WO2018010373A1

WO2018010373A1 - Automatic correcting method for workpiece clamping of grinding and polishing robot

Info

Publication number: WO2018010373A1
Application number: PCT/CN2016/110426
Authority: WO
Inventors: 聂明星; 蒋新华; 邵明
Original assignee: 福建工程学院; 聂明星; 蒋新华; 邵明
Priority date: 2016-07-13
Filing date: 2016-12-16
Publication date: 2018-01-18
Also published as: CN106426189B; CN106426189A

Abstract

An automatic correcting method for workpiece clamping of a grinding and polishing robot. For each batch of workpieces to be polished, an operator first selects a standard part in a manual demonstration manner, and then a detection apparatus measures position data of said standard part; a control computer sends an instruction to enable the robot to automatically clamp a workpiece to be corrected, and the detection apparatus measures the position data of the workpiece to be corrected; a control computer performs correcting calculation on the position data of both the standard part and the workpiece to be corrected, so as to obtain displacement and angle deflection values of the workpiece to be corrected relative to the standard part, and sending the same to a controller of the robot; according to the displacement and angle deflection values, the controller of the robot performs coordinate adjustment on the workpiece to be corrected, controls the robot arm to perform a grinding and polishing operation at an adjusted coordinate position, thus completing online correction processing of the workpiece. The function of online automatic correction of workpieces may be achieved, thereby largely improving the quality of product machining, and reducing the defective rate.

Description

Automatic correction method for workpiece clamping of polishing and polishing robot

Technical field

The invention relates to the field of industrial robot application, in particular to a method for automatically correcting workpiece clamping of a polishing and polishing robot, which is mainly used in the production process of a plumbing sanitary ware.

Background technique

Grinding and polishing robot is one of the many types of modern industrial robots. It is used to replace the traditional manual grinding and polishing of workpieces. It is mainly used for surface grinding of workpieces, deburring of corners, grinding of welds, deburring of inner bores, and orifices. Threading processing, etc. The polishing and polishing robot system is generally composed of a teaching box, a control cabinet, a robot body, a pressure sensor, a grinding head assembly, etc., and can realize continuous trajectory control and point control under the control of a computer, and its application fields include sanitary hardware industry, IT Industry, auto parts, industrial parts, medical equipment, wood building materials and furniture manufacturing, civil products, etc.

Grinding and polishing is the most basic process in the plumbing and sanitary industry. The traditional manual grinding method has the labor intensity, the working environment is dusty, and it faces serious shortage of labor. Grinding and polishing robots are more uniform in color, can work 24 hours a day, and require less environmental requirements. Therefore, it is an irresistible trend to polish and polish robots instead of manual grinding. When the robot is polished and polished in the plumbing and sanitary industry, the robot should first pick up the workpiece through the clamping device, and then reach the grinding wheel through the trajectory movement or point movement of each joint, and then grind the grinding according to the program setting. However, since the plumbing fixture (such as the faucet) has a small positioning hole for clamping, the clamping device may have a workpiece clamping deflection due to uneven force when clamping the edge of the positioning hole, and the deflection is related to offline programming or display. Teach the workpiece position during programming to compare the deviation in angle or displacement. Once the workpiece is deflected by the workpiece clamping, some parts may not be polished during the grinding process, or some parts may be polished excessively, thereby affecting the grinding effect. This gripping deflection can occur on each workpiece. Robot polishing of plumbing fixtures is characterized by short processing time and a wide variety of products. Usually, a plumbing bathroom machine has a grinding time of about 1 minute. It is very time consuming if the operator manually detects the deflection value by using the handheld device. It is impossible to realize the deflection detection of each workpiece during processing, so the manual detection method cannot meet the processing requirements of large-scale robots at all.

According to the domestic literature and patent data, there is no report on the method of correcting the workpiece of the polishing and polishing robot.

Summary of the invention

The technical problem to be solved by the invention is to provide a method for automatically correcting the workpiece clamping of the polishing and polishing robot, realizing the online automatic correcting function of the workpiece, greatly improving the processing quality of the product and reducing the defective product rate.

