A smoking path simulation system based on a robot

Abstract

The present invention relates to a smoking path simulation system based on a manipulator, and belongs to the technical field of cigarette detection. The system includes 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, a cigarette ejecting device and a cigarette lighting device arranged in the chassis and located around the manipulator, and an image acquisition device installed at the working end of the manipulator. The present invention can simulate the action path of consumers smoking cigarettes, and can ensure the consistency of the simulated action path each time, thereby effectively improving the accuracy of the detection of cigarette combustion performance indicators such as cigarette combustion ash characteristics.

Description

Technical Field

[0001] The invention belongs to the technical field of cigarette detection equipment, and in particular relates to a smoking path simulation system based on a manipulator. Background Art

[0002] Consumers smoking cigarettes is a dynamic and static process action, which is mainly completed by the arms. The whole process action usually includes lighting, inhaling, holding cigarettes statically at multiple angles, turning the wrist, flicking cigarette ash and other typical actions. At present, the detection and research of indicators related to the cigarette smoking process usually only introduces some of the above-mentioned typical actions, such as: the smoking machine includes the action of lighting and inhaling, and the detection of the cigarette burning cone includes the action of lighting, inhaling, flicking cigarette ash, etc. It can be seen that the research on the cigarette smoking process and state has not yet included the device and system of the whole process action and the smoking path of the cigarette smoking process. In the process of smoking cigarettes, the determination and research of indicators such as the falling of the cigarette burning cone, the ash packaging performance, the flying ash, and the falling ash state are closely related to the whole process action of smoking cigarettes. If the cigarette burning index detection is only carried out under the conditions of some smoking actions, it is obviously impossible to simulate the actual state of the cigarette under the real smoking state of consumers. The test results lack objectivity, cannot accurately guide related scientific research and production work, and may even form a certain misleading.

[0003] With the development of social economy and the improvement of quality of life, consumers' requirements for cigarette quality are also increasing. Consumers pay more and more attention to the burning state of cigarettes during smoking. Since the burning state of cigarettes is a product feature that consumers can intuitively capture, the study of related indicators in the burning process of cigarettes has always been an important direction of cigarette research. How to accurately detect the burning state of cigarettes and related indicators is the key to guiding cigarette research and optimizing product quality upgrades.

[0004] Therefore, in light of actual needs, in order to overcome the deficiencies of existing technologies and target the characteristics of the entire cigarette smoking process, developing a complete simulation system for simulating human body smoking cigarettes is an urgent problem to be solved in the field of cigarette detection technology. Summary of the invention

[0005] The purpose of the present invention is to solve the deficiencies of the prior art and to provide a smoking path simulation system based on a manipulator which can effectively simulate the real smoking action.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] A smoking path simulation system based on a manipulator, comprising a chassis, a manipulator fixedly arranged in the chassis, and a cigarette holder installed at the working end of the manipulator, a feeding device, a cigarette ejecting device and a cigarette lighting device arranged in the chassis and around the manipulator, and an image acquisition device installed at the working end of the manipulator;

[0008] The cigarette ejecting device comprises a cigarette ejecting bracket located at the periphery of the manipulator, a driving motor installed on the cigarette ejecting bracket, a pulling rod arranged at the output end of the driving motor, and a supporting plate with a groove installed on the cigarette ejecting bracket for straightening the cigarette;

[0009] The cigarette lighting device comprises a cigarette lighting bracket located at the periphery of the manipulator, and a cigarette lighter installed on the cigarette lighting bracket;

[0010] The image acquisition device includes a frame fixedly connected to the working end of the manipulator and having N support rods, N cameras respectively fixedly connected to different support rods and with lenses facing the working end of the manipulator, and N fill lights respectively fixedly connected to different support rods and with light sources facing the working end of the manipulator; wherein N≥2.

[0011] Furthermore, preferably, the cigarette holder is a tubular rubber sleeve.

[0012] Furthermore, preferably, the groove is a V-shaped groove.

[0013] Furthermore, preferably, the smoking path simulation system also includes a unloading device located around the manipulator; the unloading device includes a clamping claw and a clamping claw cylinder mounted on the cigarette lighting bracket for pulling out the cigarette; the power output end of the clamping claw cylinder is connected to the clamping claw for driving the clamping claw to clamp or release the cigarette.

