A transfer industrial robot for finished flour packaging bags

Abstract

The application belongs to the technical field of industrial manipulators, and specifically discloses a finished flour packaging bag transfer industrial manipulator, which comprises a hinged multi-section arm support mechanism and a base, the hinged multi-section arm support mechanism is arranged above the base, one end of the hinged multi-section arm support mechanism is provided with an end effector, the end effector is provided with a rotating belt material mechanism, the rotating belt material mechanism is rotationally connected with a material taking frame through a rotary table, the material taking frame is slidably installed with baffles on both sides of a bidirectional driving element at the rear end, the two baffles are fixedly installed with sliding seats on the sides close to each other, the sliding seats are connected with a bidirectional clamping mechanism through a fixed rod on one side, the bidirectional clamping mechanism is provided with two clamping arms on the driving end, and the two clamping arms are arranged in a symmetrical layout and are oppositely arranged in the up-down direction. The application has the advantages of compact structure, efficient water removal, and significant improvement in the stability of transfer operation and working environment.

Description

Technical Field

[0001] This invention belongs to the field of industrial robotic arms technology, and specifically discloses an industrial robotic arm for transferring finished flour packaging bags. Background Technology

[0002] In flour production and processing, finished packaging bags (such as woven bags or laminated bags) require a rigorous cleaning process before filling to ensure food hygiene and safety. Typically, after cleaning, the bags are transported by water to a discharge tank for temporary storage and rinsing. During this stage, due to the buoyancy of the material, the bags float individually on the surface of the tank. To facilitate subsequent drying, sorting, or filling processes, industrial robots are used to retrieve these floating bags one by one from the tank and transfer them to the next workstation.

[0003] Currently, for the transfer of such floating soft packaging bags, existing industrial robots generally use common gripping mechanisms (such as pneumatic parallel grippers or multi-finger clamps) for grasping. However, because the packaging bags are completely wet after washing and have a large amount of residual moisture on their surface, existing robots have the following significant defects and shortcomings in actual operation: Firstly, when the robotic arm grips the end of the packaging bag and lifts it from the pool, the water that has seeped into the bag's fibers and folds quickly collects downwards under gravity. Existing gripping mechanisms can only rigidly clamp the bag, causing a large amount of water to fall during the transfer process. During this transfer, the actual load on the robotic arm's end effector far exceeds the dry weight of the packaging bag itself, resulting in prolonged high-load operation. This not only increases the energy consumption of the drive motor but also easily triggers overload alarms in the servo system, severely impacting the robotic arm's lifespan and positioning accuracy.

[0004] Secondly, because existing robotic arms lack targeted dewatering capabilities, water accumulated inside the packaging bags after gripping them will splash uncontrollably in all directions when the robotic arm rotates or moves at high speed. This results in large areas of water accumulation on the surrounding ground. This not only makes the production area slippery and poses a safety hazard, but the splashed water may also recontaminate the surface of the cleaned packaging bags, affecting the quality of subsequent flour filling.

[0005] To address the aforementioned issues, it is necessary to optimize the gripping and transferring structure of the existing finished flour packaging bag transfer robot to solve the problems of excessive load caused by gripping water-containing packaging bags and the presence of water stains in the working environment. Summary of the Invention

[0006] The purpose of this invention is to address the problems existing in the background art by proposing an industrial robot for transferring finished flour packaging bags. The robot includes a hinged multi-section boom mechanism and a base. The hinged multi-section boom mechanism is positioned above the base. An end effector is located at one end of the hinged multi-section boom mechanism. The end effector is equipped with a rotating material conveying mechanism. The rotating material conveying mechanism is rotatably connected to a material picking frame via a turntable. The material picking frame has baffles slidably mounted on both sides via a bidirectional drive component at its internal rear end. A sliding block is fixedly mounted on the side of each of the two baffles that is close to each other. The sliding block is connected to a bidirectional clamp via a fixed rod on one side. The bidirectional gripping mechanism has two gripping arms at its drive end. The two gripping arms are arranged symmetrically with each other. Anti-slip pads are fixedly installed on the sides of the two gripping arms that are close to each other. Water removal components are provided on the outer surfaces of the sides of the two gripping arms that are far from each other. Frame rods are provided on both sides of the front end of the picking rack. Guide components are symmetrically provided on the outer surfaces of the frame rods that are far from the picking rack. Rolling and squeezing water components are symmetrically provided outside the guide components. When the two bidirectional gripping mechanisms at the front end pick up the water-soaked packaging bags, the rolling and squeezing water components roll on the outer surface of the packaging bags to remove excess water stains from the outer surface of the packaging bags.

