Bearing quick dismounting structure and robot joint
By designing a bearing rapid disassembly structure in the robot joint and using the combination of screws and pulling parts to achieve rapid disassembly of bearings, the problem of difficult bearings in the prior art is solved, and the convenience and economicality of maintenance are improved.
Patent Information
- Application Number
- CN202421502691.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-28
- Publication Date
- 2025-05-13
- Estimated Expiration
- 2034-06-28
AI Technical Summary
In existing robot joints, the bearing structure is difficult to disassemble once it is assembled, resulting in difficulties when it needs to be replaced in situations such as bearing wear.
A rapid bearing disassembly structure is designed, including a rotating shaft, bearing, pulling member and screw. Through the threaded cooperation of the screw and the pulling member, the pulling member is driven to move in the accommodating groove, driving the bearing to disengage the rotating shaft.
The rapid removal of bearings is achieved, the maintenance process is simplified, the cost is reduced, and the radial space between the rotating shaft and the bearing is not occupied, and the structure is maintained.
Smart Images
Figure CN222857882U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of bearing disassembly and assembly, in particular to a bearing quick disassembly structure and a robot joint. Background Art
[0002] With the continuous advancement of science and technology, robots have begun to be widely used in many fields. In robot joints, due to the need for transmission, a bearing structure is generally set to rotatably connect the rotating shaft and the housing. In the later use of the robot, maintenance is required from time to time. For example, during use, if the bearing structure is worn, the bearing structure needs to be replaced frequently. However, in existing robot joints, once the bearing structure is assembled, it is generally difficult to disassemble it. Utility Model Content
[0003] Based on this, it is necessary to provide a bearing quick disassembly structure and a robot joint that are easy to disassemble.
[0004] A first aspect of an embodiment of the present application provides a bearing quick disassembly structure, comprising a rotating shaft, a bearing, a puller, and a screw, wherein an inner ring of the bearing is connected to the rotating shaft, and the bearing quick disassembly structure has a first side and a second side opposite to each other along the axial direction of the rotating shaft;
[0005] Wherein, a receiving groove is provided on the outer circumferential surface of the rotating shaft, an end surface of the first side of the rotating shaft is provided with an opening connected to the receiving groove, and an inner wall of the receiving groove is configured with an abutting surface facing the first side;
[0006] The pulling member is arranged in the accommodating groove, the first end of the pulling member overlaps the abutment surface, and the second end of the pulling member is located on the second side of the inner ring of the bearing; the screw rod is used to cooperate with the first end of the pulling member threadedly, so that it can abut against the abutment surface when rotating around its own axis, and drive the pulling member to move through the opening from the second side to the first side, so as to drive the bearing to disengage from the rotating shaft.
[0007] In one embodiment, a first threaded hole is provided at the first end of the pulling member, the first threaded hole is a through hole, and the axial direction of the first threaded hole is parallel to the axial direction of the rotating shaft;
[0008] The screw rod is threadably matched with the first end portion of the drawing member through the first threaded hole.
[0009] In one of the embodiments, the bearing quick disassembly structure further includes a fastener;
[0010] A second mounting hole is also provided on the rotating shaft, and the second mounting hole is located at a position on the abutting surface corresponding to the first threaded hole, and the aperture of the second mounting hole is smaller than the aperture of the first threaded hole;
[0011] The fastener part structure passes through the first threaded hole and is detachably connected to the second mounting hole.
[0012] In one embodiment, the accommodating groove includes a first groove section and a second groove section connected to each other, the first groove section is located on a first side of the second groove section, and the first groove section is connected to an end surface of a first side of the rotating shaft through an opening;
[0013] The groove depth of the first groove segment along the radial direction of the rotation axis is greater than the groove depth of the second groove segment along the radial direction of the rotation axis, so as to form an abutment surface at the junction of the first groove segment and the second groove segment.
[0014] In one embodiment, the puller further comprises a main body, the first end portion is configured as a protruding structure extending from the main body toward the radial inner side of the rotating shaft, and the second end portion is configured as a protruding structure extending from the main body toward the radial outer side of the rotating shaft;
[0015] The first end portion is located in the first slot section, and the main body and the second end portion are located in the second slot section.
[0016] In one embodiment, when the drawing member is disposed in the receiving groove, the outer contour of the surface of the drawing member exposed from the receiving groove matches the outer contour of the rotating shaft.