[0014] Further, preferably, the smoking path simulation system further comprises an ambient airflow detection device; the ambient airflow detection device comprises a connection seat installed at the working end of the manipulator, and an airflow measurement sensor installed on the connection seat for collecting the air flow rate when the cigarette moves at the working end of the manipulator;

[0015] When testing cigarettes, the cigarette holder is connected to the working end of the manipulator through a connecting seat;

[0016] When measuring the airflow at the location of the cigarette, the connecting seat is connected to the airflow measurement sensor.

[0017] Furthermore, preferably, an airflow regulating motor is installed on the top of the chassis, and the airflow regulating motor is connected to the chassis through an airflow duct and controls the airflow in the chassis.

[0018] Further, preferably, the feeding device comprises a whole machine frame located outside the manipulator, a hopper mounted on the whole machine frame, a hopper drive motor and a cigarette steering mechanism, and a guide tube;

[0019] The upper part of the hopper is provided with a through slot that allows a single cigarette in a horizontal state to pass through, and a mounting panel is installed on the front side of the hopper;

[0020] The hopper drive motor is connected to the hopper and is used to drive the hopper to rotate. Under the action of gravity, a single cigarette is taken from the cigarettes to be tested in the hopper through the through slot and falls into the cigarette diverting mechanism.

[0021] The cigarette turning mechanism is located directly below the hopper, with an opening at the top and a slope inside, which is used to convert the axis of the obtained cigarette from the horizontal direction to the vertical direction;

[0022] The lower end of the slope in the cigarette diverting mechanism is connected to the inlet at the top of the guide tube;

[0023] The guide tube is arranged vertically.

[0024] Furthermore, preferably, the field of view of the camera is parallel to the axis of the working end of the manipulator; and the ray direction of the light of the fill light is perpendicular to the axis of the working end of the manipulator.

[0025] Furthermore, preferably, the manipulator carries the fixed cigarette holder and moves from an initial position to directly below the guide outlet, so that the axis of the cigarette holder coincides with the axis of the guide, and the cigarette enters the cigarette holder through the guide. After the cigarette holder clamps the cigarette, the manipulator simulates the consumer's smoking action in space; wherein, the axis of the cigarette holder is consistent with the axis of the working end of the manipulator.

[0026] Furthermore, preferably, N=3, that is, there are 3 cameras, and 3 fill lights are symmetrically arranged with the cigarette as the center. The fill lights are located close to the camera to ensure uniform lighting of the cigarette. The present invention uses multiple groups of cameras to comprehensively collect detection images, which greatly reduces the detection data error caused by single-sided image collection, while increasing the effective detection data and improving the detection efficiency.

[0027] After the cigarette holder clamps the cigarette, the manipulator moves with the cigarette to the cigarette lighting position, and the cigarette lighter lights the cigarette carried by the manipulator; then, the manipulator simulates the consumer's inhalation path. When the cigarette needs to be ejected, the manipulator moves from the inhalation position to the ejection position, and the driving motor drives the pull rod to eject the cigarette on the cigarette holder. The manipulator then moves from the ejection position to the straightening position, and the cigarette on the cigarette holder is straightened through the groove of the support plate; then, the above simulation of the consumer's inhalation path, ejection, and straightening are repeated until the inhalation is completed (or the detection is completed); after that, the manipulator moves to the unloading position, and the clamping cylinder drives the clamping claw to clamp the cigarette carried by the manipulator. The manipulator moves in the opposite direction of the clamping claw. After the cigarette is separated from the manipulator, the clamping claw cylinder drives the clamping claw to release the cigarette to complete the unloading. Among them, in the process of the manipulator moving from the inhalation position to the ejection position, the swinging of the arms and the turning of the wrists of the consumer holding the cigarette in space are simulated.

