Mechanical arm joint and robot

Abstract

The mechanical arm joint comprises a joint shell and an arm rod, a containing cavity is formed in one end of the joint shell, a first limiting groove is formed in the cavity wall of the containing cavity, and a plurality of first receding grooves are formed in the groove wall of the first limiting groove; the groove side wall between every two adjacent first receding grooves is a first limiting protrusion. A second limiting groove is formed in the peripheral surface of one end of the arm rod, a plurality of second avoiding grooves are formed in the groove wall of the second limiting groove, and second limiting protrusions are arranged on the groove side walls between the adjacent second avoiding grooves; the first receding groove corresponds to the second limiting protrusion, the second receding groove corresponds to the first limiting protrusion, the end of the arm rod can be sleeved with the containing cavity, the second limiting protrusion can be contained in the first limiting groove, and the first limiting protrusion can be contained in the second limiting groove. When the joint shell and the arm rod rotate by a preset angle, the first limiting protrusion and the second limiting protrusion abut against each other, and the joint shell and the arm rod are locked through the fixing assembly.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, in particular to mechanical arm joint and robot. BACKGROUND

[0002] Joint type cooperative mechanical arm (hereinafter referred to as mechanical arm) is mainly composed of base, arm rod, joint and accessory structure, joint is mainly connected with arm rod through joint shell, and the connecting structure between joint and arm rod is the key connecting part of mechanical arm, and the reliability of the connecting structure directly influences the safety of mechanical arm.

[0003] At present, the arm rod of mainstream mechanical arm adopts cylindrical structure, and the processability of the fixed connection mode of joint and arm rod using axial screw locking is poor due to structural limitation, the related technical scheme adopts horizontal screw fixed locking mode, the screw is subjected to horizontal load, the fitting surface is cylindrical surface, the actual situation after horizontal locking of cylindrical surface is linear contact and easy to deform, the connection reliability is poor, and the connection precision is not high. There is adverse effect on the precision and reliability of mechanical arm. INVENTION CONTENTS

[0004] Therefore, it is necessary to provide a kind of mechanical arm joint and robot in view of the technical problem that the connecting mode of arm rod and joint shell in connecting arm is prone to deformation, which affects the precision and reliability of mechanical arm.

[0005] A kind of mechanical arm joint, the mechanical arm joint includes:

[0006] Joint shell, one end of the joint shell is structured with accommodating cavity, first limit slot is structured on the cavity wall of the accommodating cavity, multiple first avoiding slots are structured on the groove wall of the first limit slot towards outside, multiple the first avoiding slots are interval arranged along the circumference of the joint shell, and the groove side wall between adjacent two first avoiding slots is defined as first limit protrusion;

[0007] Arm rod, second limit slot is structured on the outer circumferential surface of one end of the arm rod, multiple second avoiding slots are arranged on the groove wall of second limit slot towards outside, multiple the second avoiding slots are interval arranged along the circumference of the arm rod, and the groove side wall between adjacent two the second avoiding slots is defined as second limit protrusion;

[0008] Wherein, first avoiding slot corresponds with the second limit protrusion, and second avoiding slot corresponds with the first limit protrusion, the accommodating cavity can be sleeved into the end of the arm rod, the second limit protrusion can be accommodated in the first limit slot, and the first limit protrusion can be accommodated in the second limit slot;

[0009] The joint shell and the arm rod rotate a preset angle, the first limiting protrusion and the second limiting protrusion resist each other, and the joint shell and the arm rod are locked by the fixing assembly.

[0010] In one of the embodiments, a gap is formed between the groove wall of the side of the second limiting protrusion away from the second limiting protrusion and the side wall of the side of the first limiting protrusion away from the second limiting protrusion, to form a mounting groove; the fixing assembly comprises:

[0011] a mounting block embedded in the mounting groove and capable of pressing the part of the side wall of the first limiting protrusion;

[0012] a fastener penetrating the mounting block and the bottom wall of the first limiting groove to fasten the mounting block and the fastener.

