Heavy-load high-flexibility robot joint

The invention belongs to the technical field of service robots, and particularly relates to a heavy-load high-flexibility robot joint which comprises a rotating shaft fixing plate, a joint rotating piece, a joint driving mechanism and a driving output mechanism, and the joint driving mechanism comprises a hypoid small bevel gear and a hypoid large bevel gear; an inner ring of the hypoid large bevel gear is connected with a driving bevel gear through a rubber elastic coupling, a transverse rotating shaft is fixedly connected between the two rotating shaft fixing plates, the transverse rotating shaft penetrates through the inner ring of the driving bevel gear, and a gap is formed between the transverse rotating shaft and the inner ring of the driving bevel gear; the driving output mechanism comprises a driven bevel gear, the driven bevel gear is meshed with two oppositely-arranged driving bevel gears, a longitudinal rotating shaft is fixedly connected to the transverse rotating shaft, and the driven bevel gear