[0028] Preferably, the airflow in the chassis is controlled between 150 mm / s and 250 mm / s.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. Provides a complete set of smoking path simulation system that simulates the human body's cigarette smoking process, including lighting, inhaling, holding cigarettes statically at multiple angles, turning wrists, flicking ash, and other typical actions;

[0031] 2. It provides the ability to simulate the human body's cigarette smoking action under different environmental conditions, and to test the cigarette combustion process, including cigarette ash performance, carbon line quality, multi-angle ash holding rate and other performance indicators, to improve the objectivity and accuracy of the test results. The test results are more accurate and reliable, and can effectively guide cigarette research and development work and optimize product quality upgrades;

[0032] 3. The present invention realizes full-automatic continuous detection under the condition of simulating the action path of human cigarette smoking by integrating the functional units such as the manipulator, feeding device, cigarette ejection device, ignition device, unloading device, environment simulation device, suction device, image acquisition device, etc., with good repeatability, ensuring the consistency of each simulated action path, and effectively improving the accuracy of cigarette combustion characteristic index detection;

[0033] 4. It realizes the full visual real-time acquisition of images during cigarette burning, avoiding the lack of objectivity and accuracy of the detection results due to the acquisition of images by single-sided photography, greatly improving the accuracy of the detection results, and providing accurate data support for guiding product technology research and development and production optimization; Table 1 and Fig. 9 This is an example of improving the detection indicators.

[0034] From the data in Table 1, it can be seen that for the same parallel sample, the ash crack index (the area of ​​the ash column crack divided by the overall area of ​​the ash column × 100%) test is carried out with a single-sided shooting test device. The SD value is large and the test value also shows large fluctuations, making it difficult to accurately determine the sample test results. Using three-sided full-vision testing, it can be seen from the SD value that the test stability is good. At the same time, due to full-vision image acquisition, the test results are more objective and accurate.

[0035] Table 1 Detection values ​​of cigarette ash cracking index of different detection methods for each parallel sample

[0036]

[0037] Depend on Fig. 9 It can be seen from the data detection results and the corresponding collected images that if single-sided shooting is used, it is difficult to accurately detect and evaluate the deviation of the cigarette ash column due to the limited shooting angle;

[0038] 5. The system of the present invention is more objective in detecting the ash column deviation. The ash column deviation indicates the deviation of the ash column from the axis of the cigarette filter rod during the cigarette burning process. If a single image is collected from other viewing angles, the measurement of the ash column deviation during the cigarette burning process will fail due to visual problems, and the degree of deviation of the ash column from the axis of the cigarette filter rod cannot be correctly indicated. Fig.10 As shown (shooting is performed using 3 cameras). The present invention effectively solves the above-mentioned problem by limiting the relative position angle between the camera and the cigarette for visual acquisition.

[0039] 6. At present, the cigarette industry does not have a relatively unified and systematic test method for the inspection of ash holding performance. The commonly used method is to place the cigarette horizontally after lighting it, and observe the ash holding length of the cigarette burning ash column without smoking. Because there is no smoking condition and the above method is based on static horizontal testing, when consumers actually hold cigarettes statically, in order to avoid smoking their fingers, they will naturally tilt the cigarette upward at a certain angle. Therefore, the common static test method cannot simulate the consumer's smoking 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 research and development of cigarette products. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a schematic diagram of the top view of the smoking path simulation system based on the manipulator of the present invention;

[0042] Figure 2 It is a structural schematic diagram of the smoke ejection device;

[0043] Figure 3 It is a schematic diagram of the structure of the cigarette lighting device and the unloading device;

[0044] Figure 4 It is a structural schematic diagram of an image acquisition device;

[0045] Figure 5 It is a structural schematic diagram of an ambient airflow detection device;

[0046] Figure 6 The schematic diagram of the structure for air flow measurement;

[0047] Figure 7 It is a schematic diagram of the structure of the feeding device;

[0048] Figure 8 It is a partial cross-sectional view of the feeding device;

[0049] Among them, 1. chassis; 2. manipulator; 3. cigarette holder; 4. feeding device; 5. cigarette ejection device; 6. cigarette lighting device; 7. image acquisition device; 8. cigarette ejection bracket; 9. drive motor; 10. pull rod; 11. support plate; 12. cigarette lighting bracket; 13. cigarette lighter; 14. support rod; 15. frame; 16. camera; 17. fill light; 18. unloading device; 19. gripper; 20. gripper cylinder; 21. cigarette; 22. ambient air flow detection device; 23. connecting seat; 24. air flow measurement sensor; 25. air flow adjustment motor; 26. air flow duct; 27. installation panel; 28. hopper; 29. ​​hopper drive motor; 30. cigarette steering mechanism; 31. guide; 32. whole machine frame;

[0050] Fig. 9 It is the detection diagram of the ash cracking index of each parallel sample cigarette combustion;

[0051] Fig.10 The images are taken by three cameras of the same cigarette during the process of measuring the deviation of the ash column during cigarette burning. DETAILED DESCRIPTION

[0052] The present invention is further described in detail below in conjunction with embodiments.