[0013] In one of the embodiments, the side of the first limiting protrusion facing the mounting block is configured as a first inclined surface;

[0014] the side of the mounting block facing the first limiting protrusion is configured as a second inclined surface matching the first inclined surface.

[0015] In one of the embodiments, the number of the mounting blocks is plural, and the plural mounting blocks are arranged at intervals along the extension direction of the mounting groove.

[0016] In one of the embodiments, at least two spaced connection holes are arranged on each of the mounting blocks, a mounting hole corresponding to the connection hole is arranged on the groove bottom wall of the mounting groove, and the fastener is matched with the mounting hole.

[0017] In one of the embodiments, the mechanical arm joint further comprises:

[0018] a limiting member capable of elastic deformation, the limiting member being embedded in the gap between the adjacent two mounting blocks to limit the mounting blocks.

[0019] In one of the embodiments, the mechanical arm joint further comprises:

[0020] a decorative ring capable of elastic deformation, the decorative ring being sleeved outside the connection part of the joint shell and the arm rod.

[0021] In one of the embodiments, one of the second limiting protrusions is provided with a positioning recess on the side of the groove bottom wall of the first limiting groove;

[0022] the joint shell is provided with a positioning through groove corresponding to the positioning hole;

[0023] a positioning pin is inserted into the positioning recess from the positioning through groove.

[0024] In one embodiment, the positioning groove, the positioning slot and the positioning pin have the same cross-sectional shape, and are non-circular, the positioning pin being adapted to the positioning groove and the positioning slot.

[0025] A robot comprising a robot arm joint as described above.

[0026] The utility model discloses the beneficial effect that:

[0027] The utility model provides a kind of robot arm joint, by being structured to hold cavity in one end of joint shell, to facilitate the end of arm rod is held.By being set first limit slot on the wall of holding cavity, to hold second limit protrusion, correspondingly, by being set second limit slot on the outer circumferential surface of arm rod, to facilitate the first limit protrusion is held.By being structured multiple first avoiding slot on the groove wall of first limit slot towards outside, to avoid the second limit protrusion on arm rod;By being set multiple second avoiding slot on the groove wall of second limit slot towards outside, to avoid the first limit protrusion on joint shell.When corresponding first avoiding slot and second limit protrusion, corresponding second avoiding slot and first limit protrusion, by moving joint shell and arm rod to each other's direction of close, can make arm rod be inserted into holding cavity on joint shell, and can be towards first limit protrusion hold in second limit slot, hold second limit protrusion in first limit slot.By rotating joint shell and arm rod after each other by preset angle, make first limit protrusion and second avoiding slot be out of position, second limit protrusion and first avoiding slot be out of position, so that first limit protrusion and second limit protrusion correspond, and mutually resist each other, and are mutually limited.Then by fixed assembly locking joint shell and arm rod, to realize the installation of joint shell and arm rod.By the structure as above, the contact between joint shell and arm rod is all surface contact, to improve the reliability of the connection of both. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 The utility model provides the external contour schematic drawing of connecting arm joint for an embodiment of the utility model;

[0029] Figure 2 The utility model provides the section schematic drawing of connecting part of joint shell and arm rod in connecting arm joint for an embodiment of the utility model;

[0030] Figure 3 The utility model provides the section schematic drawing of connecting part of joint shell and arm rod and positioning pin part in connecting arm joint for an embodiment of the utility model;

[0031] Figure 4 The utility model provides the external contour schematic drawing of connecting arm joint after setting decorative ring for an embodiment of the utility model;

[0032] Figure 5 A structure schematic view of the middle arm rod of the connecting arm joint is provided for an embodiment of the utility model.

[0033] Figure 6 A structure schematic view of the mounting block in the connecting arm joint is provided for an embodiment of the utility model.

[0034] Figure 7 A perspective view of the joint shell in the connecting arm joint is provided for an embodiment of the utility model.

[0035] Figure 8 A structure schematic view of the middle arm rod of the connecting arm joint is provided for an embodiment of the utility model. Figure 7 A section view along A-A.

