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 two opposite side walls of the second accommodating cavity is provided with a through hole;
• a toroidal enveloping worm provided in the first accommodating cavity, wherein an end of the toroidal enveloping worm is exposed outside the housing;
• a helical gear shaft provided in the second accommodating cavity, wherein the helical gear shaft meshes with the toroidal enveloping worm, two ends of the helical gear shaft respectively pass through two through holes, and an axis of the toroidal enveloping worm is perpendicular to an axis of the helical gear shaft;
• and
• a drive assembly comprising a drive motor and a planetary deceleration structure, wherein the planetary deceleration structure connects an output shaft of the drive motor to an end of the toroidal enveloping worm exposed outside the housing.