A robot assembly precision adjustment method

Abstract

The present application belongs to the technical field of orthogonal transmission shaft assembly of industrial robot, and particularly relates to a robot assembly precision adjustment method, which comprises the following steps: 1) the driving shaft system and the driven shaft system are in orthogonal transmission structure in the casting, and the driving shaft system and the driven shaft system have driving and driven gaps with the casting respectively; 2) a driving adjustment device is installed on the driving shaft system, and the driving adjustment device has the freedom of moving along the X-axis direction and rotating around the X-axis; a following adjustment device is installed on the driven shaft system, and the following adjustment device has the freedom of moving along the Y-axis direction; 3) the thickness of the driving gasket is measured, and the driving gasket is made; 4) the driving gasket is put into the driving gap; 5) the thickness of the driven gasket is measured, and the driven gasket is made; 6) the driven gasket is put into the driven gap; 7) the vertexes of the driving shaft system and the driven shaft system coincide with the vertexes of the suitable cone, and the assembly is completed. The present application can be quantified, facilitates quality control, improves assembly efficiency and reduces operation cost.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of industrial robot orthogonal transmission shaft assembly, and particularly relates to a robot assembly precision adjustment method. BACKGROUND

[0002] At present, with the development of high speed and high precision of industrial robots, the assembly precision of the orthogonal transmission of the end wrist is required to be higher and higher. If the assembly precision is not high, a series of problems such as large vibration, high noise, low transmission efficiency and difficult precision control will be caused. Common orthogonal transmission structures include bevel gears, bevel gears, quasi-double curved gears and the like. Due to the lightweight and structural limitation of the industrial robot, the orthogonal transmission assembly precision adjustment of the end wrist adopts a gasket instead of an adjusting nut. The thinnest commercial gasket is 0.01mm, and the higher assembly precision is affected by the thickness of the gasket and economy. The driving shaft system and the driven shaft system of the orthogonal transmission structure need to be assembled to a reasonable position, which belongs to the field of double-target control optimization assembly process. At present, the assembly is difficult to quantify, is limited by the technical level of the assembly workers, and the quality management controllability is not good. Common red powder tooth surface meshing area can effectively judge whether the assembly precision target is suitable. Due to the quasi-double curved surface, it is difficult to give quantitative guidance to the optimized double target. SUMMARY

[0003] In view of the above problems, the purpose of the present application is to provide a robot assembly precision adjustment method to solve the problems of difficult assembly quality control, difficult quantification and poor economy of the existing orthogonal transmission shaft assembly method.

[0004] In order to achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0005] The robot assembly precision adjustment method provided by the present application comprises the following steps:

[0006] 1) The driving shaft system and the driven shaft system are in an orthogonal transmission structure in the casting, the driving shaft system has a driving gap along the X-axis direction with the casting, and the driven shaft system has a driven gap along the Y-axis direction with the casting;

[0007] 2) A driving adjustment device is installed on the driving shaft system, the driving adjustment device has the freedom of moving along the X-axis direction and rotating around the X-axis, and the following adjustment device makes the driven shaft system and the driving shaft system always fit transmission through constant force;

[0008] A following adjustment device is installed on the driven shaft system, and the following adjustment device has the freedom of moving along the Y-axis direction;

[0009] 3) The thickness of the driving gasket is measured and the driving gasket is made;

[0010] 4) The driving gasket is placed in the driving gap;

[0011] 5) measuring the thickness of the driven washer and making the driven washer;

[0012] 6) putting the driven washer into the driven gap;

[0013] 7) the vertexes of the driving shaft system and the driven shaft system coincide with the proper conical vertex position, and the assembly is completed.