The invention is realized by the method of automatically correcting the workpiece clamping of the polishing and polishing robot, comprising the following steps:

Step 10: For each batch of workpiece to be polished, first select a standard component by manual operation of the operator, and then determine the position data of the standard component by using the detecting device;

Step 20: The control computer sends an instruction, so that the robot automatically captures the workpiece to be corrected, and the position data of the workpiece to be corrected is determined by the detecting device;

Step 30: The control computer performs a correction calculation on the position data of the standard part and the position data of the workpiece to be corrected, and obtains the deflection value of the displacement and the angle of the workpiece to be corrected relative to the standard part, and sends the deflection value to the robot controller; the robot controller is The deflection value of the displacement and the angle is adjusted for the workpiece to be corrected, and the control arm is polished and polished by the coordinate adjusted position to complete the online correcting processing of the workpiece.

Further, the detecting device comprises a displacement sensor, a signal transmitter and a multi-channel collector which are sequentially connected by a transmission cable;

The displacement sensor converts the measured distance into a resistance signal;

The signal transmitter processes the displacement sensor resistance signal, converts it into a 4-20 mA current signal change by a semiconductor device, and then performs isolation conversion by a light sensing or a magnetic sensing device to further optimize the current signal;

The multi-channel collector automatically collects a current signal from the signal transmitter, converts it into a digital signal, and sends it to a control computer for analysis and processing.

Further, the specific process of step 10 is:

(11) For each batch of workpiece to be polished, first, the operator uses the teaching box to operate the robot to pick up a workpiece as a standard part, and manually adjust the movement trajectory of each axis of the robot through the teaching device so that the clamped standard parts are relative to The linear coordinate deflection and the rotation angle deflection of the origin of the reference coordinate system satisfy the error range required for the grinding processing precision;

(12) The operator moves the standard arm through the teaching box to move the standard part to the detection start position of the inspection area of the detection device, so that the workpiece touches the displacement sensor of the detection device in three test planes of XY, YZ and ZX. needle;

(13) The displacement sensor converts the linear displacement of the probe into a resistance change amount, and then the displacement of the displacement sensor resistance is processed by the signal transmitter, modulated and converted into a current signal, and is isolated and converted by a light sensor or a magnetic sensing device. The multi-channel collector automatically collects the current signal from the signal transmitter and converts it into a displacement value represented by the digital signal, and transmits it to the control computer;

(14) The control computer records the current three test planes of XY, YZ, and ZX, reads the displacement value of the multi-channel collector, and forms a plane including the plane of the workpiece surface of the standard part and the displacement value of the corresponding displacement sensor. And the binary data of the displacement amount, that is, {(XY, x), (YZ, y), (ZX, z)}, thus forming the contrast correction standard data, and at the same time, the saving robot moves from the reference coordinate origin to the The motion path of the detection start position, and the motion path of the workpiece in the three test planes of the XY, YZ, and ZX contact displacement sensor probes, as a motion program file for automatic correction afterwards;

Among them, XY, YZ, ZX in {(XY, x), (YZ, y), (ZX, z)} represent three test planes, and x, y, and z respectively indicate that the standard parts are in contact in three test planes. The distance measured by the displacement sensor probe.

The specific process of the step 20 is:

(21) The robot automatically grips the workpiece to be polished, and moves the workpiece to be polished to the inspection area to be inspected according to the motion program file;

(22) The robot controls the robot arm according to the motion program file to make the workpiece to be polished to contact the probe of the displacement sensor of the detecting device at three test planes of XY, YZ and ZX respectively;

(23) The displacement sensor converts the linear displacement of the probe into a resistance change amount, and then the signal The transmitter processes the displacement sensor resistance change, modulates and converts it into a current signal, and performs isolation conversion by a light sensor or a magnetic sensing device to further optimize the current signal, and the multi-channel collector automatically collects the current signal to the signal transmitter. And convert it into the displacement value represented by the digital signal, and send it to the control computer; the control computer records the current XY, YZ, ZX test plane, reads the displacement value of the multi-channel collector, and the plane of the workpiece surface to be polished and corresponding The displacement sensor displacement value forms a binary data containing plane and displacement, ie {(XY, x'), (YZ, y'), (ZX, z')}, thus forming the workpiece to be polished Location data;

Where XY, YZ, ZX in {(XY, x'), (YZ, y'), (ZX, z')} represent three test planes, and x', y', and z' respectively represent the workpiece in three The distance measured by the contact displacement sensor probe in the test plane.

