Robot joint assembly jig and method

Abstract

The present invention belongs to the technical field of robot joint assembly, and particularly relates to a robot joint assembly jig and method. The jig includes an assembly disk and a plurality of assembly disk mounting screws, wherein the assembly disk is provided with a motor coaxiality control hole and a plurality of mounting apertures; one end of the assembly disk is provided with a reducer coaxiality control groove coaxial with the motor coaxiality control hole, the reducer coaxiality control groove is positioned and connected to the output shaft of the reducer, one end of the reducer input shaft of the reducer is positioned and connected to the output shaft of the motor, and the other end of the reducer input shaft is positioned and connected to the motor coaxiality control hole of the assembly disk, the assembly disk mounting screws pass through the mounting aperture on the assembly disk and are threadedly connected to the output shaft of the reducer, and the assembly disk is rotated to achieve coaxiality and assembly parallelism control of the robot arm structural components, the reducer, and the motor. The present invention improves the consistency of mass-produced robot joints, has high assembly precision, and improves assembly efficiency and product quality.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot joint assembly, and in particular relates to a robot joint assembly jig and method. Background Art

[0002] Currently, as industrial robots advance toward high speed and high precision, the core components of robot joints are castings, reducers, and motors. Controlling the coaxiality and perpendicularity of these three components, key performance indicators, is crucial for the accuracy and vibration of the entire robot. Single units or small batches can be produced to meet these requirements through the skill of fitters. However, for mass production, ensuring the consistency of large-scale robot joint production through assembly jigs and screening out substandard parts during the assembly phase remain technical challenges that need to be addressed. Summary of the Invention

[0003] In view of the above problems, the purpose of the present invention is to provide a robot joint assembly jig and method to solve the problem that the existing assembly jig cannot ensure the consistency of robot joints produced in large quantities.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] One embodiment of the present invention provides a robot joint assembly fixture, the robot joint includes a robotic arm structure and a motor and a reducer respectively positioned and connected at both ends of the robotic arm structure, the robot joint assembly fixture includes an assembly disk and a plurality of assembly disk mounting screws, wherein the center of the assembly disk is provided with a motor coaxiality control hole and a plurality of mounting light holes arranged around the motor coaxiality control hole; one end of the assembly disk is provided with a reducer coaxiality control groove coaxial with the motor coaxiality control hole, the reducer coaxiality control groove is positioned and connected to the output shaft of the reducer, one end of the reducer input shaft of the reducer is positioned and connected to the output shaft of the motor, and the other end of the reducer input shaft is positioned and connected to the motor coaxiality control hole of the assembly disk, the assembly disk mounting screw passes through the mounting light hole on the assembly disk and is threadedly connected to the output shaft of the reducer, and the assembly disk mounting screw is rotated to realize the coaxiality and assembly parallelism control of the robotic arm structure, reducer and motor through the assembly disk.

[0006] In one possible implementation, a motor shaft mounting hole is provided at the lower end of the reducer input shaft along the axis, and the inner bottom of the motor shaft mounting hole is a motor shaft mounting surface; the output shaft of the motor is plugged into the motor shaft mounting hole, and the end is positioned in contact with the motor shaft mounting surface; the reducer input shaft is connected to the output shaft of the motor through a center screw.

[0007] In one possible implementation, the end edge of the reducer coaxiality control groove is provided with an external chamfer; the end edge of the motor coaxiality control hole is provided with an internal chamfer; the inner bottom of the reducer coaxiality control groove is the assembly disk positioning surface, and the assembly disk positioning surface is in contact with the reducer output shaft mounting surface of the reducer.

[0008] In one possible implementation, the robot joint assembly jig further includes an assembly disk disassembly screw, which is threadedly connected to the assembly disk and has an end abutting against the output shaft end face of the reducer. The assembly disk is separated from the reducer by rotating the assembly disk disassembly screw, thereby realizing disassembly of the assembly disk.

[0009] In one possible implementation, the mechanical arm structure is arranged on a bracket, and its axis is perpendicular to the ground;

[0010] The lower end of the mechanical arm structure is positioned and connected to the housing of the motor through a lower positioning stop structure, and the upper end is positioned and connected to the housing of the reducer through an upper positioning stop structure.