[0014] In a possible implementation, in step 3), the process of measuring the thickness of the driving washer and making the driving washer comprises the following steps:

[0015] 1) the driving shaft system is driven by the driving adjustment device to move outward along the X axis, so that the driving gap becomes larger, and at this time, the driven shaft system is driven by the constant force of the following adjustment device to move inward along the Y axis, so that the driven gap is zero;

[0016] 2) the first irreversible deformation body before deformation is put into the driving gap;

[0017] 3) the driving shaft system is driven by the driving adjustment device to move inward along the X axis, so that the driving gap gradually becomes smaller, and at this time, the first irreversible deformation body is gradually flattened;

[0018] 4) the driving shaft system is driven by the driving adjustment device to rotate, and at the same time, the torque, vibration and noise parameters of the orthogonal transmission structure are detected by the external test equipment until they are within the set process value range, and at this time, the vertexes of the driving shaft system and the driven shaft system coincide with the proper conical vertex position for the first time;

[0019] 5) the driving adjustment device is disassembled, the flattened first irreversible deformation body 5 is taken out, and the thickness of the flattened first irreversible deformation body is measured by using a micrometer;

[0020] 6) the driving washer with the measured thickness is ground on a grinding machine.

[0021] In a possible implementation, in step 5), the process of measuring the thickness of the driven washer and making the driven washer comprises the following steps:

[0022] 1) disassembling the following adjustment device and the driven shaft system;

[0023] 2) putting the second irreversible deformation body before deformation into the driven gap;

[0024] 3) reassembling the following adjustment device and the driven shaft system, and at this time, the vertex of the driven shaft system deviates from the proper conical vertex position;

[0025] 4) the driving shaft system is driven by the driving adjustment device to rotate, and at the same time, under the action of the constant force of the following adjustment device, the second irreversible deformation body is gradually flattened by the driven shaft system;

[0026] 5) Detecting torque, vibration and noise parameters of the orthogonal transmission structure by external testing equipment to the set process value range, at this time the second irreversible deformation body is flattened to the appropriate thickness, the vertexes of the driving shaft system and driven shaft system coincide with the appropriate taper vertex position for the second time;

[0027] 6) Disassembling the follow-up adjusting device, taking out the flattened second irreversible deformation body, and measuring the thickness of the flattened second irreversible deformation body by using a micrometer;

[0028] 7) Grinding the driven gasket for measuring the thickness on a grinding machine.

[0029] In a possible implementation, the driving shaft system is arranged in the mounting hole of the casting, and an end surface of the mounting hole is the first matching surface, and the driving shaft system is axially limited by the first matching surface.

[0030] In a possible implementation, the driving shaft system comprises a driving bevel gear shaft, a sleeve cup and a bearing assembly, the driving bevel gear shaft is arranged in the sleeve cup through the bearing assembly, the bearing assembly is axially limited by a self-locking nut, the sleeve cup has a driving shaft radial matching surface and a driving shaft axial matching surface, the driving shaft radial matching surface matches with the inner wall of the mounting hole to form a radial limiting cylindrical pair, and the driving shaft axial matching surface forms the driving gap with the first matching surface.

[0031] In a possible implementation, the driven shaft system matches with the mounting groove on the casting, and a bottom of the mounting groove is the second matching surface, and the driven shaft system is axially limited by the second matching surface.

[0032] In a possible implementation, the driven shaft system comprises a driven bevel gear, a speed reducer and an interface disc, the speed reducer comprises a housing and an input shaft and an output shaft arranged in the housing; the interface disc is arranged at the input end of the speed reducer, the driven bevel gear is arranged on the input shaft and connected with the interface disc through a bearing, and the driven bevel gear is engaged with the driving shaft system.

[0033] The housing matches with the mounting groove on the casting through a driven shaft radial positioning surface to form a radial limiting cylindrical pair, an end surface of the interface disc is a driven shaft axial matching surface, and the driven shaft axial matching surface forms the driven gap with the second matching surface.

[0034] In a possible implementation, the driving adjusting device comprises a driving direction base, a driving adjusting disc and a driving rotary driving mechanism, the driving adjusting disc is arranged on the driving direction base and has a freedom degree of moving along the axial direction of the driving shaft system; the driving rotary driving mechanism is arranged on the driving adjusting disc and connected with the driving shaft system at an output end, and the driving rotary driving mechanism is used for driving the driving shaft system to rotate.

[0035] In a possible implementation manner, the active rotary driving mechanism comprises an active rotary drive, a rotary part and a tension sleeve, wherein a shell of the active rotary drive is fixed with the active adjusting disc, an output end of the active rotary drive is fixed with the rotary part, and the tension sleeve is used for locking and unlocking the rotary part and the active shaft system.