[0007] In the above scheme, the bidirectional drive component further includes a bidirectional telescopic rod, the two ends of which are respectively connected to the outer surfaces of the baffles on both sides, and an L-shaped frame is fixedly sleeved on the middle of the outside of the bidirectional telescopic rod, one side of which is fixedly connected to the rear end of the material picking frame.

[0008] In the above solution, the water removal component further includes a clamp, one end of which is connected to the outer surface of the clamp arm, and an arc-shaped groove is provided inside the clamp, and an arc-shaped scraper is fixedly installed inside the arc-shaped groove.

[0009] In the above scheme, the guide component further includes a fixed seat, one end of which is connected to the outside of the frame rod, and a guide rail is fixedly installed at the end of the fixed seat away from the frame rod. An adjustment component is provided on the outside of the guide rail.

[0010] In the above scheme, the distance adjustment component further includes a slider, which is slidably sleeved on the outside of the guide rail. A lifting hydraulic rod is fixedly installed inside the upper part of the slider. A telescopic buffer slide cylinder is fixedly installed at the telescopic end of the lifting hydraulic rod. A stop post is slidably installed inside the lower part of the telescopic buffer slide cylinder. A spring is sleeved on the outside of the stop post. A wrapping rod is fixedly connected to the lower end of the stop post.

[0011] In the above scheme, furthermore, a connecting rod is rotatably installed inside each of the two horizontally opposite wrapping rods, and a water-absorbing roller is connected between the two connecting rods. A rotary motor is fixedly installed at one end of one of the wrapping rods, and a rotating shaft is connected to the output end of the rotary motor. The rotating shaft extends into the interior of the wrapping rod and its end is connected to one of the connecting rods.

[0012] In the above scheme, a telescopic hydraulic rod is further fixedly installed inside the end of the guide rail near the fixed seat, and the telescopic end of the telescopic hydraulic rod is connected to the outside of the slider.

[0013] In the above solution, a mounting rod is fixedly installed at the front end of the L-shaped frame, and a visual inspection instrument is fixedly installed at the front end of the mounting rod.

[0014] Compared with the prior art, the present invention has the following beneficial effects: This invention, by setting guide components on both sides of the front end of the picking rack and symmetrically arranging rolling and squeezing components outside, allows the bidirectional gripping mechanism to actively roll the surface of the packaging bag when it picks up the bag from the water tank and lifts it upwards. This effectively squeezes out a large amount of free water adsorbed in the bag fibers and folds before it leaves the water. This pre-positioned active water removal design effectively avoids the problem of water accumulating towards the tail of the bag due to gravity during the transfer process, which would cause an excessive increase in the load on the end effector. This reduces drive energy consumption and servo overload risk, and also extends the service life of the robot. The arc-shaped scraper on the clamping arm works in conjunction with the suction roller. When necessary, the scraper can scrape and clean the surface of the suction roller, removing the water film and keeping it relatively dry to maintain its suction and drainage functions. This synergistic action ensures continuous drainage while preventing the suction roller from failing due to saturation. Furthermore, this scraping action can be initiated on demand, eliminating the need for repeated clamping and reducing unnecessary mechanical movements and energy consumption. Throughout the process, a vision inspection device installed on the L-shaped bag holder at the rear of the material handling rack identifies the position and posture of floating bags in the pool before clamping, providing visual guidance for the bidirectional clamping mechanism. This significantly improves the success rate and efficiency of grasping loose, floating bags, reducing manual intervention. Attached Figure Description