[0053] Those skilled in the art will appreciate that the following examples are only used to illustrate the present invention and should not be considered to limit the scope of the present invention. If no specific techniques or conditions are specified in the examples, the techniques or conditions described in the literature in the art or the product specifications are used. If the manufacturer of the materials or equipment used is not specified, they are all conventional products that can be purchased.

[0054] It will be understood by those skilled in the art that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we say that an element is "connected" to another element, it can be directly connected to the other element, or there can be intermediate elements.

[0055] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two. The terms "inside", "upper", "lower", etc., indicating positions or state relationships, are based on the positions or state relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operate in a specific position, and therefore cannot be understood as limiting the present invention.

[0056] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "provided with" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention will be understood according to specific circumstances.

[0057] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the field to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0058] Example 1

[0059] like Figures 1 to 4 As shown, a smoking path simulation system based on a manipulator comprises 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 comprises a feeding device 4, a cigarette ejecting device 5 and a cigarette lighting device 6 arranged in the chassis 1 and located around the manipulator 2, and an image acquisition device 7 installed at the working end of the manipulator; preferably, the cigarette holder 3 is a tubular rubber sleeve;

[0060] The smoke ejecting device 5 includes a smoke ejecting bracket 8 located at the periphery of the manipulator, a driving motor 9 installed on the smoke ejecting bracket 8, a pulling rod 10 arranged at the output end of the driving motor 9, and a support plate 11 with a groove installed on the smoke ejecting bracket 8 for straightening the cigarette; preferably, the groove is a V-shaped groove.

[0061] The cigarette lighter device 6 includes a cigarette lighter bracket 12 located outside 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 existing equipment can be used;

[0062] The image acquisition device 7 comprises a frame 15 fixedly connected to the working end of the manipulator 2 and having N supporting rods 14, N cameras 16 respectively fixedly connected to different supporting rods 14 and with lenses facing the working end of the manipulator 2, and N fill lights 17 respectively fixedly connected to different supporting rods 14 and with light sources facing the working end of the manipulator 2; wherein N≥2. Preferably, N=3.

[0063] Example 2

[0064] like Figures 1 to 4 As shown, a smoking path simulation system based on a manipulator comprises 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 comprises a feeding device 4, a cigarette ejecting device 5 and a cigarette lighting device 6 arranged in the chassis 1 and located around the manipulator 2, and an image acquisition device 7 installed at the working end of the manipulator; preferably, the cigarette holder 3 is a tubular rubber sleeve;

[0065] The smoke ejecting device 5 includes a smoke ejecting bracket 8 located at the periphery of the manipulator, a driving motor 9 installed on the smoke ejecting bracket 8, a pulling rod 10 arranged at the output end of the driving motor 9, and a support plate 11 with a groove installed on the smoke ejecting bracket 8 for straightening the cigarette; preferably, the groove is a V-shaped groove.

[0066] The cigarette lighter device 6 includes a cigarette lighter bracket 12 located outside 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 existing equipment can be used;

[0067] The image acquisition device 7 comprises a frame 15 fixedly connected to the working end of the manipulator 2 and having N supporting rods 14, N cameras 16 respectively fixedly connected to different supporting rods 14 and with lenses facing the working end of the manipulator 2, and N fill lights 17 respectively fixedly connected to different supporting rods 14 and with light sources facing the working end of the manipulator 2; wherein N≥2. Preferably, N=3.

[0068] The smoking path simulation system also includes a unloading device 18 located around the manipulator; the unloading device 18 includes a clamp 19 and a clamp cylinder 20 installed on the cigarette lighting bracket 12 for pulling out the cigarette; the power output end of the clamp cylinder 20 is connected to the clamp 19, which is used to drive the clamp 19 to clamp or release the cigarette 21.