[0036] In a possible implementation manner, the follow-up adjusting device comprises a follow-up direction base and a follow-up adjusting disc, wherein the follow-up adjusting disc is arranged on the follow-up direction base, and an output end is connected with the driven shaft system, and the follow-up adjusting disc provides a constant force for axial linear movement of the driven shaft system.

[0037] The robot assembly precision adjusting method provided by the application has the advantages that the robot assembly precision adjusting method can be quantified, quality control is facilitated, assembly efficiency is improved, and operation cost is reduced.

[0038] The robot assembly precision adjusting method provided by the application introduces a grinding machine processing gasket, has high assembly precision, reduces dependence on mature bench workers, and does not need red lead powder and other tooth engagement areas, and has no environmental pollution.

[0039] Other features and advantages of the present application will be further described in the following specification, and some will become apparent from the specification, or will be learned by practice of the present application. The objects and other advantages of the present application can be achieved and obtained by the structure particularly pointed out in the written specification and the accompanying drawings.

[0040] The technical solutions of the present application will be further described in detail below with the help of the accompanying drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0041] The accompanying drawings are used to provide further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with embodiments of the present application, and do not constitute a limitation to the present application. In the drawings:

[0042] Figure 1 is a schematic view of the active shaft system and the driven shaft system in the present application;

[0043] Figure 2 is a schematic view of the active shaft system in the present application; Figure 1 is a partial enlarged view of position I in the present application;

[0044] Figure 3 is a schematic view of the driven shaft system in the present application; Figure 1 is a partial enlarged view of position II in the present application;

[0045] Figure 4 is a schematic view of the active shaft system in the present application;

[0046] Figure 5 is a schematic view of the driven shaft system in the present application.

[0047] In the figure: 1 - driving axle system, 101 - driving bevel gear shaft, 102 - angular contact ball bearing, 103 - deep groove ball bearing, 104 - cup sleeve, 1041 - driving shaft radial matching surface, 1042 - driving shaft axial matching surface, 105 - self-locking nut I, 106 - driving bevel gear vertex, 107 - driving axis, 2 - driven axle system, 201 - driven bevel gear, 2021 - input shaft, 2022 - housing, 2023 - output shaft, 2024 - driven shaft radial positioning surface, 203 - interface disc, 2031 - driven shaft axial matching surface, 204 - bearing, 205 - self-locking nut II, 206 - driven bevel gear vertex, 207 - driven axis, 3 - driving adjustment device, 301 - driving direction base, 302 - driving adjustment disc, 303 - driving rotary drive, 304 - rotary part, 305 - expansion sleeve, 4 - appropriate bevel gear vertex position, 5 - first irreversible deformation body, 6 - casting, 601 - first matching surface, 602 - second matching surface, 7 - second irreversible deformation body, 8 - following adjustment device, 801 - following direction base, 802 - following adjustment disc, 9 - driving gap, 10 - driven gap. DETAILED DESCRIPTION

[0048] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0049] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0050] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0051] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0052] One embodiment of the present invention provides a method for adjusting the assembly precision of a robot, which is quantifiable, facilitates quality control, improves assembly efficiency, and reduces operating costs. See also... Figures 1 to 3 As shown, the robot assembly accuracy adjustment method includes the following steps:

[0053] 1) The driving shaft system 1 and the driven shaft system 2 are orthogonal transmission structures in the casting 6. The driving shaft system 1 and the casting 6 have a driving clearance 9 along the X-axis, and the driven shaft system 2 and the casting 6 have a driven clearance 10 along the Y-axis.

[0054] 2) An active adjustment device 3 is installed on the active shaft system 1. The active adjustment device 3 has the degree of freedom to move along the X-axis and rotate around the X-axis. A follower adjustment device 8 is installed on the driven shaft system 2. The follower adjustment device 8 has the degree of freedom to move along the Y-axis. The follower adjustment device 8 uses a constant force to keep the driven shaft system 2 in contact with the active shaft system 1 at all times for transmission.

[0055] 3) Determine the thickness of the active gasket and fabricate the active gasket;

[0056] 4) Place the active gasket into the active gap 9;

[0057] 5) Determine the thickness of the driven shim and manufacture the driven shim;

[0058] 6) Insert the driven shim into the driven clearance 10;

[0059] 7) The vertices of the driving shaft system 1 and the driven shaft system 2 coincide with the appropriate cone vertex position 4 to complete the assembly.

