基于TRIZ理论的高速套袋机移外袋装置的应用

目的 为并联机床找到最优的工作空间范围，提出一种含闭环球铰的三自由度并联机构。方法 根据并联机构的运动学反解，首先求解速度雅克比矩阵;随后在速度雅克比矩阵的基础上，分析并联机构的3种奇异位置，给出奇异位置的数值解，并仿真并联机构在剔除奇异位置情况下的理论可达工作空间;最后，分析并联机构的灵巧度，找到并联机构在理论可达工作空间下灵巧度为0的位置，确定并联机构动平台实际可达工作空间。结果 在剔除奇异位置和灵巧度为0的位置之后，并联机构实际可达空间的x轴位移从[?10 mm, 5 mm]减小到[?9 mm, ?5.4 mm]，z轴位移从[?790 mm, ?650 mm]减小到[?790 mm, ?677 mm]，并联机构的转角范围由理论范围的[?30°, 80°]转变为[32.544°, 64.114]。结论 通过分析灵巧度的方式得到并联机构的实际可达工作空间，证明灵巧度对并联机构的工作空间有着较大的影响，从而为该并联机构用于并联机床设计提供一定的理论依据。

Application of High-speed Bag-packing Machine Removal Bag Device Based on TRIZ Theory

The work aims to optimize the bag removal device of the high-speed bagging machine by virtue of the invention problem solving theory (TRIZ), so that the removal bag device can move the outer bag to the designated position accurately. Firstly, the TRIZ theory was used to analyze the components of the system of the bag removal device, determine the relationship between them, and establish a component model diagram; according to the causal chain analysis, a comprehensive and in-depth analysis was conducted on the initial problem. The deep-seated shortcomings hidden behind the initial problem were found. Finally, the technical contradiction, technological systematic evolution and object field model in the TRIZ theory were applied to find out the solution ideas. Using the contradiction matrix and standard solution tool of TRIZ theory, five new solutions were obtained for the bag removal device. TRIZ theory provides a new idea for the optimization of the bag removal device, and the obtained scheme is applied to the actual prototype. It solves the problem that the bag moving device cannot move the bag to the designated position accurately.