃的功率器件；
所述烟支夹持器3用于烟支21夹持；
所述点烟支架12用于固定点烟器13、夹爪19和夹爪气缸20；
所述夹爪19用于将抽吸后的烟支21(烟蒂)的夹紧和松开；
所述夹爪气缸20用于驱动夹爪19，完成抽吸后的烟支21(烟蒂)的夹紧和松开动作。
拔杆10用于模拟消费者手指弹烟灰的动作；
弹烟支架8用于固定和安装拔杆10和驱动电机9；优选，弹烟支架8为倒L形支架；
驱动电机9用于驱动拔杆10，可以模拟消费者弹烟灰的过程，包括弹烟灰的力度和弹烟灰的次数等；
支撑板11用于配合机械手2的向下运动，完成弹烟灰后的卷烟扶正功能。
机械手2再由弹击位置运动到扶正位置通常为向下运动(向下位移较小)。
气流调节电机25用于根据需要调节机箱1内气流大小。
气流测量传感器24安装于连接座23上，根据机械手2在机箱1内的运动进行实时动态测量。
所述的安装面板27与料斗28为可拆卸连接或活动连接，拆下或打开安装面板27后，将待测烟支装入料斗28中，然后再装上或关闭安装面板27。
优选，所述机械手2携带固连的烟支夹持器3从初始位置运动到导向器31出口的正下方，使得烟支夹持器3的轴心与导向器31的轴心重合，烟支21通过导向器31进入所述烟支夹持器3，烟支夹持器3夹紧烟支21后，机械手2模拟消费者在空间的抽烟动作；其中，烟支夹持器3轴心与机械手2工作端轴心保持一致。
本发明装置供电后，机械手2、驱动电机9、点烟器13、摄像机16、补光 灯17、夹爪气缸20、气流调节电机25、料斗驱动电机29处于激活的使能状态。
烟支夹持器3夹紧烟支后，机械手2携带烟支21运动到点烟位置，点烟器13点燃机械手2所携带的烟支21；然后，机械手2仿真模拟消费者抽吸路径，当需要弹烟时，机械手2由抽吸位置运动到弹击位置，驱动电机9驱动拔杆10对烟支夹持器3上的烟支21进行弹击，机械手2再由弹击位置运动到扶正位置，烟支夹持器3上的烟支21经支撑板11的凹槽进行扶正；接着，重复上述仿真模拟消费者抽吸路径及弹烟、扶正直至抽吸完成(或检测结束)；之后，机械手2运动到卸料位置，夹爪气缸20驱动夹爪19夹紧机械手2携带的烟支21，机械手2向夹爪19所在方向的反方向运动，烟支21从机械手2上脱离后，夹爪气缸20驱动夹爪19松开烟支21，完成卸料。其中，机械手2由抽吸位置运动到弹击位置过程中，模拟消费者持烟在空间的挥臂摆动和翻手腕动作。
所述机械手2在预设程序中规划其仿真运动抽烟路径，携带摄像机16与补光灯17的支杆14所在的架体15固连于机械手2上，随着机械手2在空间的抽烟路径运动而运动。所述机械手1在预设程序的驱动下，补光灯17打开，摄像机16开始工作。在机械手2的实时运动情况下，摄像机16按照需求，在任意时间均可实时采集补光灯17均匀分布的区域内的有效图像，采集完成后可对相应的图像进行分析处理(注：对图像进行分析处理不属于本发明部件的工作内容)，当整个装置工作结束时，机械手2返回初始位置并停止运动，补光灯17关闭，摄像机16停止采集图像。
其中扶正的具体动作为：所述烟支夹持器3夹持的烟支21在机械手2的预设程序作用下，继续运动直到V型槽结构的槽口处。此时停留的位置是根据烟支21在前期没有被弹击且位于烟支夹持器3的中心位置时与V型槽相对位置决定的空间坐标位置，被弹击的烟支21在机械手2控制的烟支夹持器3和V型槽的共同作用下，完成扶正操作。所述机械手2携带被烟支夹持器3夹持的烟支21，从扶正位置回到弹基位置，扶正动作结束。
给料具体动作为：所述机械手2携带固连的烟支夹持器3，从初始位置运动到准备开始取烟进料的位置，即与所述料斗28配合的导向器31的正下方。然后，所述机械手2控制烟支夹持器3运动到烟支夹持器3的轴心与导向器31的轴心重合的位置。在所述两轴心线始终处于同一条直线的情况下，控制机械手2，向上运动，使得所述烟支夹持器3与导向器31空间位置重合，重合过程中，导向器31出口进入烟支夹持器3内部的密封圈，使烟支夹持器3与导向器31形 成负距离，保证待测烟支从导向器31的出口进入烟支夹持器3中，被烟支夹持器的密封圈紧固包围，如图2所示；所述料斗驱动电机29驱动料斗28做旋转运动，从料斗28的待测烟支中获取单支烟(通过只容纳一支烟的料斗的通槽获得单支烟)；获取的烟支21在重力作用下下落至所述烟支转向机构30，烟支21在烟支转向机构30的斜坡上通过重力作用向下滑动，从而实现完成烟支21由水平方向到竖直方向的转换，烟支21通过导向器31进入所述烟支夹持器3，烟支夹持器3夹紧烟支9后，所述机械手2垂直向下运动；直到烟支夹持器3夹持的烟支完全脱离导向器31，最终完成烟支上料。