[0011] Based on the above design concept, another embodiment of the present invention provides a robot joint assembly method using the above jig, the method comprising the following steps:

[0012] Place the mechanical arm structure on the bracket with its axis perpendicular to the ground;

[0013] Position and connect the reducer housing to the upper positioning stop structure of the robotic arm structure and pre-tighten it with the reducer mounting screws;

[0014] Position and connect the motor housing to the lower positioning stop structure of the robotic arm structure and pre-tighten it with the motor mounting screws;

[0015] Position and connect the output shaft of the motor with the lower end of the input shaft of the reducer;

[0016] Position and connect the motor coaxiality control hole of the assembly plate with the upper end of the reducer input shaft, and limit the axial position through the center screw connected to the reducer input shaft; position and connect the reducer coaxiality control groove of the assembly plate with the reducer output shaft stop surface of the reducer;

[0017] The assembly disk mounting screws passing through the mounting holes on the assembly disk are threadedly connected to the output shaft of the reducer, so that the assembly disk positioning surface at the bottom inner side of the assembly disk is in contact with the reducer output shaft mounting surface of the reducer, and the assembly disk mounting screws are rotated to adjust the assembly coaxiality and assembly parallelism of the mechanical arm structure, reducer and motor through the assembly disk;

[0018] Tighten the reducer mounting screws and motor mounting screws to complete the assembly.

[0019] In one possible implementation, the lower positioning stop structure of the robotic arm structure includes a motor side mounting surface and a motor side mounting hole arranged on the motor side mounting surface. The motor is positioned and fitted with the motor side mounting surface through the motor housing mounting surface, and is positioned by plugging the motor housing stop surface into the motor side mounting hole.

[0020] In one possible implementation method, when the robotic arm structure, reducer and motor are assembled coaxially, due to processing errors, there is a non-parallel gap between the motor side mounting surface of the robotic arm structure and the motor housing mounting surface of the motor. The multi-point gaps between the motor side mounting surface and the motor housing mounting surface are measured, and corresponding gaskets are inserted to adjust the parallelism error of the assembly end surface.

[0021] In a possible implementation, the upper positioning stop structure of the mechanical arm structure includes a reducer side mounting surface and a reducer side mounting hole provided on the reducer side mounting surface;

[0022] The reducer is positioned and fitted with the reducer side mounting surface through the reducer housing mounting surface, and is positioned by plugging the reducer housing stop surface with the reducer side mounting hole.

[0023] In one possible implementation, a motor shaft mounting hole is provided at the lower end of the reducer input shaft along the axis, and the bottom of the motor shaft mounting hole is a motor shaft mounting surface;

[0024] The output shaft of the motor is plugged into the motor shaft mounting hole, and the end is positioned in contact with the motor shaft mounting surface; the upper end of the reducer input shaft is provided with a shaft end annular surface, which is positioned and matched with the motor coaxiality control hole of the assembly disk.

[0025] The advantages and beneficial effects of the present invention are: the robot joint assembly jig and method provided by the present invention improve the consistency of robot joints produced in large quantities, the assembly accuracy is higher than manual assembly, the assembly efficiency is improved, and the product quality is improved.

[0026] The present invention provides a robot joint assembly jig that screens out unqualified parts, reduces repeated disassembly when vibration problems are discovered during subsequent power-on use, and reduces the rework rate; the assembly process eliminates the influence of part gravity on precision; effectively reduces joint noise, improves joint transmission efficiency, and effectively reduces work-related injuries and occupational diseases such as lumbar muscle strain.

[0027] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0028] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0030] Figure 1 This is a schematic diagram of the working state of a robot joint assembly jig of the present invention;

[0031] Figure 2 A partial cross-sectional view of a robot joint assembly jig according to the present invention;

[0032] Figure 3 for Figure 2 A partial enlarged view of point B in the middle;

[0033] Figure 4 A bottom view of a robot joint assembly jig according to the present invention;

[0034] Figure 5 It is an axonometric view of the assembly fixture of the present invention.