[0036] Figure 9 A structure schematic view of the position limiting piece.

[0037] Reference signs:

[0038] Joint shell 100, accommodating cavity 110, first limiting groove 120, first avoiding groove 130, first limiting convex 140, first inclined surface 141, arm rod 200, second limiting groove 210, second avoiding groove 220, second limiting convex 230, positioning sink 231, mounting hole 240, fixing assembly 300, mounting block 310, second inclined surface 311, connecting hole 312, fastener 320, position limiting piece 400, positioning pin 500, decorative ring 600. DETAILED DESCRIPTION

[0039] In order to make the above object, features and advantages of the utility model more apparent, obvious and easy to understand, the specific implementation manners of the utility model are described in detail below. In the following description, a lot of specific details are set forth in order to give 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 departing from the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0040] In the description of the utility model, it should be understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does 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 a limitation on the utility model.

[0041] In addition, the terms "first", "second", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or an indicated number of technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0042] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; 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 internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. 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.

[0043] In the present application, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature. The first and second features can be in direct contact, or the first and second features can be in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0044] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on another element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only embodiment.

[0045] Reference Figures 1 to 9The utility model discloses an embodiment provides a kind of mechanical arm joint, and mechanical arm joint includes joint shell 100 and arm lever 200, one end of joint shell 100 is structured with accommodating cavity 110, the cavity wall of accommodating cavity 110 is structured with first limit slot 120, the slot wall of first limit slot 120 towards outside is structured with multiple first avoiding slot 130, multiple first avoiding slot 130 are along the circumferential interval of joint shell 100, and the slot side wall between adjacent two first avoiding slot 130 is defined as first limit protrusion 140;The outer circumferential surface of one end of arm lever 200 is structured with second limit slot 210, and the slot wall of second limit slot 210 towards outside is provided with multiple second avoiding slot 220, multiple second avoiding slot 220 are along the circumferential interval of arm lever 200, and the slot side wall between adjacent two second avoiding slot 220 is defined as second limit protrusion 230;Wherein, first avoiding slot 130 corresponds with second limit protrusion 230, and second avoiding slot 220 corresponds with first limit protrusion 140, and accommodating cavity 110 can be sleeved into the end of arm lever 200, second limit protrusion 230 can be accommodated in first limit slot 120, and first limit protrusion 140 can be accommodated in second limit slot 210;Joint shell 100 and arm lever 200 rotate preset angle, and first limit protrusion 140 and second limit protrusion 230 resist each other, and joint shell 100 is locked with arm lever 200 by fixed component 300.

[0046] The mechanical arm joint is characterized in that: a containing cavity 110 is arranged at one end of the joint shell 100 to contain the end of the arm rod 200; a first limiting groove 120 is arranged on the wall of the containing cavity 110 to contain a second limiting protrusion 230; correspondingly, a second limiting groove 210 is arranged on the outer circumferential surface of the arm rod 200 to contain a first limiting protrusion 140; a plurality of first avoiding grooves 130 are arranged on the groove wall of the first limiting groove 120 towards the outside to avoid the second limiting protrusion 230 on the arm rod 200; a plurality of second avoiding grooves 220 are arranged on the groove wall of the second limiting groove 210 towards the outside to avoid the first limiting protrusion 140 on the joint shell 100; when the first avoiding grooves 130 correspond to the second limiting protrusion 230 and the second avoiding grooves 220 correspond to the first limiting protrusion 140, the arm rod 200 is inserted into the containing cavity 110 on the joint shell 100 by moving the joint shell 100 and the arm rod 200 towards each other, and the first limiting protrusion 140 is contained in the second limiting groove 210 and the second limiting protrusion 230 is contained in the first limiting groove 120; after the joint shell 100 and the arm rod 200 are rotated by a preset angle, the first limiting protrusion 140 is dislocated from the second avoiding groove 220 and the second limiting protrusion 230 is dislocated from the first avoiding groove 130, so that the first limiting protrusion 140 corresponds to the second limiting protrusion 230 and the two are limited and resisted by each other; then the joint shell 100 and the arm rod 200 are locked by a fixing assembly 300, so that the joint shell 100 and the arm rod 200 are installed; the contact between the joint shell 100 and the arm rod 200 is surface contact, so that the reliability of the connection between the two is improved.