[0069] Example 3

[0070] like Figures 1 to 6As shown, a smoking path simulation system based on a manipulator comprises 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 comprises a feeding device 4, a cigarette ejecting device 5 and a cigarette lighting device 6 arranged in the chassis 1 and located around the manipulator 2, and an image acquisition device 7 installed at the working end of the manipulator; preferably, the cigarette holder 3 is a tubular rubber sleeve;

[0071] The smoke ejecting device 5 includes a smoke ejecting bracket 8 located at the periphery of the manipulator, a driving motor 9 installed on the smoke ejecting bracket 8, a pulling rod 10 arranged at the output end of the driving motor 9, and a support plate 11 with a groove installed on the smoke ejecting bracket 8 for straightening the cigarette; preferably, the groove is a V-shaped groove.

[0072] The cigarette lighter device 6 includes a cigarette lighter bracket 12 located outside 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 existing equipment can be used;

[0073] The image acquisition device 7 comprises a frame 15 fixedly connected to the working end of the manipulator 2 and having N supporting rods 14, N cameras 16 respectively fixedly connected to different supporting rods 14 and with lenses facing the working end of the manipulator 2, and N fill lights 17 respectively fixedly connected to different supporting rods 14 and with light sources facing the working end of the manipulator 2; wherein N≥2. Preferably, N=3.

[0074] The smoking path simulation system also includes a unloading device 18 located around the manipulator; the unloading device 18 includes a clamp 19 and a clamp cylinder 20 installed on the cigarette lighting bracket 12 for pulling out the cigarette; the power output end of the clamp cylinder 20 is connected to the clamp 19, which is used to drive the clamp 19 to clamp or release the cigarette 21.

[0075] The smoking path simulation system further includes an ambient airflow detection device 22; the ambient airflow detection device 22 includes a connection base 23 installed at the working end of the manipulator, and an airflow measurement sensor 24 installed on the connection base 23 for collecting the air flow rate when the cigarette moves at the working end of the manipulator 2;

[0076] When testing cigarettes, the connection base 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 connection base 23;

[0077] When measuring the airflow at the location of the cigarette, the connection seat 23 is connected to the airflow measurement sensor 24 .

[0078] Preferably, an airflow regulating motor 25 is installed on the top of the chassis 1 , and the airflow regulating motor 25 is connected to the chassis 1 through an airflow duct 26 and controls the airflow in the chassis 1 .

[0079] Example 4

[0080] like Figures 1 to 8 As shown, a smoking path simulation system based on a manipulator comprises 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 comprises a feeding device 4, a cigarette ejecting device 5 and a cigarette lighting device 6 arranged in the chassis 1 and located around the manipulator 2, and an image acquisition device 7 installed at the working end of the manipulator; preferably, the cigarette holder 3 is a tubular rubber sleeve;

[0081] The smoke ejecting device 5 includes a smoke ejecting bracket 8 located at the periphery of the manipulator, a driving motor 9 installed on the smoke ejecting bracket 8, a pulling rod 10 arranged at the output end of the driving motor 9, and a support plate 11 with a groove installed on the smoke ejecting bracket 8 for straightening the cigarette; preferably, the groove is a V-shaped groove.

[0082] The cigarette lighter device 6 includes a cigarette lighter bracket 12 located outside 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 existing equipment can be used;

[0083] The image acquisition device 7 comprises a frame 15 fixedly connected to the working end of the manipulator 2 and having N supporting rods 14, N cameras 16 respectively fixedly connected to different supporting rods 14 and with lenses facing the working end of the manipulator 2, and N fill lights 17 respectively fixedly connected to different supporting rods 14 and with light sources facing the working end of the manipulator 2; wherein N≥2. Preferably, N=3.

[0084] The smoking path simulation system also includes a unloading device 18 located around the manipulator; the unloading device 18 includes a clamp 19 and a clamp cylinder 20 installed on the cigarette lighting bracket 12 for pulling out the cigarette; the power output end of the clamp cylinder 20 is connected to the clamp 19, which is used to drive the clamp 19 to clamp or release the cigarette 21.

[0085] The smoking path simulation system further includes an ambient airflow detection device 22; the ambient airflow detection device 22 includes a connection base 23 installed at the working end of the manipulator, and an airflow measurement sensor 24 installed on the connection base 23 for collecting the air flow rate when the cigarette moves at the working end of the manipulator 2;

[0086] When testing cigarettes, the connection base 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 connection base 23;

[0087] When measuring the airflow at the location of the cigarette, the connection seat 23 is connected to the airflow measurement sensor 24 .