[0015] Figure 1 This invention provides a schematic diagram of the overall structure of an industrial robotic arm for transferring finished flour packaging bags. Figure 2 This is another schematic diagram of the overall structure of an industrial robot for transferring finished flour packaging bags provided by the present invention. Figure 3This invention provides a schematic diagram of the partial structural connection between the end effector and the rotating conveyor mechanism of an industrial robot for transferring finished flour packaging bags. Figure 4 This invention provides a schematic diagram of another angle showing the partial structural connection between the end effector and the rotating conveyor mechanism of an industrial robot for transferring finished flour packaging bags. Figure 5 A schematic diagram of the connection structure between the slide and the bidirectional drive component of an industrial robot for transferring finished flour packaging bags provided by the present invention; Figure 6 This invention provides a schematic diagram of the partial structural connection between the absorbent roller, guide rail, and lifting hydraulic rod of an industrial robot for transferring finished flour packaging bags. Figure 7 This invention provides a schematic diagram of the connection structure between the packing rod, connecting rod, and water-absorbing roller of an industrial robot for transferring finished flour packaging bags.

[0016] In the diagram: 1. Articulated multi-section boom mechanism; 2. End effector; 3. Rotary conveyor mechanism; 4. Turntable; 5. Material handling rack; 6. Slide seat; 7. Lifting hydraulic rod; 8. Two-way clamping mechanism; 9. Guide rail; 10. L-shaped bag frame; 11. Two-way telescopic rod; 12. Base; 13. Frame rod; 14. Vision inspection instrument; 15. Baffle; 16. Fixed seat; 17. Mounting rod; 18. Arc-shaped scraper; 19. Clamping arm; 20. Clamping seat; 21. Anti-slip pad; 22. Telescopic buffer slide; 23. Spring; 24. Water suction roller; 25. Telescopic hydraulic rod; 26. Slider; 27. Bag rod; 28. Rotary motor; 29. ​​Connecting rod; 30. Fixed rod; 31. Rotating shaft. Detailed Implementation

[0017] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the invention is not limited to the specific embodiments disclosed below.

[0019] like Figures 1-7The illustrated industrial robot for transferring finished flour packaging bags includes a hinged multi-segment arm mechanism 1 and a base 12. The hinged multi-segment arm mechanism 1 is positioned above the base 12. An end effector 2 is mounted at one end of the hinged multi-segment arm mechanism 1. The hinged multi-segment arm mechanism 1 is a multi-segment hinged arm structure, composed of several arm segments hinged sequentially. A servo drive motor is mounted at each hinge point to drive each arm segment to rotate around the hinge point, thereby enabling the end effector 2 to move flexibly and be precisely positioned in three-dimensional space. The end effector 2 serves as the actuator of the entire robot. The end effector 2, which performs the grasping action, is equipped with a rotating conveyor mechanism 3. The rotating conveyor mechanism 3 is rotatably connected to a material picker 5 via a turntable 4. The material picker 5 is a portal frame structure, symmetrically arranged from left to right, and has high structural rigidity and load-bearing capacity. Both sides of the material picker 5 are slidably mounted with baffles 15 via a bidirectional drive component at the rear end. The baffles 15 can slide back and forth along the width direction of the material picker 5, i.e., the left and right direction. A slide block 6 is fixedly mounted on the side of the two baffles 15 that are close to each other. The slide block 6 is connected to a bidirectional clamp via a fixed rod 30 on one side. The bidirectional gripping mechanism 8 has two gripping arms 19 at its drive end. It is a pneumatically or electrically driven parallel opening and closing gripper assembly, internally equipped with a bidirectional drive cylinder or bidirectional lead screw assembly. Other gripping structures can also be used. The two gripping arms 19 are arranged in a symmetrical layout, meaning the upper and lower gripping arms 19 are mirror-symmetrically arranged vertically, with their gripping surfaces facing each other. Anti-slip pads 21, made of rubber, are fixedly installed on the sides of the two gripping arms 19 that are close to each other. It may be made of silicone with anti-slip texture to increase friction with the surface of the packaging bag and prevent the packaging bag from slipping during the clamping process. The outer surface of the two clamping arms 19 at the ends that are far apart from each other is provided with a water removal component. The front sides of the material picking frame 5 are provided with a support rod 13. The outer surface of the support rod 13 away from the material picking frame 5 is symmetrically provided with a guide component. The outside of the guide component is symmetrically provided with a rolling and squeezing component. When the two bidirectional clamping mechanisms 8 at the front end clamp the packaging bag in water, the rolling and squeezing component rolls on the outer surface of the packaging bag to remove excess water stains from the outer surface of the packaging bag.