[0047] As shown in Figure 2 the second limiting groove 210 and the side wall of the first limiting protrusion 140 away from the second limiting protrusion 230 have a gap therebetween to form an installation groove; the fixing assembly 300 comprises an installation block 310 and a fastener 320, the installation block 310 is embedded in the installation groove and can press the part of the side wall of the first limiting protrusion 140; the fastener 320 passes through the bottom wall of the first limiting groove 120 and the installation block 310 to fasten the installation block 310 and the fastener 320.

[0048] The mounting groove is formed between the groove wall of the first limiting groove 120 and the side wall of the second limiting protrusion 230, for accommodating the mounting block 310. By embedding the mounting block 310 in the mounting groove and pressing against the partial side wall of the first limiting protrusion 140, when the mounting block 310 is subjected to the pre-tightening force of the fastener 320, the mounting block 310 can exert pressure on the first limiting protrusion 140, thereby radially limiting the joint shell 100. While the first limiting protrusion 140 and the second limiting protrusion 230 can axially limit the joint shell 100 and the arm lever 200, thus realizing the mounting of the joint shell 100 and the arm lever 200. Specifically, the fastener 320 is a bolt.

[0049] As shown in the drawings, Figure 2 In one embodiment, the side of the first limiting protrusion 140 facing the mounting block 310 is configured as a first inclined surface 141, and the surface of the mounting block 310 facing the first limiting protrusion 140 is configured as a second inclined surface 311 matching the first inclined surface 141. By configuring the side of the first limiting protrusion 140 facing the mounting block 310 as a first inclined surface 141, and configuring the surface of the mounting block 310 facing the first limiting protrusion 140 as a second inclined surface 311 matching the first inclined surface 141, under the action of the transverse screw pre-tightening force, the first inclined surface 141 of the mounting block 310 generates an axial component force, which presses the surface of the joint shell 100 and the arm lever 200 cooperating with each other, and the side of the first limiting protrusion 140 and the second limiting protrusion 230 resisting each other. The side of the first limiting protrusion 140 and the second limiting protrusion 230 resisting each other is a plane, which is pressed and supported by friction. In addition, the screw is no longer subjected to shear force, which can be used in vibration conditions and reduces the risk of screw failure. In this embodiment, the joint shell 100 and the arm lever 200 adopt a plane contact mode, which can improve the precision and thus improve the connection precision.

[0050] As shown in the drawings, Figure 1 In one embodiment, the number of mounting blocks 310 is multiple, and the multiple mounting blocks 310 are arranged along the extension direction of the mounting groove. By configuring the mounting blocks 310 as multiple, the mounting blocks 310 can be easily mounted in the mounting groove. By arranging the multiple mounting blocks 310 along the extension direction of the mounting groove, the number of components can be reduced under the premise of ensuring the reliability of the connection between the joint shell 100 and the arm lever 200, thereby improving the mounting efficiency.

[0051] As shown in the drawings, Figure 1 , Figure 5 and Figure 6 In one embodiment, each mounting block 310 is provided with at least two spaced-apart connecting holes 312, the bottom wall of the mounting groove is provided with mounting holes 240 corresponding to the connecting holes 312, and the fastener 320 is matched with the mounting holes 240.

[0052] The mounting block 310 is connected to the arm rod 200 by setting at least two spaced apart connecting holes 312 on each mounting block 310, setting mounting holes 240 corresponding to the connecting holes 312 on the bottom wall of the mounting groove, and fitting the fasteners 320 with the mounting holes 240. By setting multiple connecting holes 312 on one mounting block 310, the connection strength between the mounting block 310 and the arm rod 200 is improved. In this embodiment, the number of connecting holes 312 on one mounting block 310 is two.