[0088] Preferably, an airflow regulating motor 25 is installed on the top of the chassis 1 , and the airflow regulating motor 25 is connected to the chassis 1 through an airflow duct 26 and controls the airflow in the chassis 1 .

[0089] The feeding device 4 includes a whole machine frame 32 located outside the manipulator 1, a hopper 28, a hopper drive motor 29 and a cigarette steering mechanism 30, and a guide tube 31 installed on the whole machine frame 32;

[0090] The upper part of the hopper 28 is provided with a through slot that allows a single cigarette in a horizontal state to pass through, and a mounting panel 27 is installed on the front side of the hopper;

[0091] The hopper drive 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 taken from the cigarettes to be tested in the hopper 28 through the through slot and falls into the cigarette diverting mechanism 30.

[0092] The cigarette turning mechanism 30 is arranged directly below the hopper 28, with an opening at the upper end and a slope arranged inside, for converting the axis of the obtained cigarette 21 from the horizontal direction to the vertical direction;

[0093] The lower end of the slope inside the cigarette diverting mechanism 30 is connected to the inlet at the top of the guide tube 31;

[0094] The guide tube 31 is vertically arranged and is used to guide the cigarette 21 to be tested to the cigarette holder 3 which is fixedly matched with the manipulator 1 .

[0095] The mounting panel 27 and the hopper 28 are detachably connected or movably linked. The mounting panel 27 is connected to the whole machine frame 32. The cigarettes to be tested are loaded into the hopper 28 from the opening of the mounting panel 27. The mounting panel 27 can prevent the cigarettes to be tested 21 from overflowing from the hopper 28.

[0096] The present invention does not impose any special restrictions on the specific installation position of the whole machine frame 32 , and it is preferably fixed on the inner wall of the chassis 1 .

[0097] Preferably, the field of view of the camera 16 is parallel to the axis of the working end of the manipulator 2 ; and the direction of the ray of light of the fill light 17 is perpendicular to the axis of the working end of the manipulator 2 .

[0098] Preferably, the airflow in the chassis 1 is controlled between 150 mm / s and 250 mm / s.

[0099] The cigarette lighter 13 is a power device for lighting the cigarette 21;

[0100] The cigarette holder 3 is used to hold cigarettes 21;

[0101] The cigarette lighter bracket 12 is used to fix the cigarette lighter 13, the clamping claw 19 and the clamping claw cylinder 20;

[0102] The clamping jaws 19 are used to clamp and release the smoked cigarette 21 (cigarette butt);

[0103] The clamping jaw cylinder 20 is used to drive the clamping jaw 19 to complete the clamping and releasing actions of the cigarette 21 (cigarette butt) after smoking.

[0104] The pull rod 10 is used to simulate the action of a consumer's finger flicking the ash;

[0105] The cigarette ejection bracket 8 is used to fix and install the pull rod 10 and the drive motor 9; preferably, the cigarette ejection bracket 8 is an inverted L-shaped bracket;

[0106] The driving motor 9 is used to drive the pulling rod 10, which can simulate the process of consumers flicking ash, including the strength of flicking ash and the number of flicking ash, etc.

[0107] The support plate 11 is used to cooperate with the downward movement of the manipulator 2 to complete the cigarette straightening function after the ash is flicked off.

[0108] The manipulator 2 then moves from the striking position to the straightening position, usually moving downward (with a smaller downward displacement).

[0109] The airflow regulating motor 25 is used to adjust the airflow in the chassis 1 as needed.

[0110] The airflow measurement sensor 24 is installed on the connection base 23 and performs real-time dynamic measurement according to the movement of the manipulator 2 in the chassis 1 .

[0111] The installation panel 27 and the hopper 28 are detachably connected or movably connected. After the installation panel 27 is removed or opened, the cigarettes to be tested are placed in the hopper 28, and then the installation panel 27 is installed or closed.

[0112] Preferably, the manipulator 2 carries the fixedly connected cigarette holder 3 and 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 21 enters the cigarette holder 3 through the guide 31. After the cigarette holder 3 clamps the cigarette 21, the manipulator 2 simulates the smoking action of the consumer in space; wherein, the axis of the cigarette holder 3 is kept consistent with the axis of the working end of the manipulator 2.