[0020] In this embodiment, the movements of the articulated multi-section boom mechanism 1, the bidirectional clamping mechanism 8, the rotating conveyor belt mechanism 3, and each telescopic hydraulic rod and rotating motor 28 are all uniformly coordinated and controlled by an external control system. The control system adopts a PLC (Programmable Logic Controller), which has a pre-set action logic program. The servo driver and solenoid valve group control the action sequence, action speed, and action stroke of each actuator, ensuring that the actions of each mechanism are accurate, coordinated, and safe. This is a common control logic, so it will not be described in detail.

[0021] The bidirectional drive component includes a bidirectional telescopic rod 11, which is a bidirectional output type hydraulic cylinder or pneumatic cylinder. It has two piston rod ends that extend outward from both ends of the cylinder body. The two ends of the bidirectional telescopic rod 11 are connected to the outer surfaces of the baffles 15 on both sides. An L-shaped frame 10 is fixedly sleeved in the middle of the outside of the bidirectional telescopic rod 11. One side of the L-shaped frame 10 is fixedly connected to the rear end of the material picker 5. When the two piston rods of the bidirectional telescopic rod 11 extend synchronously, they push the baffles 15 on both sides away from each other along the width direction of the material picker 5. When the two piston rods of the bidirectional telescopic rod 11 retract synchronously, they pull the baffles 15 on both sides closer to each other. The L-shaped frame 10 is used to fix the bidirectional telescopic rod 11 as a whole to the rear end of the material picker 5 to ensure stability.

[0022] In this embodiment, when the piston rods at both ends of the bidirectional telescopic rod 11 extend outwards simultaneously, the left and right baffles 15 respectively drive the slide block 6, the fixed rod 30, and the bidirectional clamping mechanism 8 to open to both sides, providing space for the packaging bag to enter; when the piston rods at both ends of the bidirectional telescopic rod 11 retract inwards simultaneously, the left and right baffles 15 drive the bidirectional clamping mechanism 8 to converge towards the center, causing the clamping arms 19 to approach the packaging bag from both sides. Through the above-mentioned bidirectional driving components, the synchronous adjustment of the distance between the two bidirectional clamping mechanisms 8 is achieved, ensuring the symmetry and stability of the clamping action.