[0053] As shown in Figure 6 , specifically, the mounting block 310 is a fan-shaped structure with a straight-angle trapezoidal cross section, and the connecting holes 312 of the mounting block 310 are threaded holes that provide pre-tightening force through screws. The second limiting protrusions 230 on the arm rod 200 are fan-shaped structures that are spaced apart along the circumference of the arm rod 200. The joint shell 100 has fan-shaped protrusions, i.e., first limiting protrusions 140, arranged in the same way and adapted to the second avoiding grooves 220. Each first limiting protrusion 140 is provided with a mounting block 310, so that each first limiting protrusion 140 bears independent pre-tightening load, and each mating surface is in good contact to ensure connection reliability.

[0054] As shown in Figure 1 and Figure 9 , in one embodiment, the mechanical arm joint further comprises a limiting member 400 that can be elastically deformed. The limiting member 400 is embedded in the gap between the two adjacent mounting blocks 310 to limit the mounting blocks 310. Specifically, the limiting member is made of rubber, and the limiting member 400 is set between the two mounting blocks 310 to limit the mounting blocks 310 and fill the gap between the two mounting blocks 310.

[0055] As shown in Figure 4 , in one embodiment, the mechanical arm joint further comprises a decorative ring 600 that can be elastically deformed. The decorative ring 600 is externally fitted on the connection between the joint shell and the arm rod. By setting the decorative ring 600 to be elastically deformable, the decorative ring 600 can be externally fitted on the mounting blocks 310 and the limiting member 400 through elastic deformation of the decorative ring 600, so as to shield the mounting blocks 310 and the limiting member 400, thereby making the appearance of the entire mechanical arm joint more beautiful.

[0056] As shown in Figure 1 and Figure 4As shown, in one of the embodiments, one of the second limiting protrusions 230 is provided with a positioning recess 231 on the side of the groove bottom wall of the first limiting groove 120; the joint shell 100 is provided with a positioning through groove corresponding to the positioning hole; the positioning pin 500 is inserted into the positioning recess 231 from the positioning through groove. Specifically, the cross-sectional shape of the positioning recess 231, the positioning through groove and the positioning pin 500 is the same and is non-circular, and the positioning pin 500 is matched with the positioning recess and the positioning through groove.

[0057] The second limiting protrusion 230 on the arm rod 200 is provided with a rectangular recess, and the joint shell 100 is arranged with a rectangular through groove at the same position, which is matched with a rectangular pin to achieve the purpose of circumferential positioning. The rectangular recess and the rectangular pin on the arm rod 200 are arranged with threaded holes at the same position, which are used for fixing the rectangular pin through bolts, wherein the threaded hole of the rectangular pin is larger in size, which can be used for disassembling the rectangular pin while meeting the installation requirements.

[0058] A robot, the robot comprising the mechanical arm joint as above. By applying the mechanical arm joint as above to the robot, the contact between the joint shell 100 and the arm rod 200 is all surface contact, thereby improving the reliability of the connection between the two.

[0059] The installation method of the mechanical arm joint provided by the utility model is as follows:

[0060] First, the first limiting protrusion 140 and the second limiting protrusion 230 on the joint shell 100 and the arm rod 200 are corresponded, the second limiting protrusion 230 is corresponded with the first limiting protrusion 140, the first limiting protrusion 140 and the second limiting protrusion 230 are rotated to align the rectangular recess after penetrating each other, a first limiting protrusion 140 and a second limiting protrusion 230 reverse buckling mode are formed, and a rectangular pin is loaded for circumferential direction positioning. The first limiting protrusion 140 of the joint shell 100 and the second limiting protrusion 230 of the arm rod 200 are pressed under the action of the screw pretightening force by the installation block 310. Finally, the gap between the wedge-shaped blocks is filled with a rubber block, and finally a rubber ring is sleeved, which blocks the connection structure and plays an aesthetic role.