[0035] In the figure: 1-mechanical arm structure, 101-motor side mounting surface, 102-motor side mounting hole, 103-speed reducer side mounting surface, 104-speed reducer side mounting hole, 2-speed reducer, 201-speed reducer housing mounting surface, 202-speed reducer housing stop surface, 203-speed reducer output shaft mounting surface, 204-speed reducer output shaft stop surface, 3-motor, 301-motor housing mounting surface, 302-motor housing stop surface, 4-assembly plate, 401-assembly Disk positioning surface, 402- reducer coaxiality control groove, 403- motor coaxiality control hole, 404- mounting light hole, 405- external chamfer, 406- internal chamfer, 407- disassembly threaded hole, 5- reducer input shaft, 501- motor shaft mounting surface, 502- motor shaft mounting hole, 503- shaft end annular surface, 6- center screw, 7- assembly disk mounting screw, 8- assembly disk disassembly screw, 9- reducer mounting screw, 10- bracket, 11- motor mounting screw. DETAILED DESCRIPTION

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0038] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0039] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0040] like Figure 1-5As shown, an embodiment of the present invention provides a robot joint assembly fixture, the robot joint includes a robot arm structure 1 and a motor 3 and a reducer 2 respectively positioned and connected at both ends of the robot arm structure 1, the robot joint assembly fixture includes an assembly disk 4 and a plurality of assembly disk mounting screws 7, wherein the center of the assembly disk 4 is provided with a motor coaxiality control hole 403 and a plurality of mounting light holes 404 arranged around the motor coaxiality control hole 403; one end of the assembly disk 4 is provided with a reducer coaxiality control groove 402 coaxial with the motor coaxiality control hole 403, the reducer coaxiality control groove 402 is positioned and connected to the output shaft of the reducer 2, one end of the reducer input shaft 5 of the reducer 2 is positioned and connected to the output shaft of the motor 3, and the other end of the reducer input shaft 5 is positioned and connected to the motor coaxiality control hole 403 of the assembly disk 4, the assembly disk mounting screw 7 passes through the mounting light hole 404 on the assembly disk 4 and is threadedly connected to the output shaft of the reducer 2, and the assembly disk mounting screw 7 is rotated to realize the coaxiality and assembly parallelism control of the robot arm structure 1, the reducer 2 and the motor 3 through the assembly disk 4.

[0041] like Figure 1 As shown, in the embodiment of the present invention, the arm structure 1 is mounted on a bracket 10, with its axis perpendicular to the ground. The lower end of the arm structure 1 is fixedly connected to the housing of the motor 3 via a lower positioning stop structure, and the upper end is fixedly connected to the housing of the reducer 2 via an upper positioning stop structure.

[0042] like Figure 1 、 Figure 3 As shown, in an embodiment of the present invention, a motor shaft mounting hole 502 is provided at the lower end of the reducer input shaft 5 along the axis, and the inner bottom of the motor shaft mounting hole 502 is a motor shaft mounting surface 501; the output shaft of the motor 3 is plugged into the motor shaft mounting hole 502, and the end is positioned in contact with the motor shaft mounting surface 501; the reducer input shaft 5 is connected to the output shaft of the motor 3 through a center screw 6.

[0043] Furthermore, if Figure 5 As shown, the end edge of the reducer coaxiality control groove 402 is provided with an outer chamfer 405, while the end edge of the motor coaxiality control hole 403 is provided with an inner chamfer 406 to facilitate installation. The inner bottom of the reducer coaxiality control groove 402 is the assembly plate positioning surface 401, which mates with the reducer output shaft mounting surface 203 of the reducer 2, thereby achieving parallelism control of the assembly end faces.

[0044] In an embodiment of the present invention, a robot joint assembly jig provided by the present invention also includes an assembly disk disassembly screw 8, which is threadedly connected to the assembly disk 4 and has an end abutting against the output shaft end face of the reducer 2. By rotating the assembly disk disassembly screw 8, the assembly disk 4 is separated from the reducer 2, thereby realizing the disassembly of the assembly disk 4, and the disassembly is convenient and quick.

