Circulating carrying mechanism for robot practical training

Abstract

The invention belongs to the technical field of robot technology and practical training equipment, and particularly relates to a circulating carrying mechanism for robot practical training, which comprises a bottom plate, an electric cabinet, a conveyor belt system, a mechanical arm and a clamping component, the electric cabinet and the conveyor belt system are fixedly connected to the top of the bottom plate, and the mechanical arm is located above the conveyor belt system. The clamping component is installed at the free end of the mechanical arm, and a photoelectric sensor is arranged at the conveying terminal end of the conveying belt system and fixedly connected to the conveying belt system through a fixing plate. According to the invention, through cooperation of the electric control box, the conveyor belt system and the photoelectric sensor, automatic workpiece conveying, position detection and mechanical arm linkage are realized, circular workpiece carrying can be completed without manual intervention, an industrial automation scene is restored, and the training efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics and training equipment, and in particular to a cyclic transport mechanism for robot training. Background Technology

[0002] Currently, most of the handling devices commonly used in robot training rely on manual assistance to complete workpiece positioning and cyclic transport: operators need to place the workpieces one by one into the robotic arm's gripping area, and after the robotic arm completes the gripping and transport, they manually return the workpieces to their initial positions. This results in low automation and poor training efficiency.

[0003] Some devices with conveying functions, although equipped with conveyor belts to transport workpieces, lack precise detection components for the end point of workpiece transport. The robotic arm often experiences grasping deviations because it cannot accurately identify the workpiece position. At the same time, the handling process of such devices cannot form a closed loop, requiring manual intervention to complete the workpiece cycle. It is difficult to simulate the automated cyclic handling process in actual industrial scenarios, resulting in trainees not being able to fully master the collaborative control skills of robots, conveying systems, and detection components, thus affecting the training effect. Summary of the Invention

[0004] Based on the technical problems existing in the prior art, this invention proposes a cyclic transport mechanism for robot training.

[0005] The present invention proposes a cyclic transport mechanism for robot training, comprising a base plate, an electrical control box, a conveyor belt system, a robotic arm, and a clamping component. The electrical control box and the conveyor belt system are fixedly connected to the top of the base plate, the robotic arm is located above the conveyor belt system, and the clamping component is installed at the free end of the robotic arm. A photoelectric sensor is installed at the end of the conveyor belt system, and the photoelectric sensor is fixedly connected to the conveyor belt system via a fixing plate. First, the workpiece is placed at a predetermined position at the beginning of the conveyor belt system. After the electrical control box is started, the conveyor belt system drives the workpiece to be transported. When the workpiece reaches the end of the conveyor belt system, the photoelectric sensor detects the workpiece and sends a feedback signal. The robotic arm then drives the clamping component installed at its free end to move to the workpiece, completes the workpiece gripping, and transports it to the beginning of the conveyor belt system, thus realizing the cyclic transport training operation.

[0006] Preferably, the robotic arm includes a support frame, slide rails, a slide block, a first hydraulic rod, and a second hydraulic rod. The support frame is fixedly connected to the base plate by multiple columns. Two slide rails are symmetrically fixedly connected to the top of the support frame. The slide block is slidably connected between the two slide rails. The first hydraulic rod is fixedly fixed to the slide block. The clamping component is located on the output shaft of the first hydraulic rod. The second hydraulic rod is fixedly connected to the support frame, and the output shaft of the second hydraulic rod is fixedly connected to the slide block. When the second hydraulic rod is activated, its output shaft pushes the slide block to slide along the two slide rails symmetrically fixed to the top of the support frame. At the same time, the first hydraulic rod can drive the clamping component installed on its output shaft to move to the target position, realizing the multi-directional movement of the robotic arm to meet the training and handling needs.

[0007] Preferably, the clamping component is a parallel gripper; the parallel gripper moves to both sides of the workpiece under the drive of the robotic arm, clamps or releases the workpiece by opening and closing its own gripper, and completes the gripping and release of the workpiece, thus cooperating with the robotic arm to realize the workpiece transfer operation in the cyclic handling training.