The specific process of the step 30 is:

The control computer compares the position data measured by the workpiece in three planes with the deviation correction standard data measured in step (14), and performs the correction calculation to obtain the three coordinate directions of X, Y and Z in the Cartesian coordinate system. The linear offset value and the angular deflection value; the control computer transmits the linear offset value and the angular deflection value to the robot controller, the robot controller performs coordinate adjustment on the polished workpiece, and controls the mechanical arm to perform corresponding motion to correct the workpiece to be polished to The polishing process can be performed in the correct position.

The invention has the following advantages: the correcting method of the invention solves the problem of workpiece deflection caused by the uneven force of the clamp and the positioning hole when the robot grinds and polishes the plumbing of the bathroom blank, realizes the online automatic deviation correction when the robot grips the workpiece, and deflects the workpiece The data is converted into a robot system program deflection command, and then the control computer transmits the program deflection command to the robot control system through the robot interaction interface. Then, during the polishing process, the robot control system adjusts the workpiece polishing angle and position according to the deflection command. To achieve online rectification, to solve the over-grinding or under-grinding of robot polishing and polishing plumbing products, greatly improve the processing quality of products and reduce the defective product rate.

DRAWINGS

The present invention will be further described below in conjunction with the embodiments with reference to the accompanying drawings.

1 is a system frame for automatically clamping a workpiece clamping method for a water-heating bathroom polishing and polishing robot of the present invention; Frame map.

FIG. 2 is a schematic view showing the deflection of the workpiece by taking the XY plane as an example.

detailed description

The automatic correcting method of the invention needs to provide a detecting device and a control computer, the detecting device is connected with the control computer, uploads the position data to the control computer, and accepts the command control of the control computer. The detecting device comprises a displacement sensor, a signal transmitter and a multi-channel collector connected in sequence; the displacement sensor converts the measured distance into a resistance signal; and the signal transmitter processes the displacement sensor resistance signal through the semiconductor The device is modulated and converted into a current signal of 4-20 mA, and then isolated and converted by a light sensing or magnetic sensing device to further optimize the current signal; the multi-channel collector automatically collects the current signal from the signal transmitter and converts the current signal After being digital, it is sent to the control computer for analysis and processing.

As shown in FIG. 1 , the automatic rectification method of the present invention is divided into three stages, the first stage is a standard part measurement, which is a comparison standard for future rectification; the second stage is the deflection correction of the workpiece to be corrected; the third stage is the rectification processing, including Deflection calculation and deflection adjustment; after the automatic correction is completed, the polishing operation can be performed.

The first stage

This stage is for each batch of workpiece to be polished. Firstly, a standard part is selected by the operator's manual teaching method, and then the position data of the standard part is determined by the detecting device; the specific process is:

(11) For each batch of workpiece to be polished, first, the operator uses the teaching box to operate the robot to pick up a workpiece as a standard part, and use the measuring instrument (the measuring instrument only needs to have three vertical planes, and the measuring arm passes through the robot arm) Clamp the workpiece to three planes, for example, select the XY plane first, observe the error in the XY plane with the eye, and manually perform the rectification processing so that the XY plane of the workpiece is parallel to the XY plane of the measuring instrument, and record the motion trajectory during the entire rectification process. And calculate the displacement and angular deviation value of the standard part), manually adjust the movement trajectory of each axis of the robot through the teaching device, and deflect the linear coordinate deflection and rotation angle of the clamped standard component relative to the origin of the reference coordinate system to meet the polishing The error range required for machining accuracy;

(12) The operator moves the robot arm to the detection device by operating the robot arm through the teaching box. The detection starting position of the inspection area is such that the workpiece touches the probe of the displacement sensor of the detecting device in three test planes of XY, YZ and ZX;

second stage

At this stage, the control computer sends an instruction to enable the robot to automatically grasp the workpiece to be corrected, and the position data of the workpiece to be corrected is determined by the detecting device; the specific process is:

(23) The displacement sensor converts the linear displacement of the probe into a resistance change amount, and then the displacement of the displacement sensor is processed by the signal transmitter, modulated and converted into a current signal, and is isolated and converted by a light sensor or a magnetic sensing device. To further optimize the current signal, the multi-channel collector automatically collects the current signal from the signal transmitter and converts it into a displacement value represented by the digital signal, and transmits it to the control computer; the control computer records the current XY, YZ, ZX test. Plane, read multi-channel collector The displacement value, the plane of the workpiece surface to be polished and the corresponding displacement sensor displacement value, form a binary data containing plane and displacement, ie {(XY, x'), (YZ, y'), (ZX, z')}, thus forming position data of the workpiece to be polished;