环境气流检测具体为：在所述机械手2上夹持端的连接座23连接气流测量传感器24，机械手2携带气流测量传感器24运动到需要测量的位置。通过调节预设定程序中所述气流调节电机25的转速，利用气流测量传感器24测量气流大小，满足气流大小在150mm/s～250mm/s之间，记录气流调节电机25的转速R。以此气流调节电机25转速R为校准值，进行测量。即利用气流调节电机25已知的电机转速对应的气流大小作为校准值，然后在此电机转速下，气流测量传感器24测量的气流值对标校准值进行校准，实际气流测量传感器24测量的气流值若非此范围内的气流大小，则需要重新校准。环境气流检测过程中，所述机械手2携带气流测量传感器24运动到测试位置。设置气流调节电机25的转速为校准值R，可以保证气流大小满足在150mm/s～250mm/s之间。
以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (9)

  1. 一种基于机械手的抽烟路径仿真系统，包括机箱，固定设置于机箱内的机械手，以及安装于机械手工作端的烟支夹持器，其特征在于：还包括设置于机箱内位于机械手周边的给料装置、弹烟装置及点烟装置，以及安装于机械手工作端的图像采集装置；
    所述的弹烟装置包括位于机械手外围的弹烟支架，安装于弹烟支架上的驱动电机，设置于驱动电机输出端的拔杆，以及安装于弹烟支架用于扶正烟支的、具有凹槽的支撑板；
    所述的点烟装置包括位于机械手外围的点烟支架，安装于点烟支架上的点烟器；
    所述的图像采集装置包括固连于机械手工作端、具有N个支杆的架体，N个分别固连于不同支杆上、且镜头朝向机械手工作端的摄像机，以及N个分别固连于不同支杆上、光源面朝向机械手工作端的补光灯；其中，N≥2。
  2. 根据权利要求1所述的基于机械手的抽烟路径仿真系统，其特征在于：所述烟支夹持器为管状的橡胶管套。
  3. 根据权利要求1所述的基于机械手的抽烟路径仿真系统，其特征在于：所述的凹槽为V型槽。
  4. 根据权利要求1所述的基于机械手的抽烟路径仿真系统，其特征在于：所述的抽烟路径仿真系统还包括位于机械手周边的卸料装置；所述的卸料装置包括装于点烟支架上、用于将烟支拔脱的夹爪和夹爪气缸；夹爪气缸的动力输出端与夹爪连接，用于驱动夹爪夹紧或松开烟支。
  5. 根据权利要求1或4所述的基于机械手的抽烟路径仿真系统，其特征在于：所述的抽烟路径仿真系统还包括环境气流检测装置；所述的环境气流检测装置包括安装于机械手工作端处的连接座，以及安装于连接座上、用于采集机械手工作端处烟支运动时空气流速的气流测量传感器；
    在对烟支进行检测时，烟支夹持器通过连接座连接在机械手的工作端上；
    在测量烟支所在位置的气流时，连接座连接所述气流测量传感器。
  6. 根据权利要求5所述的基于机械手的抽烟路径仿真系统，其特征在于：在机箱顶端安装有气流调节电机，气流调节电机通过气流管道连接机箱并控制机箱内的气流。
  7. 根据权利要求1所述的基于机械手的抽烟路径仿真系统，其特征在于：所述的给料装置包括位于机械手外围的整机框架，安装于整机框架上的料斗、 料斗驱动电机和烟支转向机构，导向管；
    料斗的上部设有能够使水平状态的单支烟通过的通槽，料斗前侧安装有安装面板；
    料斗驱动电机与料斗相连，用于驱动料斗旋转，在重力作用下，通过通槽从料斗的待测烟支中获取单支烟下落至烟支转向机构中；
    烟支转向机构设在料斗的正下方，上端开口，内设有斜坡，用于将获取的烟支的轴线由水平方向转换为竖直方向；
    烟支转向机构内斜坡低端与导向管顶端的入口相连通；
    导向管竖直设置。
  8. 根据权利要求1所述的基于机械手的抽烟路径仿真系统，其特征在于：所述摄像机视场平行于机械手工作端的轴心；补光灯的光的射线方向垂直于机械手工作端的轴心。
  9. 根据权利要求1所述的基于机械手的抽烟路径仿真系统，其特征在于：所述机械手携带固连的烟支夹持器从初始位置运动到导向器出口的正下方，使得烟支夹持器的轴心与导向器的轴心重合，烟支通过导向器进入所述烟支夹持器，烟支夹持器夹紧烟支后，机械手模拟消费者在空间的抽烟动作；其中，烟支夹持器轴心与机械手工作端轴心保持一致。
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