The invention discloses a mechanical limiting
exoskeleton robot joint. The joint comprises a driving mechanism, a speed reducing mechanism, an executing mechanism and a feedback mechanism, and the
exoskeleton robot joint can be driven to rotate at one degree of freedom. The driving mechanism is composed of a motor base, a motor, a rotating shaft, a rear end cover, a bearing, a
stator check ring and a rotor check ring. The speed reducing mechanism is composed of a speed
reducer, an output
flange and a front end cover. The executing mechanism is composed of an upper connecting plate and a lowerconnecting plate. The feedback mechanism is composed of an absolute value
encoder and a relative value
encoder. A fan-shaped groove with the angle
ranging from -6 degrees to 120 degrees is formed in the middle of the front end cover, a boss is designed for the output
flange, the boss of the output
flange is located in the fan-shaped groove of the front end cover after
assembly and can move along the fan-shaped groove, therefore the relative rotation relation between the upper connecting plate and the lower connecting plate is converted into relative rotation between the front end cover and theoutput flange, and mechanical limiting is achieved. Hard limiting of the
joint rotation angle is achieved through a mechanical structure, and the working safety and reliability of a
robot are improved.