[0008] Preferably, the parallel grippers include a housing, a mounting bracket, an electric push rod, grippers, and a three-bar linkage. Two grippers are symmetrically slidably connected to the bottom of the housing. The electric push rod is mounted inside the housing via the mounting bracket, and both ends of the electric push rod are connected to the corresponding grippers. The two ends of the three-bar linkage are rotatably connected to the two grippers. The electric push rod is fixed inside the housing via the mounting bracket. After the electric push rod is started, its output shaft pushes one of the grippers connected to it to slide along the bottom of the housing, while its other end drives another gripper symmetrically slidably connected to the bottom of the housing to move synchronously in the opposite direction, thereby opening and closing the two grippers and completing the workpiece gripping and release.

[0009] Preferably, the cyclic transport mechanism for robot training further includes: The position acquisition module, installed at the end of the robotic arm or above the gripping area, is used to capture workpiece images in real time, calculate workpiece position deviation, and generate a positioning deviation coefficient through the control module. The pressure acquisition module, installed on the gripper of the clamping component, is used to monitor the gripping force in real time and generate a gripping stability coefficient through the control module. The control module comprehensively analyzes the generated positioning deviation coefficient and gripping stability coefficient to generate an evaluation coefficient. The evaluation coefficient is compared with a preset reference threshold, and the working state of the cyclic conveying mechanism is controlled based on the comparison result. The position acquisition module captures workpiece images in real time and calculates workpiece position deviation to generate a positioning deviation coefficient. The pressure acquisition module monitors the gripping force on the gripper of the clamping component in real time and generates a gripping stability coefficient. The control module comprehensively analyzes the two coefficients to generate an evaluation coefficient, compares the evaluation coefficient with a preset reference threshold, and if the evaluation coefficient meets the threshold requirements, the cyclic conveying mechanism continues to work normally; if it does not meet the threshold requirements, the position of the robotic arm or the gripping force of the clamping component is adjusted to ensure accurate and stable conveying operations during training.

[0010] Preferably, the output and input ends of the position acquisition module, the output and input ends of the pressure acquisition module, and the output and input ends of the photoelectric sensor are electrically connected to the input and output ends of the control module respectively, and the output end of the control module is electrically connected to the input end of the robotic arm and the input end of the fixed plate respectively.

[0011] Preferably, the steps for the control module to control the working state of the cyclic handling mechanism according to the comparison result are as follows: The position acquisition module acquires the workpiece image; the pressure acquisition module acquires the grasping force; the control module calculates the positioning deviation coefficient, the grasping stability coefficient and the evaluation coefficient; if Eval < E threshold: maintain the current parameters and continue normal handling; if Eval ≥ E threshold: adjust the robotic arm path, reposition, increase the grasping force or give an alarm.

[0012] Preferably, the generation logic of the positioning deviation coefficient is: The actual position coordinates of the workpiece at different times within T time before grasping by the robotic arm are obtained through the position acquisition module; based on the deviation distances between the actual position coordinates at each time and the expected position coordinates, the ratio of the standard deviation to the average value of these deviation distances is calculated to generate the positioning deviation coefficient.

[0013] Preferably, the generation logic of the grasping stability coefficient is: The actual grasping forces at different times within T time after grasping by the clamping component are obtained through the pressure acquisition module; based on the actual grasping forces at each time, the ratio of the standard deviation to the average value of these grasping forces is calculated to generate the grasping stability coefficient.

[0014] Preferably, the generation logic of the evaluation coefficient is: The control module generates an evaluation coefficient for comprehensively evaluating the risk of the system by coupling the positioning deviation coefficient and the grasping stability coefficient and performing dynamic weighting calculations in combination with the preset weighting coefficient.

[0015] Compared with the prior art, the present invention provides a cyclic handling mechanism for robot training, which has the following beneficial effects: 1. Improve the automation degree of training: Through the cooperation of the electric control box, the conveyor belt system and the photoelectric sensor, automatic workpiece conveying, position detection and robotic arm linkage are realized, and the cyclic handling of the workpiece can be completed without manual intervention, restoring the industrial automation scenario and improving the training efficiency.

[0016] 2. Enhance the movement flexibility of the robotic arm: The robotic arm can be selected with a six-degree-of-freedom or four-degree-of-freedom structure. Among them, the four-degree-of-freedom robotic arm realizes multi-directional movement through the cooperation of the slide rail, the slide seat and the hydraulic rod, meets the requirements of grasping position adjustment in different training scenarios, and adapts to a variety of workpiece handling training tasks.