The third stage

At this stage, the control computer corrects the position data of the standard part and the position data of the workpiece to be corrected, and obtains the deflection value of the displacement and angle of the workpiece to be corrected relative to the standard part, and supplies the deflection value to the robot controller; the robot controller is The deflection value of the displacement and the angle is adjusted for the workpiece to be corrected, and the control arm is polished and polished by the coordinate adjusted position to complete the online correcting processing of the workpiece. The specific process is:

Specific embodiment

Taking the plumbing bathroom workpiece as an example, as shown in Fig. 1, it is a water-heating bathroom polishing and polishing robot workpiece clamping automatic correction system frame diagram, including five parts, wherein each part produces the result as the next part of data processing Object.

The first part is the comparison standard data required for the deflection calculation. For each batch of workpieces, the operator uses the robot teaching box to operate the robot arm to pick up a workpiece, and adjust the posture of the workpiece with the relevant measuring instrument to make the workpiece The position satisfies the grinding accuracy requirement, and then the teaching robot moves the current point of the workpiece to the detection device to be detected, and then teaches the robot arm movement to measure the displacement values obtained by the three plane contact displacement sensor probes in XY, YZ, and ZX. This value is used as the benchmark data for online corrective processing of the same batch of workpieces;

The second part is to measure the displacement value of the workpiece to be corrected, and the displacement value obtained by the three-plane contact displacement sensor probe of the workpiece to be corrected by the detecting device is determined by the detecting device. The difference from the first part is that the measuring robot arm is determined. The movement is automatically completed by a program path, which is a path program saved in a program form during the first part teaching operation, the program path includes manually adjusting the workpiece posture and then the operator teaches the robot to move the workpiece to the detecting device. The area to be detected, and complete the trajectory of each axis of the robot arm in the three plane displacement detection processes of XY, YZ, ZX;

The third part is the deflection calculation and adjustment. The control computer inputs the displacement data and the reference data measured by the workpiece to be corrected to the correction algorithm. The correction algorithm calculates the workpiece to be corrected in the Cartesian coordinate system in X, Y, Z. a linear offset on a linear coordinate, and a corresponding angular deflection value;

The fourth part is the deflection adjustment, that is, the linear offset and the angle deflection value of the workpiece to be corrected by the control computer are transmitted to the robot controller. The robot controller performs matrix transformation according to the built-in coordinate transformation, and the execution process is performed in each action. The adjustment value corresponding to the middle model arm;

The fifth part is to polish and polish the workpiece, that is, the robot controller controls the robot arm according to the set polishing and polishing procedure, and combines the mechanical arm adjustment value obtained in the fourth part to control the mechanical arm to complete the specific grinding action to achieve the product grinding. The motion path planning control required for accuracy.

The main steps of the standard part position detection process are:

Step (1): The operator uses the robot teaching box to operate the robot gripper to grip the workpiece, and the workpiece reaches the designated position, and step 2 is performed.

Step (2): The operator measures the center hole of the workpiece by the measuring instrument, and detects whether the three faces of the positioning holes XY, YZ and ZX are parallel to the three planes of the reference coordinate system XY, YZ and ZX, if not parallel Then there is deflection, the workpiece posture is adjusted by the teaching box, after the position and posture adjustment, step (3) is performed; if the workpiece does not have deflection, the process directly proceeds to step (3).

Step (3): The operator controls the movement of the robot arm through the teaching box, moves the workpiece from the designated reference position to the detection device to be detected, and performs step 4.

Step (4): the operator selects one point on the three faces of the workpiece XY, YZ, ZX through the teaching box, and contacts the displacement sensor probe of the detecting device to deform the probe, causing the displacement of the displacement sensor to change; The device automatically collects the resistance change value of the displacement sensor and converts it into a current change value; the multi-channel collector collects the current signal from the signal transmitter and converts it into a digital signal. To the control computer; the control computer records the current face, touch point coordinates and displacement, forming a five-tuple (respectively: plane number, current point coordinate x value, current point coordinate y value, current point coordinate z value, exploration The needle displacement amount); during the saving step (3) to the step (4), the operator teaches the robot arm walking path as the workpiece displacement measuring path program to be corrected. The standard part displacement measurement is completed.