[0023] The dewatering assembly includes a clamp 20, one end of which is connected to the outer surface of the clamp arm 19. An arc-shaped groove is formed inside the clamp 20, and an arc-shaped scraper 18 is fixedly installed inside the groove. The guide assembly includes a fixed seat 16, one end of which is connected to the outer side of the support rod 13. A guide rail 9 is fixedly installed at the end of the fixed seat 16 away from the support rod 13. The guide rail 9 has a rectangular cross-section, and its upper and lower surfaces are smooth guide planes. It is positioned perpendicular to one side of the material handling frame 5 and extends towards one end. An adjustment assembly is provided outside the guide rail 9, including a slider 26. The slider 26 is slidably sleeved on the outside of the guide rail 9. A lifting hydraulic rod 7 is fixedly installed above the inside of the slider 26. A telescopic buffer cylinder 22 is fixedly installed at the telescopic end of the lifting hydraulic rod 7. The telescopic buffer cylinder 22 has a cylindrical structure, and its lower part slides inside. A stop post is installed, which is a columnar sliding component. Its upper end is slidably installed in the inner hole of the telescopic buffer cylinder 22. A spring 23 is sleeved on the outside of the stop post. The spring 23 is a compression helical spring. Its upper end abuts against the lower end face of the telescopic buffer cylinder 22, and its lower end abuts against the shoulder of the lower end of the stop post. A wrapping rod 27 is fixedly connected to the lower end of the stop post. A connecting rod 29 is rotatably installed inside the two horizontally opposite wrapping rods 27. A water-absorbing roller 24 is connected between the two connecting rods 29. The water-absorbing roller 24 is a cylindrical roller body with a cavity inside. The outer surface of the water-absorbing roller 24 is covered with a water-absorbing fiber felt layer. This water-absorbing fiber layer is a polyacrylate-based super absorbent fiber nonwoven fabric with good water absorption performance and a certain degree of elasticity. When it comes into contact with the edge of the arc-shaped scraper shell 18, the fiber layer will not stick. It also has a high density and good water absorption. One end of one of the wrapping rods 27 is fixedly equipped with a rotary motor 28. The output end of the rotary motor 28 is connected to a rotating shaft 31. The rotating shaft 31 extends into the inside of the wrapping rod 27 and its end is connected to one of the connecting rods 29. When the rotary motor 28 is running, it drives the connecting rod 29 to rotate through the rotating shaft 31, thereby driving the water-absorbing roller 24 to rotate actively around its own axis.

[0024] The arc-shaped scraper 18 is an arc-shaped thin plate structure adapted to the shape of the arc-shaped groove. Its inner arc surface faces the side of the water absorption roller 24, and the edge of the arc-shaped scraper 18 is a sharp edge.

[0025] Furthermore, when the suction roller 24 is lifted by the lifting hydraulic rod 7 to a position where it abuts against the arc-shaped scraper 18, the edge of the arc-shaped scraper 18 is in close contact with the surface of the suction roller 24, and the water film and water stains adsorbed on its surface are scraped off during the rotation of the suction roller 24.

[0026] Specifically, the scraping blade of the arc-shaped scraper 18 is tangent to the outer circular surface of the suction roller 24. When the suction roller 24 needs to be cleaned, the lifting hydraulic rod 7 drives the suction roller 24 upward to a position where it contacts the scraping blade of the arc-shaped scraper 18. Subsequently, the rotary motor 28 drives the suction roller 24 to rotate, and the scraping blade of the arc-shaped scraper 18 scrapes off the water film on the surface of the suction roller 24. The scraped water is guided along the inclined surface of the arc-shaped scraper 18 to the collection tank below. This water removal assembly does not require cleaning after each clamping operation and can be activated as needed according to the wetness of the suction roller 24, reducing unnecessary mechanical movements and energy consumption.

[0027] A telescopic hydraulic rod 25 is fixedly installed inside one end of the guide rail 9 near the fixed base 16. The telescopic end of the telescopic hydraulic rod 25 is connected to the outside of the slider 26. When the piston rod of the telescopic hydraulic rod 25 extends, it pushes the slider 26 along the guide rail 9 to slide forward away from the fixed base 16. When the piston rod of the telescopic hydraulic rod 25 retracts, it pulls the slider 26 along the guide rail 9 to slide backward towards the fixed base 16.

[0028] An installation rod 17 is fixedly mounted on the front end of the L-shaped bag holder 10. A vision inspection device 14 is fixedly mounted on the front end of the installation rod 17. The vision inspection device 14 is an industrial camera that integrates an image sensor and an image processing chip. It can acquire image information of the packaging bags floating in the pool in real time and identify and analyze the position, posture angle, and contour shape of the packaging bags through image recognition algorithms. The vision inspection device 14 is connected to the PLC controller via communication signals, transmitting the detected position and posture information to the PLC controller in real time.