[0017] 3. Ensure reliable gripping: The clamping component adopts a parallel gripper structure, and the gripper opens and closes stably through the linkage of the electric push rod and the three-bar linkage, which avoids loosening or falling off the workpiece during gripping and ensures the stability of workpiece handling during training.

[0018] 4. Achieve precise training control: With the help of position acquisition module and pressure acquisition module, the workpiece position deviation and gripping force are monitored in real time. Combined with the coefficient analysis and dynamic adjustment function of the control module, the position or gripping force of the robotic arm can be corrected in a timely manner, helping trainees master the skills of precise robot control and parameter optimization.

[0019] 5. Adapt to practical training needs: The control module can simulate handling scenarios under different working conditions by adjusting preset weight coefficients, reference thresholds and other parameters. Students can observe and evaluate the changes in coefficients and the adjustment process of the mechanism to gain a deeper understanding of the collaborative working principle of the robot with the sensing system and the control system, thereby improving the effectiveness of practical training. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the first angle of the cyclic transport mechanism for robot training proposed in this invention. Figure 2 This is a schematic diagram of the second angle structure of the cyclic transport mechanism for robot training proposed in this invention. Figure 3 This is a schematic diagram of the clamping component structure of the cyclic transport mechanism for robot training proposed in this invention; Figure 4 This is a schematic diagram of the internal first angle structure of the clamping component of the cyclic transport mechanism for robot training proposed in this invention; Figure 5 This is a schematic diagram of the internal second angle structure of the clamping component of the cyclic transport mechanism for robot training proposed in this invention; Figure 6 This is a system block diagram of the cyclic transport mechanism for robot training proposed in this invention.

[0021] In the diagram: 1. Base plate; 2. Electrical control box; 3. Conveyor belt system; 4. Support frame; 5. Clamping component; 51. Housing; 52. Mounting bracket; 53. Electric push rod; 54. Gripper; 55. Three-bar linkage; 6. Fixing plate; 7. Photoelectric sensor; 8. Slide rail; 9. Slide base; 10. Hydraulic rod one; 11. Hydraulic rod two. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0023] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0024] Reference Figures 1-6 A cyclic transport mechanism for robot training includes a base plate 1, an electrical control box 2, a conveyor belt system 3, a robotic arm, and a clamping component 5. The electrical control box 2 and the conveyor belt system 3 are fixedly connected to the top of the base plate 1, the robotic arm is located above the conveyor belt system 3, the clamping component 5 is installed at the free end of the robotic arm, and a photoelectric sensor 7 is provided at the end of the conveying of the conveyor belt system 3. The photoelectric sensor 7 is fixedly connected to the conveyor belt system 3 through a fixing plate 6. In use, the workpiece is first placed at the predetermined position at the starting end of the conveyor belt system 3. After the electrical control box 2 is started, the conveyor belt system 3 drives the workpiece to be conveyed. When the workpiece reaches the ending end of the conveyor belt system 3, the photoelectric sensor 7 detects the workpiece and sends a feedback signal. The robotic arm drives the clamping component 5 installed at its free end to move to the workpiece. After the workpiece is picked up, it is transported to the starting end of the conveyor belt system 3 to realize the cyclic transport training operation.

[0025] In this invention, the robotic arm can be a six-degree-of-freedom robotic arm or a four-degree-of-freedom robotic arm. The four-degree-of-freedom robotic arm in this application includes a support frame 4, slide rails 8, slide base 9, hydraulic rod 10 and hydraulic rod 21. The support frame 4 is fixedly connected to the base plate 1 by multiple columns. Two slide rails 8 are symmetrically fixedly connected to the top of the support frame 4. The slide base 9 is slidably connected between the two slide rails 8. The hydraulic rod 10 is fixedly fixed to the slide base 9. The clamping component 5 is located on the output shaft of the hydraulic rod 10. The hydraulic rod 21 is fixedly connected to the support frame 4, and the output shaft of the hydraulic rod 21 is fixedly connected to the slide base 9. When in use, hydraulic rod 11 is activated, and its output shaft pushes slide 9 to slide along two slide rails 8 that are symmetrically fixed on the top of support frame 4. At the same time, hydraulic rod 10 can drive the clamping component 5 installed on its output shaft to move to the target position, so as to realize the multi-directional movement of the robotic arm to meet the needs of training and handling.