[0045] In this embodiment, the robotic arm structure 1 is made of cast aluminum, ductile iron, carbon fiber or other materials.

[0046] The robot joint assembly jig provided by this invention can screen out unqualified parts, reducing repeated disassembly when vibration problems are discovered during subsequent power-on operation and lowering the rework rate. The assembly process eliminates the influence of component gravity on precision, effectively reducing joint noise and improving joint transmission efficiency, thereby effectively reducing work-related injuries and occupational diseases such as lumbar muscle strain. This invention improves the consistency of robot joints in mass production, achieves higher assembly precision than manual assembly, and enhances assembly efficiency and product quality.

[0047] Based on the above design concept, another embodiment of the present invention provides a robot joint assembly method using the fixture in the above embodiment, such as Figures 1 to 5 As shown, the method includes the following steps:

[0048] The robotic arm structure 1 is placed on the bracket 10, and the robotic arm structure 1 is suspended in the air with its axis perpendicular to the ground;

[0049] Position and connect the housing of the reducer 2 to the upper positioning stop structure of the robotic arm structure 1, and pre-tighten it with the reducer mounting screws 9; that is, the reducer mounting screws 9 do not reach the pre-tightening force, but only reach a slight fixing force. The slight fixing force is defined as: the two parts locked by the screws will move in the assembly position under the interference of the fixture or external force;

[0050] Position and connect the housing of the motor 3 to the lower positioning stop structure of the robotic arm structure 1, and pre-tighten it with the motor mounting screws 11; that is, the motor mounting screws 11 do not reach the pre-tightening force, but only reach a slight fixing force;

[0051] Position and connect the output shaft of the motor 3 to the lower end of the reducer input shaft 5;

[0052] Position and connect the motor coaxiality control hole 403 of the assembly disk 4 with the upper end of the reducer input shaft 5, and position and connect the reducer coaxiality control groove 402 of the assembly disk 4 with the reducer output shaft stop surface 204 of the reducer 2; at this time, the assembly disk positioning surface 401 at the bottom of the reducer coaxiality control groove 402 is matched with the reducer output shaft mounting surface 203;

[0053] The assembly disk mounting screw 7 passing through the mounting hole 404 on the assembly disk 4 is threadedly connected to the output shaft of the reducer 2. The assembly disk mounting screw 7 is rotated. During the screwing process of the assembly disk mounting screw 7, the coaxiality of the assembly disk 4 and the reducer 2 is locked, thereby adjusting the assembly coaxiality of the mechanical arm structure 1, the reducer 2 and the motor 3.

[0054] Tighten the reducer mounting screws 9 and the motor mounting screws 11 to complete the assembly.

[0055] The lower positioning stop structure of the robotic arm structure 1 includes a motor side mounting surface 101 and a motor side mounting hole 102 arranged on the motor side mounting surface 101. The motor 3 is positioned and fitted with the motor side mounting surface 101 through the motor housing mounting surface 301, and is plugged and positioned with the motor side mounting hole 102 through the motor housing stop surface 302.

[0056] In an embodiment of the present invention, the upper positioning stop structure of the robotic arm structure 1 includes a reducer-side mounting surface 103 and a reducer-side mounting hole 104 provided on the reducer-side mounting surface 103. The reducer-side mounting surface 103 is parallel to the ground, eliminating the effects of component gravity on precision during assembly, achieving an ergonomically sound position and effectively reducing occupational injuries and lumbar muscle strain, among other occupational diseases. The reducer 2 is positioned and aligned with the reducer-side mounting surface 103 via the reducer housing mounting surface 201, and is positioned by plugging the reducer housing stop surface 202 into the reducer-side mounting hole 104.

[0057] Specifically, the lower end of the reducer input shaft 5 is provided with a motor shaft mounting hole 502 along its axis, and the bottom of the motor shaft mounting hole 502 forms a motor shaft mounting surface 501. The output shaft of the motor 3 is plugged into the motor shaft mounting hole 502, with its end aligned and positioned against the motor shaft mounting surface 501. The upper end of the reducer input shaft 5 is provided with a shaft end annular surface 503, which is positioned and engaged with the motor coaxiality control hole 403 of the assembly disk 4. The output shaft of the motor 3 is coaxially locked with the reducer input shaft 5 through the motor shaft mounting surface 501 and the motor shaft mounting hole 502 of the reducer input shaft 5.