The main steps of the online correction process of the workpiece are:

Step (a): Before performing the correcting process, the operator arranges the motion track program of the grinding and polishing of a certain batch of workpiece robots by teaching or offline programming; and saves the workpiece through the standard part position detecting process shown in FIG. The motion track program is detected, and the latter (ie, the workpiece detection motion track program) is inserted into the workpiece clamping block of the former (the robot's polished motion track program) to form a new machining program with position deflection detection, and the steps are entered. (b).

Step (b): The robot control system executes a new program by first gripping a workpiece through the gripper and proceeding to step (c).

Step (c): executing a newly inserted position measuring program, which guides the robot arm to move the workpiece to the area to be tested of the position detecting device, selects a point on the surface in three planes of the workpiece XY, YZ, ZX, and the displacement of the detecting device The sensor probe is contacted, and then the signal is converted by the signal transmitter and the multi-channel collector, and finally the position data is transmitted to the control computer, and the process proceeds to step (d).

Step (d): The control computer calculates the displacement standard deviation of the three linear axes in the Cartesian coordinate system and the angle of rotation around the three linear axes by using the position data of the batch standard parts and the newly measured workpiece position data by a correction algorithm. Deviation and transfer the data to the robot control system; at the same time, send a command to the robot control system to move the workpiece to the initial clamping position and proceed to step (e).

Step (e): After the robot control system moves the workpiece to the initial position of clamping, the machining program after the linear workpiece position measurement is started, and combined with the workpiece deflection data, the actual movement position of each axis of each control cycle is calculated in real time through coordinate transformation. And the drive system of each axis servo motor drives the deflection compensation movement of each axis, and proceeds to step (f).

Step (f): After the workpiece is polished, judge whether the same batch of workpieces has been processed. If it is not processed, repeat steps (b) to (e) to continue processing the next workpiece; otherwise, start a new batch of workpieces. During the processing, the process described in Figure 2 needs to be re-executed.

As shown in Fig. 2, the XY plane is taken as an example to calculate the deflection of the workpiece. The calculation methods of the other two planes (YZ, ZX plane) are similar. The figure shows the comparison between the standard part contact displacement sensor probe and the workpiece to be corrected and the displacement sensor probe. The point A is the preset point, and its coordinate is (x0, y0). After the probe, the center of the clamping position of the workpiece is located at the point; point B is the origin of the displacement sensor, and its coordinate is (x1, y1).

Let point C be the point where the standard part contacts the displacement sensor probe and stay there. The probe is deformed by contact. The distance of CB is L1 to represent the deformation distance.

Then the coordinates of point C can be obtained by:

Y2=y1

X2=x1-L1

Let point D be the point at which the workpiece to be corrected is in contact with the displacement sensor probe, and the probe is deformed by contact. The distance of DB is L2 to represent the deformation distance.

Then the coordinates of point D can be obtained by:

Y3=y1

X3=x1-L2

After β is the standard contact probe, the workpiece clamps the center hole to form an angle with the contact point C and the X axis. Similarly, α is the workpiece to be positioned and the contact point D after the workpiece is contacted by the workpiece to be corrected. The angle formed by the X axis.

The angular deviation ε of the workpiece to be corrected and the standard part can be calculated by the following formula:

ε=β-α

among them:

β=arctan((y2-y0)/(x2-x0))

α=arctan((y3-y0)/(x3-x0))

Thus, ε is the angle of the workpiece in the XY plane relative to the standard member, and the angle of the workpiece in the YZ, ZX plane relative to the standard member can be calculated as described above, and will not be described again.

While the invention has been described with respect to the preferred embodiments of the embodiments of the invention Equivalent to a technician in accordance with the spirit of the present invention Modifications and variations are intended to be included within the scope of the appended claims.

Claims

An automatic correcting method for workpiece clamping of a polishing and polishing robot, characterized in that the method comprises the following steps:

Step 10: For each batch of workpiece to be polished, first select a standard component by manual operation of the operator, and then determine the position data of the standard component by using the detecting device;

Step 20: The control computer sends an instruction, so that the robot automatically captures the workpiece to be corrected, and the position data of the workpiece to be corrected is determined by the detecting device;

Step 30: The control computer performs a correction calculation on the position data of the standard part and the position data of the workpiece to be corrected, and obtains the deflection value of the displacement and the angle of the workpiece to be corrected relative to the standard part, and sends the deflection value to the robot controller; the robot controller is The deflection value of the displacement and the angle is adjusted for the workpiece to be corrected, and the control arm is polished and polished by the coordinate adjusted position to complete the online correcting processing of the workpiece.
The automatic correcting method for workpiece clamping of a polishing and polishing robot according to claim 1, wherein:

The detecting device comprises a displacement sensor, a signal transmitter and a multi-channel collector which are sequentially connected by a transmission cable;

The displacement sensor converts the measured distance into a resistance signal;

The signal transmitter processes the displacement sensor resistance signal and converts it into a 4-20 mA current signal change by a semiconductor device modulation;

The multi-channel collector automatically collects a current signal from the signal transmitter, converts it into a digital signal, and sends it to a control computer for analysis and processing.
The automatic rectification method for the workpiece clamping of the polishing and polishing robot according to claim 2, wherein the specific process of the step 10 is:

(11) For each batch of workpiece to be polished, first, the operator uses the teaching box to operate the robot to pick up a workpiece as a standard part, and manually adjust the movement trajectory of each axis of the robot through the teaching device so that the clamped standard parts are relative to The linear coordinate deflection and the rotation angle deflection of the origin of the reference coordinate system satisfy the error range required for the grinding processing precision;

(12) The operator moves the standard arm through the teaching box to move the standard part to the detection start position of the inspection area of the detection device, so that the workpiece touches the displacement sensor of the detection device in three test planes of XY, YZ and ZX. needle;

(13) The displacement sensor converts the linear displacement of the probe into a resistance change amount, and then the displacement of the displacement sensor resistance is processed by the signal transmitter, modulated and converted into a current signal, and is isolated and converted by a light sensor or a magnetic sensing device. The multi-channel collector automatically collects the current signal from the signal transmitter and converts it into a displacement value represented by the digital signal, and transmits it to the control computer;

(14) The control computer records the current three test planes of XY, YZ, and ZX, reads the displacement value of the multi-channel collector, and forms a plane including the plane of the workpiece surface of the standard part and the displacement value of the corresponding displacement sensor. And the binary data of the displacement amount, that is, {(XY, x), (YZ, y), (ZX, z)}, thus forming the contrast correction standard data, and at the same time, the saving robot moves from the reference coordinate origin to the The motion path of the detection start position, and the motion path of the workpiece in the three test planes of the XY, YZ, and ZX contact displacement sensor probes, as a motion program file for automatic correction afterwards;

Among them, XY, YZ, ZX in {(XY, x), (YZ, y), (ZX, z)} represent three test planes, and x, y, and z respectively indicate that the standard parts are in contact in three test planes. The distance measured by the displacement sensor probe.
The automatic correcting method for the workpiece clamping of the polishing and polishing robot according to claim 3, wherein the specific process of the step 20 is:

(21) The robot automatically grips the workpiece to be polished, and moves the workpiece to be polished to the inspection area to be inspected according to the motion program file;

(22) The robot controls the robot arm according to the motion program file to make the workpiece to be polished to contact the probe of the displacement sensor of the detecting device at three test planes of XY, YZ and ZX respectively;

(23) The displacement sensor converts the linear displacement of the probe into a resistance change amount, and then the displacement of the displacement sensor is processed by the signal transmitter, and the modulation is converted into a current signal, and the multi-channel collector automatically collects the signal transmitter. The current signal is converted into a displacement value represented by the digital signal and transmitted to the control computer; the control computer records the current XY, YZ, ZX test plane, and reads the displacement value of the multi-channel collector, and the plane of the workpiece surface to be polished And corresponding displacement sensor displacement a value, forming a binary data containing planes and displacements, ie {(XY, x'), (YZ, y'), (ZX, z')}, thus forming position data of the workpiece to be polished;

Where XY, YZ, ZX in {(XY, x'), (YZ, y'), (ZX, z')} represent three test planes, and x', y', and z' respectively represent the workpiece in three The distance measured by the contact displacement sensor probe in the test plane.
The automatic correcting method for the workpiece clamping of the polishing and polishing robot according to claim 4, wherein the specific process of the step 30 is:

The control computer compares the position data measured by the workpiece in three planes with the deviation correction standard data measured in step (14), and performs the correction calculation to obtain the three coordinate directions of X, Y and Z in the Cartesian coordinate system. The linear offset value and the angular deflection value; the control computer transmits the linear offset value and the angular deflection value to the robot controller, the robot controller performs coordinate adjustment on the polished workpiece, and controls the mechanical arm to perform corresponding motion to correct the workpiece to be polished to The polishing process can be performed in the correct position.