[0026] In this invention, the clamping component 5 is preferably a parallel gripper; In use, the parallel gripper 5 moves to both sides of the workpiece under the drive of the robotic arm. It clamps or releases the workpiece by opening and closing its own gripper, thus completing the gripping and release of the workpiece. It works in conjunction with the robotic arm to realize the workpiece transfer operation in the cyclic handling training.

[0027] In this invention, the parallel gripper specifically includes a housing 51, a mounting bracket 52, an electric push rod 53, grippers 54, and a three-link rod 55. The two grippers 54 are symmetrically slidably connected to the bottom of the housing 51. The electric push rod 53 is installed inside the housing 51 through the mounting bracket 52. The two ends of the electric push rod 53 are respectively connected to the corresponding grippers 54, and the two ends of the three-link rod 55 are rotatably connected to the two grippers 54 respectively. In use, the electric push rod 53 is fixed inside the housing 51 by the mounting bracket 52. After the electric push rod 53 is started, its output shaft pushes a gripper 54 connected to it to slide along the bottom of the housing 51. Its other end drives another gripper 54 that is symmetrically slidably connected to the bottom of the housing 51 to move synchronously in the opposite direction, so as to realize the opening and closing of the two grippers 54 and complete the workpiece gripping and release.

[0028] In another embodiment of the present invention, the cyclic transport mechanism for robot training further includes: The position acquisition module is installed at the end of the robotic arm or above the gripping area to capture workpiece images in real time, calculate workpiece position deviation, and generate positioning deviation coefficient through the control module. The pressure acquisition module is installed on the gripper of the clamping component 5 to monitor the gripping force in real time and generate a gripping stability coefficient through the control module. The control module performs a comprehensive analysis of the generated positioning deviation coefficient and gripping stability coefficient to generate an evaluation coefficient. The evaluation coefficient is then compared with a pre-set reference threshold, and the working state of the cyclic conveying mechanism is controlled based on the comparison results. It should be noted that the pressure acquisition module can be a pressure sensor or other device that can monitor the gripping force in real time, the position acquisition module can be a vision sensor or other device that can capture workpiece images in real time, and the control module is an embedded controller (such as the STM32 series) that integrates data fusion algorithms. Therefore, the pressure acquisition module, position acquisition module and control module are not specifically limited here and can be selected according to actual needs. During use, the position acquisition module captures workpiece images in real time and calculates workpiece position deviation to generate a positioning deviation coefficient; the pressure acquisition module monitors the gripping force on the gripper of clamping component 5 in real time to generate a gripping stability coefficient; the control module comprehensively analyzes the two coefficients to generate an evaluation coefficient, compares the evaluation coefficient with a preset reference threshold, and if the evaluation coefficient meets the threshold requirements, the control module continues to operate normally; if it does not meet the threshold requirements, the position of the robotic arm or the gripping force of clamping component 5 is adjusted to ensure accurate and stable transport operations during training.

[0029] In this invention, the output and input ends of the position acquisition module, the output and input ends of the pressure acquisition module, and the output and input ends of the photoelectric sensor 7 are electrically connected to the input and output ends of the control module, respectively. The output end of the control module is electrically connected to the input end of the robotic arm and the input end of the fixing plate 6, respectively.

[0030] In this invention, the control module comprehensively analyzes the generated positioning deviation coefficient and gripping stability coefficient to generate an evaluation coefficient. The evaluation coefficient is then compared with a pre-set reference threshold, and the execution steps for controlling the working state of the cyclic conveying mechanism based on the comparison result are as follows: Real-time detection: The position acquisition module acquires images of the workpiece; the pressure acquisition module acquires the gripping force; Coefficient calculation: Positioning deviation coefficient PΔ: The positioning deviation coefficient quantifies the uncertainty of the workpiece position and reflects the accuracy of visual positioning. In this invention, the logic for generating the positioning deviation coefficient is as follows: S1. The actual position coordinates of the workpiece at different times within a time T before the robotic arm grasps the workpiece are obtained through the position acquisition module. The actual position coordinates obtained at the m-th time within the time T are calibrated as (xm, ym, zm), where m = 1, 2, 3, ..., t, and m is a positive integer. S2. Calculate the deviation distance dm from the desired position (x0, y0, z0) at each time step: ; S3. Calculate the positioning deviation coefficient. The expression for the calculation is: ; In the formula, t represents the average deviation distance over time T; t represents the number of samples taken over time T.