[0058] When achieving coaxial assembly of the robotic arm structure 1, reducer 2, and motor 3, machining errors can result in non-parallel clearance between the motor-side mounting surface 101 of the robotic arm structure 1 and the motor housing mounting surface 301 of the motor 3. Compensation is achieved by measuring the gaps between the motor-side mounting surface 101 and the motor housing mounting surface 301 at multiple points and inserting corresponding shims to adjust the parallelism error of the assembly end faces. A feeler gauge is preferred for measurement, with commercially available feeler gauges currently having an accuracy of 2μ. The same applies to the parallelism error of the assembly end faces between the robotic arm structure 1 and reducer 2.

[0059] When the positions of the mechanical arm structure 1 and the reducer 2, and the mechanical arm structure 1 and the motor 3 are locked, and the mounting screws reach the pre-tightening force, the assembly plate 4 is disassembled by the assembly plate mounting screws 7 and the assembly plate disassembly screws 8.

[0060] The present invention provides a robot joint assembly jig and method, which improve the consistency of robot joints in mass production, achieve higher assembly precision than manual assembly, and thus enhance assembly efficiency and product quality.

[0061] The present invention provides a robot joint assembly jig that can screen out unqualified parts, reduce repeated disassembly when vibration problems are discovered during subsequent power-on use, and reduce the rework rate; the assembly process eliminates the influence of part gravity on precision; effectively reduces joint noise, improves joint transmission efficiency, and effectively reduces work-related injuries and occupational diseases such as lumbar muscle strain.

[0062] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A robot joint assembly jig, the robot joint comprising a robot arm structure (1) and a motor (3) and a reducer (2) respectively positioned and connected to both ends of the robot arm structure (1), characterized in that: The robot joint assembly fixture comprises an assembly disk (4) and a plurality of assembly disk mounting screws (7), wherein the center of the assembly disk (4) is provided with a motor coaxiality control hole (403) and a plurality of mounting light holes (404) arranged around the motor coaxiality control hole (403); one end of the assembly disk (4) is provided with a reducer coaxiality control groove (402) coaxial with the motor coaxiality control hole (403), the reducer coaxiality control groove (402) is positioned and connected to the output shaft of the reducer (2), and the reducer (2) is provided with a plurality of mounting light holes (404) arranged around the motor coaxiality control hole (403). One end of the reducer input shaft (5) is positioned and connected to the output shaft of the motor (3), and the other end of the reducer input shaft (5) is positioned and connected to the motor coaxiality control hole (403) of the assembly disk (4). The assembly disk mounting screw (7) passes through the mounting light hole (404) on the assembly disk (4) and is threadedly connected to the output shaft of the reducer (2). The assembly disk mounting screw (7) is rotated to achieve coaxiality and assembly parallelism control of the mechanical arm structure (1), the reducer (2) and the motor (3) through the assembly disk (4); The robot joint assembly jig further includes an assembly disk disassembly screw (8), which is threadedly connected to the assembly disk (4) and has an end portion abutting against the output shaft end face of the reducer (2). By rotating the assembly disk disassembly screw (8), the assembly disk (4) is separated from the reducer (2), thereby realizing the disassembly of the assembly disk (4).

2. The robot joint assembly jig according to claim 1, characterized in that: The lower end of the reducer input shaft (5) is provided with a motor shaft mounting hole (502) along the axis, and the inner bottom of the motor shaft mounting hole (502) is a motor shaft mounting surface (501); the output shaft of the motor (3) is plugged into the motor shaft mounting hole (502), and the end portion is aligned and positioned with the motor shaft mounting surface (501); the reducer input shaft (5) is connected to the output shaft of the motor (3) via a center screw (6).