[0113] After the device of the present invention is powered, the manipulator 2, the drive motor 9, the cigarette lighter 13, the camera 16, the fill light 17, the gripper cylinder 20, the airflow regulating motor 25, and the hopper drive motor 29 are in an activated enabling state.

[0114] After the cigarette holder 3 clamps the cigarette, the manipulator 2 moves to the lighting position with the cigarette 21, and the cigarette lighter 13 ignites the cigarette 21 carried by the manipulator 2; then, the manipulator 2 simulates the consumer's smoking path, and when the cigarette needs to be ejected, the manipulator 2 moves from the smoking position to the ejection position, and the drive motor 9 drives the pull rod 10 to eject the cigarette 21 on the cigarette holder 3, and the manipulator 2 moves from the ejection position to the straightening position, and the cigarette 21 on the cigarette holder 3 is straightened through the groove of the support plate 11; then, the above simulation of the consumer's smoking path and the ejection and straightening are repeated until the smoking is completed (or the detection is completed); thereafter, the manipulator 2 moves to the unloading position, the clamping cylinder 20 drives the clamping claw 19 to clamp the cigarette 21 carried by the manipulator 2, and the manipulator 2 moves in the opposite direction of the clamping claw 19. After the cigarette 21 is detached from the manipulator 2, the clamping claw cylinder 20 drives the clamping claw 19 to release the cigarette 21 to complete the unloading. The movement of the manipulator 2 from the suction position to the ejection position simulates the swinging of the arms and the turning of the wrists of the consumer holding the cigarette in space.

[0115] The manipulator 2 plans its simulated motion smoking path in the preset program, and the frame 15 where the support rod 14 carrying the camera 16 and the fill light 17 is located is fixedly connected to the manipulator 2, and moves with the movement of the manipulator 2 along the smoking path in space. Driven by the preset program, the manipulator 1 turns on the fill light 17 and the camera 16 starts working. In the case of 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 at any time in real time as required, and the corresponding images can be analyzed and processed after the collection is completed (Note: analyzing and processing the images does not belong to the working content of the components of the present invention). When the entire device is finished, 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.

[0116] The specific action of straightening is: the cigarette 21 held by the cigarette holder 3 continues to move to the notch of the V-shaped groove structure under the preset program of the manipulator 2. The stopping position at this time is the spatial coordinate position determined by the relative position of the cigarette 21 and the V-shaped groove when the cigarette 21 is not ejected in the early stage and is located at the center of the cigarette holder 3. The ejected cigarette 21 completes the straightening operation under the joint action of the cigarette holder 3 and the V-shaped groove controlled by the manipulator 2. The manipulator 2 carries the cigarette 21 held by the cigarette holder 3 from the straightening position back to the ejection base position, and the straightening action ends.

[0117] The specific feeding action is as follows: the manipulator 2 carries the fixed cigarette holder 3 and moves from the initial position to the position ready to start taking cigarettes and feeding, that is, directly below the guide 31 that cooperates with the hopper 28. Then, the manipulator 2 controls the cigarette holder 3 to move to the 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 upward so that the spatial position of the cigarette holder 3 coincides with the guide 31. During the coincidence process, the outlet of the guide 31 enters the sealing ring inside the cigarette holder 3, so that 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 outlet of the guide 31 and is tightly surrounded by the sealing ring of the cigarette holder, such as Figure 2 As shown; the hopper drive motor 29 drives the hopper 28 to rotate, and obtains a single cigarette from the cigarettes to be tested in the hopper 28 (obtaining a single cigarette through the through slot of the hopper that only accommodates one cigarette); the obtained cigarette 21 falls to the cigarette steering mechanism 30 under the action of gravity, and the cigarette 21 slides downward on the slope of the cigarette steering mechanism 30 under the action of gravity, thereby completing the conversion of the cigarette 21 from the horizontal direction to the vertical direction, and 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 downward; until the cigarette clamped by the cigarette holder 3 is completely separated from the guide 31, and finally the cigarette loading is completed.