[0017] In one embodiment, a partial diameter expansion portion is provided on the second side of the rotating shaft to form a shaft shoulder; when the drawing member is arranged in the receiving groove, the first side end surface of the second end portion of the drawing member is flush with the shaft shoulder;
[0018] The second side end surface of the inner ring of the bearing abuts against the shaft shoulder and the first side end surface of the second end portion of the drawing member.
[0019] In one embodiment, the number of the pulling members and the number of the accommodating grooves are both two, and the pulling members and the accommodating grooves are arranged in a one-to-one correspondence; the two accommodating grooves are arranged symmetrically with respect to the center of the rotation axis.
[0020] A second aspect of an embodiment of the present application provides a robot joint, comprising the above-mentioned bearing quick disassembly structure.
[0021] In one embodiment, the robot joint also includes a shell, a ball bearing and a torque sensor; the outer ring of the bearing is connected to the inner wall of the shell; the torque sensor is connected to the second side end of the rotating shaft, and the inner ring and outer ring of the ball bearing are respectively connected to the torque sensor and the inner wall of the shell.
[0022] Beneficial effects of the above-mentioned bearing quick disassembly structure and robot joint:
[0023] The puller is arranged in the accommodating groove, the first end of the puller overlaps the abutment surface, and the second end of the puller is located on the second side of the inner ring of the bearing. The screw is used to cooperate with the first end of the puller threadedly, so that it can abut against the abutment surface when rotating around its own axis, and drive the puller to move from the second side to the first side through the opening to drive the bearing to detach from the rotating shaft. Therefore, when the bearing needs to be removed, the screw can be rotated and abutted against the abutment surface, so that the rotation of the screw can be converted into a linear movement of the puller from the second side to the first side, and the second end of the puller contacts the second side end of the bearing, and moves the bearing from the second side to the first side to realize the disassembly of the bearing. The disassembly process is relatively simple and convenient.
[0024] During the disassembly process, the screw and the puller work together as a disassembly tool, which is not only low-cost but also more economical.
[0025] In addition, the pulling piece is arranged in the accommodating groove, and the second end of the pulling piece is located on the second side of the inner ring of the bearing, that is, the pulling piece is embedded in the accommodating groove through the accommodating groove opened on the outer peripheral surface of the rotating shaft, and will not occupy the radial space between the rotating shaft and the bearing. Instead, it is disassembled only by pressing the axial end of the bearing, without reserving disassembly space in the radial direction, which will not affect the installation of the rotating shaft and the bearing and also makes the structure more compact. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Figure 1 A schematic diagram of a bearing quick disassembly structure provided in an embodiment of the present application;
[0027] Figure 2 A schematic diagram of the installation of a rotating shaft and a pulling member in a bearing quick disassembly structure provided in an embodiment of the present application;
[0028] Figure 3 A side cross-sectional schematic diagram of a bearing quick disassembly structure provided in an embodiment of the present application;
[0029] Figure 4 A schematic diagram of the disassembly process of the bearing quick disassembly structure provided in an embodiment of the present application;
[0030] Figure 5 A schematic diagram of the exploded structure of the bearing quick disassembly structure provided in an embodiment of the present application.
[0031] Description of Figure Numbers:
[0032] 100. Bearing quick disassembly structure;
[0033] 10. Shell;
[0034] 20, rotating shaft; 21, accommodating groove; 210, abutting surface; 211, first groove section; 212, second groove section; 22, opening; 23, second mounting hole; 24, enlarged diameter portion; 241, shaft shoulder;
[0035] 30. Bearings;
[0036] 40. Screw;
[0037] 50, drawing member; 501, first threaded hole; 51, first end portion; 52, second end portion; 53, main body portion;
[0038] 60. Fasteners;
[0039] F, first side; S, second side. DETAILED DESCRIPTION
[0040] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.
[0041] 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", "axial", "radial", "circumferential" and the like 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, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0043] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0044] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.
[0045] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.
[0046] The following is a description of the bearing quick disassembly structure and robot joint of the embodiment of the present application in conjunction with the accompanying drawings. In the present application, the bearing quick disassembly structure is applied to the robot joint as an example for description. Of course, the bearing quick disassembly structure can also be applied to other mechanisms including bearing mounting structures as needed. The application in other mechanisms is similar to this and will not be repeated here.