[0060] like Figure 2 As shown, in an embodiment of the present invention, the drive shaft 1 is disposed within the mounting hole of the casting 6, and the end face of the mounting hole is a first mating surface 601, through which the drive shaft 1 is axially limited. Figure 3 As shown, the driven shaft system 2 mates with the mounting groove on the casting 6. The bottom of the mounting groove is the second mating surface 602, and the driven shaft system 2 is axially limited by the second mating surface 602.

[0061] like Figure 4As shown, in the embodiment of the present application, the driving shaft system 1 comprises a driving bevel gear shaft 101, a sleeve cup 104 and a bearing assembly, wherein the driving bevel gear shaft 101 is installed in the sleeve cup 104 through the bearing assembly, the bearing assembly is axially limited by a self-locking nut 105, the sleeve cup 104 has a driving shaft radial matching surface 1041 and a driving shaft axial matching surface 1042, the driving shaft radial matching surface 1041 matches with the inner wall of the mounting hole to form a radial limiting cylindrical pair. The driving gap 9 is formed between the driving shaft axial matching surface 1042 and the first matching surface 601, and the driving gasket is arranged in the driving gap 9.

[0062] Specifically, the two ends of the driving bevel gear shaft 101 are respectively supported by two groups of bearing assemblies, and each group of bearing assemblies comprises an angular contact ball bearing 102 and a deep groove ball bearing 103. One end of the bevel gear shaft 101 is a driving bevel gear, the driving bevel gear has a driving bevel vertex 106, the other end of the bevel gear shaft 101 is a power input end, and the axis of the bevel gear shaft 101 is a driving axis 107. Due to assembly and machining precision, the driving bevel vertex 106 and the driving shaft axial matching surface 1042 of the sleeve cup 104 will have a certain assembly tolerance.

[0063] As shown, Figure 5 In the embodiment of the present application, the driven shaft system 2 comprises a driven bevel gear 201, a speed reducer and an interface disc 203, wherein the speed reducer comprises a housing 2022 and an input shaft 2021 and an output shaft 2023 arranged in the housing 2022; the interface disc 203 is arranged at the input end of the speed reducer, the driven bevel gear 201 is arranged on the input shaft 2021 and locked by a self-locking nut II 205, and the driven bevel gear 201 has a driven bevel vertex 206 and a driven shaft axis 207. The driven bevel gear 201 is connected with the interface disc 203 through a bearing 204, and the driven bevel gear 201 is engaged with the driving bevel gear shaft 101 in the driving shaft system 1; the housing 2022 is matched with the mounting groove on the casting 6 through the driven shaft radial positioning surface 2024 to form a radial limiting cylindrical pair, the end face of the interface disc 203 is a driven shaft axial matching surface 2031, the driven gap 10 is formed between the driven shaft axial matching surface 2031 and the second matching surface 602, and the driven gasket is arranged in the driven gap 10. In the embodiment, the speed reducer is an RV-N type speed reducer. Due to assembly and machining precision, the driven bevel vertex 206 and the driven shaft axial matching surface 2031 of the interface disc 203 will have a certain assembly tolerance.

[0064] As shown, Figure 1As shown, in the embodiment of the present application, the active adjustment device 3 comprises an active direction base 301, an active adjustment disc 302 and an active rotary driving mechanism, wherein the active direction base 301 is fixed with the workshop ground, the active adjustment disc 302 is arranged on the active direction base 301 and has the freedom of linear movement along the axial direction of the active shaft system 1. Specifically, the structure of the active adjustment disc 302 is preferably common mechanical structure such as guide pillar and guide sleeve, screw nut, hand wheel and the like, and the linear movement direction is the axial direction of the active shaft system 1. The active rotary driving mechanism is arranged on the active adjustment disc 302 and the output end thereof is connected with the active shaft system 1, and the active rotary driving mechanism is used for driving the active shaft system 1 to rotate. Specifically, the active rotary driving mechanism comprises an active rotary driving 303, a rotary component 304 and an expansion sleeve 305, wherein the shell of the active rotary driving 303 is fixed with the active adjustment disc 302, the output end of the active rotary driving 303 is fixed with the rotary component 304, and the expansion sleeve 305 is used for locking and unlocking the rotary component 304 with the active bevel gear shaft 101. The active rotary driving 303 can drive the rotary component 304 to rotate, can adjust the speed of rotation, and can feedback the driving torque. The active rotary driving 303 is common automatic component such as servo motor, the torque sensing can be collected by the driver, and the rotary axial direction is the axial direction of the active shaft system 1.