[0029] Working Principle: During operation, the articulated multi-section boom mechanism 1, driven by the drive unit, moves the end effector 2 directly above the bag-collecting position above the water tank. At this time, the rotating conveyor belt mechanism 3 adjusts the orientation of the picking frame 5 via the turntable 4, aligning the two support rods 13 at the front of the picking frame 5 with a single floating packaging bag in the water tank. In the initial state, the bidirectional drive is in the retracted position, with the two side baffles 15 close together. Simultaneously, the slider 26 on the guide rail 9, pushed by the telescopic hydraulic rod 25, is positioned near the initial position of the fixed seat 16, placing the rolling and squeezing components in a region where the two sides of the front of the picking frame 5 are far apart. Then, the bag-clamping operation begins. Specifically, the bidirectional telescopic rod 11 extends outward, pushing the two side baffles 15 away from each other along the width of the picking frame 5, causing the slide 6, clamping arm 19, and dewatering component to open outward simultaneously, providing sufficient space for the packaging bag to enter. In the lateral space, the lifting hydraulic rod 7 fixed inside the slider 26 remains retracted, and the telescopic hydraulic rod 25 pushes the slider 26 to slide along the guide rail 9 to the farthest ends of both sides of the picking rack 5, so that the guide rail 9 and the roller squeezing assembly installed on it are arranged outward to avoid the entry path of the packaging bag. Through the synchronous linkage of the lifting hydraulic rod 7 and the telescopic hydraulic rod 25, the central area of ​​the front end of the picking rack 5 is completely open, ensuring that the guide rail 9, slider 26 and roller assembly will not cause any physical obstruction or interference to the packaging bag during the subsequent clamping process.

[0030] After the yielding action is completed, the articulated multi-section boom mechanism 1 drives the material handling frame 5 to descend vertically until the area between the two baffles 15 aligns with the tail or sides of the packaging bag. At this time, the bidirectional clamping mechanism 8 drives the two clamping arms 19 to close symmetrically towards each other. The anti-slip pads 21 on the inner side of the clamping arms 19 are tightly attached to the surface of the packaging bag, forming a stable clamp. Then, the packaging bag is lifted from the water. At this time, the lifting hydraulic rods 7 on both sides extend synchronously, pushing the telescopic buffer slide cylinder 22 and the bag rod 27 to move one end of the guide rail 9, so that the water absorption roller 24 presses against the outer surface of the packaging bag. During the ascent, the packaging bag moves downward, draining water on its own. On the other hand, under the guidance of the telescopic hydraulic rod 25, the slider 26 drives the water absorption roller 24 to roll along the outer surface of the packaging bag, squeezing out the water adsorbed in the fibers and folds and initially separating it from the bag body. This reduces the adhesion of water stains and splashing onto the surrounding ground during subsequent transfer.

[0031] Once the material handling rack 5 is fully raised above the water tank, the articulated multi-section boom mechanism 1 drives the end effector 2 to rotate to the next station. Upon reaching the target position, the bidirectional clamping mechanism 8 drives the two clamping arms 19 to open in opposite directions, while the lifting hydraulic rod 7 retracts, causing the absorbent roller 24 to detach from the bag surface. The packaging bag falls into the next station under gravity, completing one complete transfer cycle.

[0032] After repeated implementation, the arc-shaped scraper 18 fixed on the outside of the clamping arm 19 can be used to remove water from the suction roller 24. Then, the lifting hydraulic rod 7 drives the suction roller 24 to move towards the upper end, and the telescopic hydraulic cylinder 25 drives the slider 26 and the suction roller 24 to move towards one end of the fixed seat 16 until one side of the suction roller 24 abuts against one side edge of the arc-shaped scraper 18. The rotating motor 28 drives the suction roller 24 to rotate, and removes water from the suction roller 24 by rolling.