[0047] Figure 1 A schematic diagram of a bearing quick disassembly structure provided in an embodiment of the present application; Figure 2 A schematic diagram of the installation of a rotating shaft and a pulling member in a bearing quick disassembly structure provided in an embodiment of the present application; Figure 3 A side cross-sectional schematic diagram of a bearing quick disassembly structure provided in an embodiment of the present application; Figure 4 A schematic diagram of the disassembly process of the bearing quick disassembly structure provided in an embodiment of the present application; Figure 5 A schematic diagram of the exploded structure of the bearing quick disassembly structure provided in an embodiment of the present application.
[0048] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 On the one hand, an embodiment of the present application provides a bearing quick disassembly structure 100, including a rotating shaft 20, a bearing 30, a pulling member 50 and a screw 40, the inner ring of the bearing 30 is connected to the rotating shaft 20, and the bearing quick disassembly structure 100 has a first side F and a second side S opposite to each other along the axial direction of the rotating shaft 20.
[0049] The outer circumference of the rotating shaft 20 is provided with a receiving groove 21 , the end surface of the first side F of the rotating shaft 20 is provided with an opening 22 communicating with the receiving groove 21 , and the inner wall of the receiving groove 21 is configured with an abutting surface 210 facing the first side F.
[0050] The puller 50 is disposed in the receiving groove 21, the first end 51 of the puller 50 overlaps the abutment surface 210, and the second end 52 of the puller 50 is located at the second side S of the inner ring of the bearing 30. The screw 40 is used to threadably cooperate with the first end 51 of the puller 50, so that it can abut against the abutment surface 210 when rotating around its own axis, and drive the puller 50 to move from the second side S to the first side F through the opening 22, so as to drive the bearing 30 to separate from the rotating shaft 20.
[0051] The puller 50 is arranged in the receiving groove 21, the first end 51 of the puller 50 overlaps the abutment surface 210, and the second end 52 of the puller 50 is located on the second side S of the inner ring of the bearing 30. The screw 40 is used to threadably cooperate with the first end 51 of the puller 50, so that it can abut against the abutment surface 210 when rotating around its own axis, and drive the puller 50 to move from the second side S to the first side F through the opening 22, so as to drive the bearing 30 to be separated from the rotating shaft 20. Therefore, when the bearing needs to be removed, the screw 40 can be rotated and abutted against the abutment surface 210, so that the rotation of the screw 40 can be converted into a linear movement of the puller 50 from the second side S to the first side F, and the second end 52 of the puller 50 contacts the second side end of the bearing 30, and drives the bearing 30 to move from the second side S to the first side F, so as to realize the removal of the bearing 30. The removal process is relatively simple and convenient.
[0052] During the disassembly process, the screw rod 40 and the puller 50 cooperate together as a disassembly tool, which not only has low cost but also better economy.
[0053] In addition, the pulling member 50 is arranged in the accommodating groove 21, and the second end 52 of the pulling member 50 is located on the second side S of the inner ring of the bearing 30, that is, the pulling member 50 is embedded in the accommodating groove 21 through the accommodating groove 21 opened on the outer peripheral surface of the rotating shaft 20, and will not occupy the radial space between the rotating shaft 20 and the bearing 30. Instead, it is disassembled only by pressing the axial end of the bearing 30, and there is no need to reserve a disassembly space in the radial direction, which will not affect the installation of the rotating shaft 20 and the bearing 30, and also makes the structure more compact.
[0054] In an embodiment of the present application, the bearing quick disassembly structure 100 can be applied to a robot joint, which may include a shell 10. The outer ring and inner ring of the bearing 30 can be respectively connected to the inner wall of the shell 10 and the rotating shaft 20 of the robot joint, which means that the outer ring of the bearing 30 is connected to the inner wall of the shell 10, and the inner ring of the bearing 30 is sleeved on the outer periphery of the rotating shaft 20, so that the rotating connection between the rotating shaft 20 and the shell 10 can be realized.
[0055] In the present application, continue to refer to Figure 5 The first end 51 of the puller 50 is provided with a first threaded hole 501, which is a through hole, and the axial direction of the first threaded hole 501 is parallel to the axial direction of the rotating shaft 20. The screw 40 is threadedly matched with the first end 51 of the puller 50 through the first threaded hole 501.
[0056] In this way, when the pulling member 50 rotates axially around the first threaded hole 501 and one end of the pulling member 50 abuts against the abutting surface 210, the pulling member 50 can move in the direction from the second side S to the first side F, thereby driving the bearing 30 to move in the direction from the second side S to the first side F.
[0057] In the present application, refer to Figure 2 and Figure 3 The bearing quick disassembly structure 100 further includes a fastener 60. The rotating shaft 20 is further provided with a second mounting hole 23, which is located at a position on the abutting surface 210 corresponding to the first threaded hole 501, and has a smaller diameter than the first threaded hole 501.