[0031] Grip stability coefficient Gσ: The grip stability coefficient quantifies the degree of fluctuation in gripping force and reveals the gripping reliability of the clamping component 5. In this invention, the generation logic of the gripping stability coefficient is as follows: S1. The actual gripping force of the clamping component at different times within a time T after gripping is obtained through the pressure acquisition module. The actual gripping force obtained at the nth time within the time T is calibrated as Fn, where n = 1, 2, 3, ..., k, and n is a positive integer. S2. Calculate the grasping stability coefficient. The expression for the calculation is: ; In the formula, Let be the average gripping force over time T, and k be the number of samples taken over time T.

[0032] Evaluation Coefficient Eval: The evaluation coefficient comprehensively locates the deviation and risk rating of grasping stability, and is analyzed formulaically by the control module. According to the formula: ; In the formula, w1 and w2 are preset weight coefficients for positioning deviation and grasping stability (dynamically determined by combining experimental data and process requirements. The optimal w1 and w2 are finally determined through a closed-loop iterative process of initial theoretical assignment → on-site operation test → observation of effects → fine-tuning of parameters. This process is a standard practice for the commissioning of industrial automation systems, so it will not be elaborated here), and w1, w2 > 0.

[0033] Dynamic adjustment: If Eval < E threshold: Maintain the current parameters and continue normal handling; If Eval ≥ E threshold: Adjust the robotic arm path, reposition, increase the grasping force or alarm.

[0034] Working principle: Initial preparation: Place the workpiece at the predetermined position at the starting end of the conveyor system 3, and start the electric control box 2. The entire mechanism enters the training ready state; Workpiece transportation and detection: The electric control box 2 controls the operation of the conveyor system 3 to drive the workpiece to move towards the end of the conveyor; When the workpiece reaches the end of the conveyor system 3, the photoelectric sensor 7 detects the workpiece and feeds back a signal to the control module; Robotic arm movement and grasping: After receiving the signal, the control module drives the robotic arm to act: The second hydraulic rod 11 starts, pushing the sliding seat 9 to slide along the two slide rails 8 on the top of the support frame 4. At the same time, the first hydraulic rod 10 drives the clamping component 5 to move to the workpiece; The clamping component 5 (parallel jaws) starts. The electric push rod 53 in the housing 51 is fixed by the mounting frame 52, and its output shaft pushes one jaw 54 to slide along the bottom of the housing 51. At the same time, it drives the other jaw 54 to move synchronously in the opposite direction through the three-link rod 55, realizing the closing of the jaws 54 to clamp the workpiece; Workpiece cyclic handling: The robotic arm drives the clamping component 5 clamping the workpiece to move to the starting end of the conveyor system 3. The electric push rod 53 drives the jaws 54 to open and release the workpiece. The workpiece falls back to the starting end of the conveyor, completing one handling cycle; Subsequently, the conveyor system 3 drives the workpiece to be transported again, repeating the above process to realize the cyclic handling training; Precise monitoring and adjustment: During the training process, the position acquisition module captures the workpiece image in real time, calculates the positioning deviation coefficient PΔ and transmits it to the control module; The pressure acquisition module monitors the grasping force on the jaws 54 in real time, calculates the grasping stability coefficient Gσ and transmits it to the control module; The control module calculates the evaluation coefficient Eval through the formula. If Eval < the preset threshold E threshold, maintain the current working parameters of the mechanism; If Eval ≥ E threshold, the control module adjusts the robotic arm path, reposition or adjusts the grasping force of the jaws 54 to ensure precise and stable training handling.

[0035] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A circulating handling mechanism for robot training, comprising a base plate (1), an electric control box (2), a conveyor belt system (3), a mechanical arm and a clamping component (5), characterized in that, The electric control box (2) and the conveying belt system (3) are fixedly connected on the top of the bottom plate (1), the mechanical arm is located above the conveying belt system (3), the clamping part (5) is installed on the free end of the mechanical arm, and the conveying terminal end of the conveying belt system (3) is provided with a photoelectric sensor (7), and the photoelectric sensor (7) is fixedly connected on the conveying belt system (3) through a fixing plate (6).