[0065] In the embodiment of the present application, the follow-up adjustment device 8 comprises a follow-up direction base 801 and a follow-up adjustment disc 802, wherein the follow-up direction base 801 is fixed with the workshop ground, the follow-up adjustment disc 802 is arranged on the follow-up direction base 801 and the output end thereof is connected with the follow-up shaft system 2, and the follow-up adjustment disc 802 provides the follow-up shaft system 2 with constant force for linear movement along the axial direction. The follow-up direction base 801 and the follow-up adjustment disc 802 constitute linear expansion and contraction movement pair with constant pressure, and the structure is preferably common mechanical structure such as guide pillar and guide sleeve, air cylinder and the like, and the linear movement direction is the axial direction of the follow-up shaft system 2.

[0066] In step 3) of the robot assembly precision adjustment method, the thickness of the active gasket and the process of manufacturing the active gasket in the embodiment of the present application comprise the following steps:

[0067] 1) The active shaft system 1 is driven by the active adjustment device 3 to move outward along the X axis, so that the active gap 9 is enlarged, at this time, the follow-up shaft system 2 is driven by the constant force of the follow-up adjustment device 8 to move inward along the Y axis, so that the follow-up gap 10 is zero; at this time, the active cone vertex 106 is on the upper side of the proper cone vertex position 4, and the follow-up cone vertex 206 is on the right side of the proper cone vertex position 4;

[0068] 2) The first irreversible deformation body 5 before deformation is put into the active gap 9;

[0069] 3) The active shaft system 1 is driven by the active adjustment device 3 to move inward along the X axis, so that the active gap 9 is gradually reduced, at this time, the first irreversible deformation body 5 is gradually flattened;

[0070] 4) through the active adjustment device 3 drive the driving shaft 1 rotation, due to the driving bevel gear shaft 101 and driven bevel gear 201 meshing, and the idling torque of the reducer, through the external test equipment real-time detection of the torque, vibration and noise parameters of the orthogonal transmission structure; when the detected torque, vibration and noise parameters to the set process value range, at this time the first irreversible deformation body 5 is crushed to the appropriate thickness, the driving cone vertex 106 of the driving shaft 1 and the driven cone vertex 206 of the driven shaft 2 and the appropriate cone vertex position 4 coincide for the first time;

[0071] 5) remove the active adjustment device 3, take out the crushed first irreversible deformation body 5, and measure the thickness of the crushed first irreversible deformation body 5 with a dial gauge;

[0072] 6) grind the driving gasket to measure the thickness on the grinding machine.

[0073] After the driving gasket is added to the driving gap 9, the driving cone vertex 106 and the appropriate cone vertex position 4 coincide again.

[0074] In the embodiment of the application, in step 5) of the robot assembly precision adjustment method, the thickness of the driven gasket is measured and the process of making the driven gasket includes the following steps:

[0075] 1) remove the follow-up adjustment device 8 and the driven shaft 2;

[0076] 2) put the second irreversible deformation body 7 before deformation into the driven gap 10;

[0077] 3) reassemble the follow-up adjustment device 8 and the driven shaft 2, at this time the vertex of the driven shaft 2 deviates from the appropriate cone vertex position 4;

[0078] 4) drive the driving shaft 1 to rotate through the active adjustment device 3, and at the same time under the constant force of the follow-up adjustment device 8, the second irreversible deformation body 7 is gradually crushed by the driven shaft 2;

[0079] 5) detect the torque, vibration and noise parameters of the orthogonal transmission structure to the set process value range through the external test equipment, at this time the second irreversible deformation body 7 is crushed to the appropriate thickness, which can be used to determine the thickness of the correct transmission meshing gap, and the vertexes of the driving shaft 1 and the driven shaft 2 coincide with the appropriate cone vertex position 4 for the second time;

[0080] 6) remove the follow-up adjustment device 8, take out the crushed second irreversible deformation body 7, and measure the thickness of the crushed second irreversible deformation body 7 with a dial gauge;

[0081] 7) grind the driven gasket to measure the thickness on the grinding machine.