[0058] Part of the structure of the fastener 60 passes through the first threaded hole 501 and is detachably connected to the second mounting hole 23 .
[0059] In this way, the drawing member 50 and the rotating shaft 20 can be connected by the fastener 60. When disassembling, the fastener 60 only needs to be removed, and the bearing 30 can be disassembled by the cooperation between the screw rod 40 and the first threaded hole 501.
[0060] In the present application, continue to refer to Figure 5The accommodating groove 21 includes a first groove section 211 and a second groove section 212 connected to each other. The first groove section 211 is located at a first side F of the second groove section 212 . The first groove section 211 is connected to the end surface of the first side F of the rotating shaft 20 through the opening 22 .
[0061] The groove depth of the first groove section 211 along the radial direction of the rotating shaft 20 is greater than the groove depth of the second groove section 212 along the radial direction of the rotating shaft 20 , so that an abutting surface 210 is formed at the junction of the first groove section 211 and the second groove section 212 .
[0062] When the puller 50 is not installed, the abutting surface 210 is directly exposed to the outside through the opening 22 .
[0063] In the embodiment of the present application, the pulling member 50 also includes a main body 53, the first end 51 is configured as a protruding structure extending from the main body 53 toward the radial inner side of the rotating shaft 20, and the second end 52 is configured as a protruding structure extending from the main body 53 toward the radial outer side of the rotating shaft 20.
[0064] The first end portion 51 is located in the first slot section 211 , and the main body portion 53 and the second end portion 52 are located in the second slot section 212 .
[0065] In this way, the puller 50 is completely embedded in the receiving groove 21, does not protrude from the surface of the rotating shaft 20, and does not affect the connection between the rotating shaft 20 and the bearing 30. In this way, the puller 50 does not occupy additional disassembly space, making the entire bearing quick disassembly structure 100 more compact.
[0066] In the embodiment of the present application, when the pulling member 50 is disposed in the receiving groove 21 , the outer contour of the surface of the pulling member 50 exposed from the receiving groove 21 matches the outer contour of the rotating shaft 20 .
[0067] In this way, the puller 50 can be prevented from affecting the installation surfaces of the rotating shaft 20 and the bearing 30. In specific implementation, the end of the first end portion 51 along the axial direction of the rotating shaft 20 is flush with the first side F end surface of the rotating shaft 20, and the surfaces of the main body portion 53 and the second end portion 52 facing the radial outer side of the rotating shaft 20 are formed into arc surfaces like the outer peripheral surface of the rotating shaft 20. The puller 50 also fills the entire accommodating groove 21 without any gaps.
[0068] In the present application, refer to Figure 2 The second side S of the rotating shaft 20 is provided with a partially enlarged diameter portion 24 to form a shaft shoulder 241 . When the drawing member 50 is disposed in the receiving groove 21 , the first side F end surface of the second end portion 52 of the drawing member 50 is flush with the shaft shoulder 241 .
[0069] The second side S end surface of the inner ring of the bearing 30 abuts against the shaft shoulder 241 and the first side F end surface of the second end portion 52 of the puller 50 .
[0070] In this way, when the pulling member 50 is installed in the accommodating groove 21 , the second end portion 52 of the pulling member 50 can also assist in supporting the inner ring of the bearing 30 .
[0071] In the embodiment of the present application, the number of the pulling members 50 and the number of the accommodating grooves 21 are both two, and the pulling members 50 and the accommodating grooves 21 are arranged in a one-to-one correspondence, and the two accommodating grooves 21 are arranged symmetrically with respect to the center of the rotating shaft 20 .
[0072] In this way, when disassembling the bearing 30 , force can be applied simultaneously at two relative radial positions of the bearing 30 , so that the bearing 30 is evenly stressed and disassembly is more convenient.
[0073] Reference Figure 3 and Figure 4 During disassembly, the fastener 60 is screwed out of the second mounting hole 23, and the two screws 40 are screwed into the corresponding first threaded holes 501 respectively. As the screws 40 are screwed, the screws 40 abut against the abutment surface 210. At this time, the screwing of the two screws 40 can be performed alternately. As one of the screws 40 rotates, one of the pullers 50 is lifted, and the corresponding second end 52 drives the corresponding position on the bearing 30 to be pulled up. Then, the other screw 40 is screwed to lift the other puller 50, and the second end 52 drives another corresponding position on the bearing 30 to be pulled up. When the two screws 40 are screwed alternately, the bearing 30 can be gradually disassembled.