2. The circulating transfer mechanism for robot training according to claim 1, wherein The mechanical arm comprises a support frame (4), slide rails (8), a sliding seat (9), a hydraulic rod one (10) and a hydraulic rod two (11), the support frame (4) is fixedly connected on the bottom plate (1) through a plurality of stand columns, the two slide rails (8) are symmetrically fixedly connected on the top of the support frame (4), the sliding seat (9) is slidably connected between the two slide rails (8), the hydraulic rod one (10) penetrates through and is fixed on the sliding seat (9), the clamping part (5) is located on the output shaft of the hydraulic rod one (10), the hydraulic rod two (11) is fixedly connected on the support frame (4), and the output shaft of the hydraulic rod two (11) is fixedly connected with the sliding seat (9).

3. The circulating transfer mechanism for robot training according to claim 1, wherein The clamping part (5) is a parallel jaw.

4. The circulation handling mechanism for robot training according to claim 3, wherein The parallel jaw comprises a shell (51), a mounting frame (52), an electric push rod (53), a jaw (54) and a three-link rod (55), the two jaws (54) are symmetrically slidably connected on the bottom of the shell (51), the electric push rod (53) is installed in the shell (51) through the mounting frame (52), the two ends of the electric push rod (53) are connected with the corresponding jaws (54) respectively, and the two ends of the three-link rod (55) are rotatably connected with the two jaws (54) respectively.

5. The cyclic material handling mechanism for robotic training of claim 1, wherein, Further comprising: A position acquisition module for capturing workpiece images in real time, calculating workpiece position deviation, and generating a positioning deviation coefficient through the control module; A pressure acquisition module for monitoring the grabbing force in real time, and generating a grabbing stability coefficient through the control module; The generated positioning deviation coefficient and grabbing stability coefficient are comprehensively analyzed by the control module to generate an evaluation coefficient, the evaluation coefficient is compared with a pre-set reference threshold, and the working state of the circulating handling mechanism is controlled according to the comparison result.

6. The cyclic material handling mechanism for robot training according to claim 5, wherein, The output end and the input end of the position acquisition module, the output end and the input end of the pressure acquisition module, and the output end and the input end of the photoelectric sensor (7) are electrically connected with the input end and the output end of the control module respectively, and the output end of the control module is electrically connected with the input end of the mechanical arm and the input end of the fixing plate (6) respectively.

7. The cyclic material handling mechanism for robot training according to claim 5, wherein, The execution steps of the control module for controlling the working state of the circulating handling mechanism according to the comparison result are as follows: The position acquisition module acquires workpiece images; the pressure acquisition module acquires grabbing force; the control module calculates the positioning deviation coefficient, the grabbing stability coefficient and the evaluation coefficient Eval; if Eval < E threshold: maintain the current parameters and continue normal handling; if Eval ≥ E threshold: adjust the mechanical arm path, reposition, increase the grabbing force or alarm.

8. The cyclic material handling mechanism for robotic training of claim 5, wherein, The generation logic of the positioning deviation coefficient is: The position acquisition module obtains actual position coordinates of the workpiece at different time points within T time before the mechanical arm grasps; based on the deviation distance between the actual position coordinates and the expected position coordinates at each time point, the ratio of the standard deviation and the average value of these deviation distances is calculated to generate a positioning deviation coefficient.

9. The cyclic material handling mechanism for robotic training of claim 5, wherein, The generation logic of the grasping stability coefficient is: The pressure acquisition module obtains actual grasping forces of the clamping component at different time points within T time after grasping; based on the actual grasping forces at each time point, the ratio of the standard deviation and the average value of these grasping forces is calculated to generate a grasping stability coefficient.

10. The cyclic material handling mechanism for robot training according to claim 5, wherein, The generation logic of the evaluation coefficient is: The control module dynamically weighs and calculates by coupling the positioning deviation coefficient and the grasping stability coefficient, and combining a preset weight coefficient, to generate an evaluation coefficient of the evaluation system comprehensive risk.

Images