[0082] In the embodiment, the first irreversible deformation body 5 and the second irreversible deformation body 7 are preferably lead wires. In the assembly precision adjustment process, the first irreversible deformation body 5 and the second irreversible deformation body 7 are deformed to the transmission parameters within the set range, so as to determine the appropriate thickness of the driving and driven gaskets, and after the assembly is completed, the driving cone apex 106, the driven cone apex 206 and the appropriate cone apex position 4 are coincided for the third time, the method is simple in operation, good in controllability of quality management, and greatly improves the assembly precision and assembly efficiency.

[0083] The robot assembly precision adjustment method provided by the application introduces a gasket processed by a grinding machine, is high in assembly precision, reduces the dependence on skilled workers, does not need a red powder to observe the meshing area, and has no environmental pollution.

[0084] Obviously, those skilled in the art can make various modifications and variations to the application without departing from the spirit and scope of the application. Thus, if these modifications and variations of the application belong to the scope of the claims of the application and the equivalent technologies thereof, the application also intends to include these modifications and variations.

Claims

1. A robot assembly accuracy adjustment method characterized by, The method comprises the following steps: 1) the driving shaft system (1) and the driven shaft system (2) are in a perpendicular transmission structure in the casting (6), the driving shaft system (1) has a driving gap (9) along the X-axis direction with the casting (6), and the driven shaft system (2) has a driven gap (10) along the Y-axis direction with the casting (6); 2) a driving adjusting device (3) is installed on the driving shaft system (1), the driving adjusting device (3) has the freedom of moving along the X-axis direction and rotating around the X-axis; a driven adjusting device (8) is installed on the driven shaft system (2), the driven adjusting device (8) has the freedom of moving along the Y-axis direction, and the driven adjusting device (8) makes the driven shaft system (2) always fit the driving shaft system (1) through a constant force; 3) the thickness of the driving gasket is measured, and the driving gasket is manufactured; 4) the driving gasket is placed in the driving gap (9); 5) the thickness of the driven gasket is measured, and the driven gasket is manufactured; 6) the driven gasket is placed in the driven gap (10); 7) the vertexes of the driving shaft system (1) and the driven shaft system (2) coincide with the proper conical vertex position (4), and the assembly is completed; in step 3), the process of measuring the thickness of the driving gasket and manufacturing the driving gasket comprises the following steps: 1) the driving shaft system (1) is driven by the driving adjusting device (3) to move outward along the X-axis direction, so that the driving gap (9) is enlarged, at this time, the driven shaft system (2) is driven by the constant force of the driven adjusting device (8) to move inward along the Y-axis direction, so that the driven gap (10) is zero; 2) a first irreversible deformation body (5) before deformation is placed in the driving gap (9); 3) the driving shaft system (1) is driven by the driving adjusting device (3) to move inward along the X-axis direction, so that the driving gap (9) is gradually reduced, at this time, the first irreversible deformation body (5) is gradually flattened; 4) the driving shaft system (1) is driven by the driving adjusting device (3) to rotate, at the same time, the torque, vibration and noise parameters of the perpendicular transmission structure are detected by an external test device until the parameters are within the set process value range, at this time, the vertexes of the driving shaft system (1) and the driven shaft system (2) coincide with the proper conical vertex position (4) for the first time; 5) the driving adjusting device (3) is disassembled, the flattened first irreversible deformation body (5) is taken out, and the thickness of the flattened first irreversible deformation body (5) is measured by a micrometer; 6) the driving gasket with the measured thickness is ground on a grinding machine; in step 5), the process of measuring the thickness of the driven gasket and manufacturing the driven gasket comprises the following steps: 1) the driven adjusting device (8) and the driven shaft system (2) are disassembled; 2) a second irreversible deformation body (7) before deformation is placed in the driven gap (10); 3) the driven adjusting device (8) and the driven shaft system (2) are reassembled, at this time, the vertex of the driven shaft system (2) deviates from the proper conical vertex position (4); 4) the driving shaft system (1) is driven by the driving adjusting device (3) to rotate, at the same time, the second irreversible deformation body (7) is gradually flattened by the driven shaft system (2) under the constant force of the driven adjusting device (8); 5) Detect the torque, vibration and noise parameters of the orthogonal transmission structure to the set process value range by external test equipment, at this time the second irreversible deformation body (7) is flattened to the appropriate thickness, the top of the driving shaft system (1) and the driven shaft system (2) coincides with the appropriate taper top position (4) for the second time; 6) Disassemble the follow-up adjusting device (8), take out the flattened second irreversible deformation body (7), and measure the thickness of the flattened second irreversible deformation body (7) by using a micrometer; 7) Grind the driven gasket for measuring thickness on a grinding machine.