3. The robot joint assembly jig according to claim 1, characterized in that: The end edge of the reducer coaxiality control groove (402) is provided with an outer chamfer (405); the end edge of the motor coaxiality control hole (403) is provided with an inner chamfer (406); The inner bottom of the reducer coaxiality control groove (402) is an assembly disk positioning surface (401), and the assembly disk positioning surface (401) is in contact with the reducer output shaft mounting surface (203) of the reducer (2).

4. The robot joint assembly jig according to any one of claims 1 to 3, characterized in that: The mechanical arm structure (1) is arranged on a bracket (10), and its axis is perpendicular to the ground; The lower end of the mechanical arm structure (1) is positioned and connected to the housing of the motor (3) via a lower positioning stop structure, and the upper end is positioned and connected to the housing of the reducer (2) via an upper positioning stop structure.

5. A robot joint assembly method using the jig as claimed in claim 4, characterized in that: The method comprises the following steps: The mechanical arm structure (1) is arranged on a bracket (10) with its axis perpendicular to the ground; Positioning and connecting the housing of the reducer (2) to the upper positioning stop structure of the mechanical arm structure (1), and pre-tightening them with the reducer mounting screws (9); Positioning and connecting the housing of the motor (3) to the lower positioning stop structure of the mechanical arm structure (1), and pre-tightening them with the motor mounting screws (11); Positioning and connecting the output shaft of the motor (3) to the lower end of the speed reducer input shaft (5); The motor coaxiality control hole (403) of the assembly disk (4) is positioned and connected with the upper end of the reducer input shaft (5), and the reducer coaxiality control groove (402) of the assembly disk (4) is positioned and connected with the reducer output shaft stop surface (204) of the reducer (2); The assembly disk mounting screw (7) passing through the mounting hole (404) on the assembly disk (4) is threadedly connected to the output shaft of the speed reducer (2), so that the assembly disk positioning surface (401) at the inner bottom of the assembly disk (4) is in contact with the speed reducer output shaft mounting surface (203) of the speed reducer (2), and the assembly disk mounting screw (7) is rotated to adjust the assembly coaxiality and assembly parallelism of the mechanical arm structure (1), the speed reducer (2) and the motor (3) through the assembly disk (4); Tighten the reducer mounting screws (9) and the motor mounting screws (11) to complete the assembly.

6. The robot joint assembly method according to claim 5, characterized in that: The lower positioning stop structure of the mechanical arm structural component (1) comprises a motor side mounting surface (101) and a motor side mounting hole (102) provided on the motor side mounting surface (101); the motor (3) is positioned and fitted with the motor side mounting surface (101) via the motor housing mounting surface (301), and is positioned by plugging the motor housing stop surface (302) into the motor side mounting hole (102).

7. The robot joint assembly method according to claim 6, characterized in that: When the mechanical arm structure (1), the speed reducer (2) and the motor (3) are assembled coaxially, a non-parallel gap exists between the motor side mounting surface (101) of the mechanical arm structure (1) and the motor housing mounting surface (301) of the motor (3) due to a processing error. The multi-point gaps between the motor side mounting surface (101) and the motor housing mounting surface (301) are measured, and corresponding gaskets are inserted to adjust the parallelism error of the assembly end surface.

8. The robot joint assembly method according to claim 5, characterized in that: The upper positioning stop structure of the mechanical arm structure (1) includes a reducer side mounting surface (103) and a reducer side mounting hole (104) provided on the reducer side mounting surface (103); The reducer (2) is positioned and fitted with the reducer side mounting surface (103) via the reducer housing mounting surface (201), and is positioned by plugging the reducer housing stop surface (202) with the reducer side mounting hole (104).

9. The robot joint assembly method according to claim 5, characterized in that: The lower end of the reducer input shaft (5) is provided with a motor shaft mounting hole (502) along the axis, and the bottom of the motor shaft mounting hole (502) is a motor shaft mounting surface (501); The output shaft of the motor (3) is plugged into the motor shaft mounting hole (502), and the end portion is positioned in contact with the motor shaft mounting surface (501); The upper end of the reducer input shaft (5) is provided with a shaft end annular surface (503), and the shaft end annular surface (503) is positioned and matched with the motor coaxiality control hole (403) of the assembly disk (4).

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