[0074] A second aspect of the embodiments of the present application further provides a robot joint, comprising the above-mentioned bearing quick disassembly structure 100.
[0075] Furthermore, the robot joint also includes a ball bearing and a torque sensor (not shown), the torque sensor is connected to the second side S end of the rotating shaft 20, and the inner and outer rings of the ball bearing are respectively connected to the torque sensor and the inner wall of the housing 10.
[0076] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0077] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.
Claims
1. A bearing quick disassembly structure, characterized in that: It comprises a rotating shaft, a bearing, a pulling member and a screw, wherein the inner ring of the bearing is connected to the rotating shaft, and the bearing quick disassembly structure has a first side and a second side opposite to each other along the axial direction of the rotating shaft; Wherein, a receiving groove is provided on the outer circumferential surface of the rotating shaft, an end surface of the first side of the rotating shaft is provided with an opening communicating with the receiving groove, and an inner wall of the receiving groove is configured with an abutting surface facing the first side; The pulling member is arranged in the accommodating groove, the first end of the pulling member overlaps the abutment surface, and the second end of the pulling member is located on the second side of the inner ring of the bearing; the screw rod is used to threadably cooperate with the first end of the pulling member so that it can abut against the abutment surface when rotating around its own axis, and drive the pulling member to move in the direction from the second side to the first side through the opening, so as to drive the bearing to disengage from the rotating shaft.
2. The bearing quick disassembly structure according to claim 1, characterized in that: A first threaded hole is provided at the first end of the pulling member, the first threaded hole is a through hole, and the axial direction of the first threaded hole is parallel to the axial direction of the rotating shaft; The screw rod is threadably engaged with the first end portion of the drawing member through the first threaded hole.
3. The bearing quick disassembly structure according to claim 2, characterized in that: The bearing quick disassembly structure also includes a fastener; A second mounting hole is also provided on the rotating shaft, the second mounting hole is located at a position on the abutting surface corresponding to the first threaded hole, and the aperture of the second mounting hole is smaller than the aperture of the first threaded hole; The fastener portion structure passes through the first threaded hole and is detachably connected to the second mounting hole.
4. The bearing quick disassembly structure according to claim 1, characterized in that: The accommodating groove comprises a first groove section and a second groove section connected to each other, the first groove section is located on a first side of the second groove section, and the first groove section is connected to the end surface of the first side of the rotating shaft through the opening; The groove depth of the first groove segment along the radial direction of the rotation axis is greater than the groove depth of the second groove segment along the radial direction of the rotation axis, so that the abutment surface is formed at the junction position of the first groove segment and the second groove segment.
5. The bearing quick disassembly structure according to claim 4, characterized in that: The puller also includes a main body, the first end portion is configured as a protruding structure extending from the main body toward the radial inner side of the rotating shaft, and the second end portion is configured as a protruding structure extending from the main body toward the radial outer side of the rotating shaft; The first end portion is located in the first slot section, and the main body and the second end portion are located in the second slot section.
6. The bearing quick disassembly structure according to claim 5, characterized in that: When the pulling member is disposed in the accommodating groove, the outer contour of the surface of the pulling member exposed from the accommodating groove matches the outer contour of the rotating shaft.
7. The bearing quick disassembly structure according to claim 5, characterized in that: A partial diameter expansion portion is provided on the second side of the rotating shaft to form a shaft shoulder; when the drawing member is arranged in the accommodating groove, the first side end surface of the second end portion of the drawing member is flush with the shaft shoulder; The second side end surface of the inner ring of the bearing abuts against the shaft shoulder and the first side end surface of the second end portion of the drawing member.
8. The bearing quick disassembly structure according to any one of claims 1 to 7, characterized in that: The number of the pulling members and the number of the accommodating grooves are both two, and the pulling members and the accommodating grooves are arranged in a one-to-one correspondence; the two accommodating grooves are arranged symmetrically relative to the center of the rotation axis.
9. A robot joint, characterized in that: It comprises a bearing quick disassembly structure as claimed in any one of claims 1 to 8.
10. The robot joint according to claim 9, characterized in that: The robot joint also includes a housing, a ball bearing and a torque sensor; The outer ring of the bearing is connected to the inner wall of the housing; the torque sensor is connected to the second side end of the rotating shaft, and the inner ring and outer ring of the ball bearing are respectively connected to the torque sensor and the inner wall of the housing.