[0118] The environmental airflow detection is specifically as follows: the connection seat 23 at the clamping end of the manipulator 2 is connected to the airflow measurement sensor 24, and the manipulator 2 carries the airflow measurement sensor 24 to move to the position where the measurement is required. By adjusting the speed of the airflow regulating motor 25 in the pre-set program, the airflow size is measured using the airflow measurement sensor 24, and the airflow size is between 150mm / s and 250mm / s, and the speed R of the airflow regulating motor 25 is recorded. The speed R of the airflow regulating motor 25 is used as the calibration value for measurement. That is, the airflow size corresponding to the known motor speed of the airflow regulating 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 calibration value. If the actual airflow value measured by the airflow measurement sensor 24 is not within this range, recalibration is required. During the environmental airflow detection process, the manipulator 2 carries the airflow measurement sensor 24 to the test position. Setting the speed of the airflow regulating motor 25 to the calibration value R can ensure that the airflow size is between 150mm / s and 250mm / s.

[0119] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A smoking path simulation system based on a manipulator, comprising a chassis, a manipulator fixedly arranged in the chassis, and a cigarette holder installed at the working end of the manipulator, characterized in that: It also includes a feeding device, a smoke ejecting device and a cigarette lighting device arranged in the chassis and around the manipulator, and an image acquisition device installed at the working end of the manipulator; The cigarette ejecting device comprises a cigarette ejecting bracket located at the periphery of the manipulator, a driving motor installed on the cigarette ejecting bracket, a pulling rod arranged at the output end of the driving motor, and a supporting plate with a groove installed on the cigarette ejecting bracket for straightening the cigarette; The cigarette lighting device comprises a cigarette lighting bracket located at the periphery of the manipulator, and a cigarette lighter installed on the cigarette lighting bracket; The image acquisition device comprises a frame having N supporting rods fixedly connected to the working end of the manipulator, N cameras respectively fixedly connected to different supporting rods and with lenses facing the working end of the manipulator, and N fill lights respectively fixedly connected to different supporting rods and with light sources facing the working end of the manipulator; wherein N≥2; The smoking path simulation system further comprises a discharge device located around the manipulator; the discharge device comprises a clamping claw and a clamping claw cylinder mounted on the cigarette lighting bracket for removing the cigarette; the power output end of the clamping claw cylinder is connected to the clamping claw for driving the clamping claw to clamp or release the cigarette; The smoking path simulation system further comprises an ambient airflow detection device; the ambient airflow detection device comprises a connection seat installed at the working end of the manipulator, and an airflow measurement sensor installed on the connection seat for collecting the air flow rate when the cigarette moves at the working end of the manipulator; When testing cigarettes, the cigarette holder is connected to the working end of the manipulator through a connecting seat; When measuring the airflow at the location of the cigarette, the connecting seat is connected to the airflow measurement sensor; The manipulator carries the fixed cigarette holder and moves from the initial position to just below the guide outlet, so that the axis of the cigarette holder coincides with the axis of the guide, and the cigarette enters the cigarette holder through the guide. After the cigarette holder clamps the cigarette, the manipulator simulates the consumer's smoking action in space; wherein, the axis of the cigarette holder is consistent with the axis of the working end of the manipulator.

2. The smoking path simulation system based on a manipulator according to claim 1, characterized in that: The cigarette holder is a tubular rubber sleeve.

3. The smoking path simulation system based on a manipulator according to claim 1, characterized in that: The groove is a V-shaped groove.

4. The smoking path simulation system based on a manipulator according to claim 1, characterized in that: An airflow regulating motor is installed on the top of the chassis. The airflow regulating motor is connected to the chassis through an airflow duct and controls the airflow in the chassis.

5. The smoking path simulation system based on a manipulator according to claim 1, characterized in that: The feeding device comprises a whole machine frame located outside the manipulator, a hopper mounted on the whole machine frame, a hopper driving motor and a cigarette steering mechanism, and a guide tube; The upper part of the hopper is provided with a through slot that allows a single cigarette in a horizontal state to pass through, and a mounting panel is installed on the front side of the hopper; The hopper drive motor is connected to the hopper and is used to drive the hopper to rotate. Under the action of gravity, a single cigarette is taken from the cigarettes to be tested in the hopper through the through slot and falls into the cigarette diverting mechanism. The cigarette turning mechanism is located directly below the hopper, with an opening at the top and a slope inside, which is used to convert the axis of the obtained cigarette from the horizontal direction to the vertical direction; The lower end of the slope in the cigarette diverting mechanism is connected to the inlet at the top of the guide tube; The guide tube is arranged vertically.

6. The smoking path simulation system based on a manipulator according to claim 1, characterized in that: The camera field of view 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.

Images