[0061] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but as long as the combinations of the technical features do not contradict, they should be considered as within the scope of the present disclosure.

[0062] The above-described embodiments only express several implementation manners of the utility model, the description is more specific and detailed, but can not therefore be understood as the limitation of the utility model patent range. It should be pointed out that for ordinary skilled person in the art, without departing from the utility model concept, several modifications and improvements can be made, which belong to the protection range of the utility model. Therefore, the protection range of the utility model patent should be subject to the appended claims.

Claims

1. A robot arm joint, characterized in that, The mechanical arm joint comprises: a joint shell, one end of the joint shell is configured with a receiving cavity, a first limiting groove is configured on the cavity wall of the receiving cavity, a plurality of first avoiding grooves are configured on the groove wall of the first limiting groove facing the outside, the plurality of first avoiding grooves are arranged along the circumference of the joint shell, and the groove side wall between two adjacent first avoiding grooves is defined as a first limiting protrusion; an arm rod, a second limiting groove is configured on the outer circumferential surface of one end of the arm rod, a plurality of second avoiding grooves are arranged on the groove wall of the second limiting groove facing the outside, the plurality of second avoiding grooves are arranged along the circumference of the arm rod, and the groove side wall between two adjacent second avoiding grooves is defined as a second limiting protrusion; wherein when the first avoiding groove corresponds to the second limiting protrusion and the second avoiding groove corresponds to the first limiting protrusion, the receiving cavity can be sleeved on the end of the arm rod, the second limiting protrusion can be accommodated in the first limiting groove, and the first limiting protrusion can be accommodated in the second limiting groove; the joint shell and the arm rod rotate by a preset angle, the first limiting protrusion and the second limiting protrusion resist each other, and the joint shell and the arm rod are locked by a fixing assembly.

2. The robot arm joint according to claim 1, characterized in that, the groove wall of the second limiting groove on the side away from the second limiting protrusion and the side wall of the first limiting protrusion on the side away from the second limiting protrusion have a gap to form a mounting groove; the fixing assembly comprises: a mounting block embedded in the mounting groove and capable of pressing the part of the side wall of the first limiting protrusion; a fastener penetrating the bottom wall of the mounting block and the first limiting groove to fasten the mounting block and the fastener.

3. The robotic arm joint of claim 2, wherein, the side surface of the first limiting protrusion facing the mounting block is configured as a first inclined surface; the surface of the mounting block facing the first limiting protrusion is configured as a second inclined surface matched with the first inclined surface.

4. The robotic arm joint of claim 2, wherein, the number of the mounting blocks is a plurality, and the plurality of mounting blocks are arranged along the extension direction of the mounting groove.

5. The robotic arm joint of claim 4, wherein, at least two spaced connection holes are arranged on each mounting block, a mounting hole corresponding to the connection hole is arranged on the groove bottom wall of the mounting groove, and the fastener is matched with the mounting hole.

6. The robotic arm joint of claim 4, wherein, The mechanical arm joint further comprises: a limiting piece capable of elastic deformation, the limiting piece is embedded in the gap between two adjacent mounting blocks to limit the mounting blocks.

7. The robotic arm joint of claim 6, wherein, The mechanical arm joint further comprises: a decorative ring capable of elastic deformation, the decorative ring is sleeved on the outside of the connection part of the joint shell and the arm rod.

8. The robot arm joint according to any one of claims 1-7, characterized in that, one of the second limiting protrusions is provided with a positioning recess on the side surface of the groove bottom wall facing the first limiting groove; the joint shell is provided with a positioning through groove corresponding to the positioning hole; a positioning pin is inserted into the positioning recess from the positioning through groove.

9. The robotic arm joint of claim 8, wherein, the cross-sectional shape of the positioning recess, the positioning through groove and the positioning pin is the same and is non-circular, and the positioning pin is matched with the positioning recess and the positioning through groove.

10. A robot, characterized in that The robot comprises the mechanical arm joint according to any one of claims 1-9.

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