2. The robot assembly precision adjustment method according to claim 1, characterized by, The driving shaft system (1) is arranged in the mounting hole of the casting (6), and the end face of the mounting hole is a first matching face (601). The driving shaft system (1) is axially limited by the first matching face (601).

3. The robot assembly precision adjustment method according to claim 2, characterized by, The driving shaft system (1) comprises a driving bevel gear shaft (101), a sleeve cup (104) and a bearing assembly. The driving bevel gear shaft (101) is installed in the sleeve cup (104) through the bearing assembly, and the bearing assembly is axially limited by a self-locking nut (105). The sleeve cup (104) has a driving shaft radial matching face (1041) and a driving shaft axial matching face (1042). The driving shaft radial matching face (1041) matches with the inner wall of the mounting hole to form a radial limiting cylindrical pair. The driving shaft axial matching face (1042) and the first matching face (601) form the driving gap (9).

4. The robot assembly precision adjustment method according to claim 1, characterized by, The driven shaft system (2) matches with the mounting groove on the casting (6), and the bottom of the mounting groove is a second matching face (602). The driven shaft system (2) is axially limited by the second matching face (602).

5. The robot assembly precision adjustment method according to claim 4, characterized by, The driven shaft system (2) comprises a driven bevel gear (201), a speed reducer and an interface disc (203). The speed reducer comprises an outer shell (2022) and an input shaft (2021) and an output shaft (2023) arranged in the outer shell (2022). The interface disc (203) is arranged at the input end of the speed reducer. The driven bevel gear (201) is arranged on the input shaft (2021) and connected with the interface disc (203) through a bearing (204). The driven bevel gear (201) is engaged with the driving shaft system (1). The outer shell (2022) matches with the mounting groove on the casting (6) through a driven shaft radial positioning face (2024) to form a radial cylindrical limiting pair. The end face of the interface disc (203) is a driven shaft axial matching face (2031). The driven shaft axial matching face (2031) and the second matching face (602) form the driven gap (10).

6. The robot assembly precision adjustment method according to claim 1, characterized by, The driving adjusting device (3) comprises a driving direction base (301), a driving adjusting disc (302) and a driving rotary driving mechanism. The driving adjusting disc (302) is arranged on the driving direction base (301) and has a freedom degree of moving along the axial direction of the driving shaft system (1). The driving rotary driving mechanism is arranged on the driving adjusting disc (302) and connected with the driving shaft system (1) at the output end. The driving rotary driving mechanism is used for driving the driving shaft system (1) to rotate.

7. The robot assembly precision adjustment method according to claim 6, characterized by, The active rotary drive mechanism comprises an active rotary drive (303), a rotary component (304) and a tension sleeve (305), wherein the shell of the active rotary drive (303) is fixed with the active adjusting disc (302), the output end of the active rotary drive (303) is fixed with the rotary component (304), and the tension sleeve (305) is used for locking and unlocking the rotary component (304) and the active shaft system (1).

8. The robot assembly precision adjustment method according to claim 1, characterized by, The follow-up adjusting device (8) comprises a driven direction base (801) and a follow-up adjusting disc (802), wherein the follow-up adjusting disc (802) is arranged on the driven direction base (801) and is connected with the driven shaft system (2) at the output end, and the follow-up adjusting disc (802) provides a constant force for the driven shaft system (2) to move linearly along the axial direction.

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