Toroidal enveloping worm and helical gear transmission mechanism for robot finger joint, and robot

A toroidal enveloping worm and helical gear transmission mechanism for a robot finger joint, comprising:

• a housing provided with a first accommodating cavity and a second accommodating cavity communicated with the first accommodating cavity, wherein each of the opposite side walls of the second accommodating cavity is provided with a through hole;
• a toroidal enveloping worm provided in the first accommodating cavity;
• a helical gear shaft provided in the second accommodating cavity, wherein the helical gear shaft meshes with the toroidal enveloping worm, and both ends of the helical gear shaft respectively pass through the two through holes;
• and
• a drive motor, wherein an output shaft of the drive motor is connected to the toroidal enveloping worm, and the drive motor drives the toroidal enveloping worm to rotate;
• wherein an axis of the toroidal enveloping worm is perpendicular to an axis of the helical gear shaft.