[0033] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. An industrial robot for transferring finished flour packaging bags, comprising a hinged multi-section boom mechanism (1) and a base (12), characterized in that, The articulated multi-section boom mechanism (1) is located above the base (12). One end of the articulated multi-section boom mechanism (1) is provided with an end effector (2). The end effector (2) is provided with a rotating material conveying mechanism (3). The rotating material conveying mechanism (3) is rotatably connected to a material picking frame (5) via a turntable (4). The material picking frame (5) has baffles (15) slidably installed on both sides via a bidirectional drive component at its internal rear end. A slide block (6) is fixedly installed on the side of the two baffles (15) that are close to each other. The slide block (6) is connected to a bidirectional clamping mechanism (8) via a fixed rod (30) on one side. The bidirectional clamping mechanism (8) has two clamps at its drive end. Arm (19), the two clamping arms (19) are arranged in a symmetrical layout. Anti-slip pads (21) are fixedly installed on the side of the two clamping arms (19) that are close to each other. Water removal components are provided on the outer surface of the two clamping arms (19) that are far apart from each other. Frame rods (13) are provided on both sides of the front end of the material picker (5). Guide components are symmetrically provided on the outer surface of the frame rods (13) that are far away from the material picker (5). Rolling and squeezing water components are symmetrically provided outside the guide components. When the two bidirectional clamping mechanisms (8) at the front end clamp the water-filled packaging bag, the rolling and squeezing water components roll on the outer surface of the packaging bag to remove excess water stains from the outer surface of the packaging bag.

2. The industrial robot for transferring finished flour packaging bags according to claim 1, characterized in that, The bidirectional drive component includes a bidirectional telescopic rod (11), the two ends of which are connected to the outer surfaces of the baffles (15) on both sides respectively. An L-shaped frame (10) is fixedly sleeved in the middle of the outside of the bidirectional telescopic rod (11), and one side of the L-shaped frame (10) is fixedly connected to the rear end of the material picker (5).

3. The industrial robot for transferring finished flour packaging bags according to claim 1, characterized in that, The water removal assembly includes a clamp (20), one end of which is connected to the outer surface of the clamp arm (19). An arc-shaped groove is provided inside the clamp (20), and an arc-shaped scraper (18) is fixedly installed inside the arc-shaped groove.

4. The industrial robot for transferring finished flour packaging bags according to claim 1, characterized in that, The guide assembly includes a fixed seat (16), one end of which is connected to the outside of the support rod (13). A guide rail (9) is fixedly installed on the end of the fixed seat (16) away from the support rod (13). An adjustment component is provided on the outside of the guide rail (9).

5. An industrial robot for transferring finished flour packaging bags according to claim 4, characterized in that, The adjustable distance assembly includes a slider (26), which is slidably sleeved on the outside of the guide rail (9). A lifting hydraulic rod (7) is fixedly installed inside the upper part of the slider (26). A telescopic buffer cylinder (22) is fixedly installed at the telescopic end of the lifting hydraulic rod (7). A stop post is slidably installed inside the lower part of the telescopic buffer cylinder (22). A spring (23) is sleeved on the outside of the stop post. A cover rod (27) is fixedly connected to the lower end of the stop post.

6. The industrial robot for transferring finished flour packaging bags according to claim 5, characterized in that, Two horizontally opposite wrapping rods (27) each have a connecting rod (29) rotatably installed inside. The two connecting rods (29) are connected together by a water-absorbing roller (24). One end of one of the wrapping rods (27) is fixedly installed with a rotary motor (28). The output end of the rotary motor (28) is connected to a rotating shaft (31). The rotating shaft (31) extends into the wrapping rod (27) and its end is connected to one of the connecting rods (29).

7. The industrial robot for transferring finished flour packaging bags according to claim 4, characterized in that, A telescopic hydraulic rod (25) is fixedly installed inside one end of the guide rail (9) near the fixed seat (16), and the telescopic end of the telescopic hydraulic rod (25) is connected to the outside of the slider (26).

8. An industrial robot for transferring finished flour packaging bags according to claim 2, characterized in that, The L-shaped bag frame (10) is fixedly mounted with a mounting rod (17) at its front end, and a visual inspection instrument (14) is fixedly mounted at the front end of the mounting rod (17).

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