Robot finger joint ring enveloping worm helical gear transmission mechanism and robot

Abstract

The invention discloses a ring surface enveloping worm and bevel gear transmission mechanism of a robot finger joint and a robot, and relates to the technical field of robotics.The ring surface enveloping worm and bevel gear transmission mechanism of the robot finger joint comprises a shell, a ring surface enveloping worm, a bevel gear shaft and a driving assembly; a first accommodating cavity and a second accommodating cavity which are communicated with each other are formed in the shell, and a via hole is formed in each of two opposite side walls of the second accommodating cavity; the ring surface enveloping worm is arranged in the first accommodating cavity, and one end of the ring surface enveloping worm is exposed out of the shell; the bevel gear shaft is arranged in the second containing cavity and meshed with the annular enveloping worm, the two ends of the bevel gear shaft penetrate through the two via holes respectively, and the axis of the annular enveloping worm is perpendicular to the axis of the bevel gear shaft. The driving assembly comprises a driving motor and a planetary speed reduction structure. The planetary speed reduction structure is connected with an output shaft of the driving motor and connected with the end, exposed out of the shell, of the annular enveloping worm. The transmission mechanism is small in size and high in precision.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an annular envelope worm helical gear transmission mechanism of a robot finger joint and a robot. Background Art

[0002] In the field of humanoid robots, the dexterous hand is a key component of the humanoid robot, and the performance of the dexterous hand will directly affect the overall function of the humanoid robot. In related technologies, the finger joints of the dexterous hand are driven by a rope drive mechanism or a planetary roller screw drive mechanism, but the rope drive mechanism has low precision and short life, which is difficult to meet the actual application requirements, and the planetary roller screw drive mechanism has high noise, large volume, and is not easy to integrate. Summary of the invention

[0003] The main purpose of the present invention is to provide an annular envelope worm helical gear transmission mechanism for a robot finger joint and a robot, aiming to provide a transmission mechanism with small volume and high precision.

[0004] To achieve the above-mentioned purpose, the present invention provides a ring-enveloping worm helical gear transmission mechanism for a robot finger joint, comprising:

[0005] A housing, wherein a first accommodating cavity and a second accommodating cavity are formed in the housing, and two opposite side walls of the second accommodating cavity are each formed with a through hole;

[0006] An annular envelope worm, wherein the annular envelope worm is disposed in the first accommodating cavity, and one end of the annular envelope worm is exposed from the housing;

[0007] A helical gear shaft, wherein the helical gear shaft is disposed in the second accommodating cavity, the helical gear shaft is meshed with the annular surface enveloping worm, two ends of the helical gear shaft are respectively passed through the two through holes, and the axis of the annular surface enveloping worm is perpendicularly disposed to the axis of the helical gear shaft; and

[0008] A drive assembly includes a drive motor and a planetary reduction structure, wherein the planetary reduction structure is connected to an output shaft of the drive motor and the annular surface enveloping worm gear and is exposed at one end of the housing.

[0009] In one embodiment, the annular surface enveloping worm includes a rod body and a plurality of teeth arranged on the rod body, the plurality of teeth form a transmission section, the bevel gear shaft is meshed with the transmission section, and the outer diameter of the teeth gradually increases from the middle of the transmission section to the two ends of the transmission section.

[0010] In one embodiment, the annular envelope worm helical gear transmission mechanism of the robot finger joint also includes an eccentric sleeve, which is rotatably arranged in the first accommodating cavity, a through hole is provided in the middle of the eccentric sleeve, and eccentric holes are provided at both ends of the eccentric sleeve. The annular envelope worm is arranged in the eccentric sleeve, and the two ends of the annular envelope worm are respectively rotatably arranged in one of the eccentric holes, and a partial structure of the helical gear shaft passes through the through hole to engage with the annular envelope worm.

[0011] In one embodiment, a mounting hole communicating with the eccentric hole is provided on one side of the eccentric sleeve facing the driving assembly, and one end of the annular surface surrounding the worm passes through the mounting hole and is connected to the planetary reduction structure;

[0012] The annular envelope worm helical gear transmission mechanism of the robot finger joint also includes a positioning bearing, which is arranged in the mounting hole and sleeved on the annular envelope worm.

[0013] In one embodiment, the annular envelope worm helical gear transmission mechanism of the robot finger joint further includes two first bearings, the two first bearings are arranged in the first accommodating cavity, and the two first bearings are respectively sleeved on both ends of the annular envelope worm; and / or

[0014] The annular envelope worm helical gear transmission mechanism of the robot finger joint also includes two second bearings, the two second bearings are arranged in the second accommodating cavity, and the two second bearings are respectively sleeved on both ends of the helical gear shaft.

[0015] In one embodiment, the driving assembly further comprises a driving plate, and the driving plate is electrically connected to the driving motor;

[0016] The housing is formed with a receiving groove, and the receiving groove is used to receive the connecting wire of the driving board.

[0017] In one embodiment, the planetary reduction structure includes a first planetary disk, a second planetary disk, three first planetary gears, three second planetary gears, a first sun gear and a second sun gear;

[0018] A first output rod and three first input rods are respectively provided on both sides of the first planetary disk, and three second input rods are provided on the second planetary disk. Each of the first planetary gears is sleeved on one of the first input rods, and each of the second planetary gears is sleeved on one of the second input rods. The first sun gear is sleeved on the output shaft of the drive motor and meshes with the three first planetary gears. The second sun gear is sleeved on the first output rod and meshes with the three second planetary gears. The end of the annular surface enveloping worm gear connected to the exposed portion of the housing is limitedly inserted into the second planetary disk.

[0019] In one embodiment, a hole wall of the via hole is formed with an annular mounting groove;

[0020] The annular envelope worm helical gear transmission mechanism of the robot finger joint also includes two sealing rings, which are respectively sleeved on the two ends of the helical gear shaft, and each sealing ring is sealingly embedded in one of the annular mounting grooves.

[0021] In one embodiment, the transmission ratio of the annular envelope worm helical gear transmission mechanism of the robot finger joint is 10:1 to 30:1;

[0022] The distance between the axis of the annular envelope worm and the axis of the helical gear shaft is 3 mm to 10 mm;

[0023] The module of the annular surface enveloping worm and the module of the helical gear shaft are both m, 0.15≤m≤0.5.

[0024] The present invention further provides a robot, comprising the annular envelope worm helical gear transmission mechanism of the robot finger joint as described above.

[0025] In the technical solution of the present invention, the two ends of the helical gear shaft are used to connect with the force arm of the robot finger joint, the driving motor drives the annular envelope worm to rotate through the planetary reduction structure, the annular envelope worm drives the helical gear shaft to rotate, the helical gear shaft drives the force arm to move to achieve the bending movement of the finger, and the forward and reverse rotation of the driving motor can control the bending and extension of the finger. Among them, the planetary reduction structure can reduce the high-speed rotation of the driving motor to a lower speed suitable for the movement of the finger joint, and increase the output torque accordingly, so that the finger joint can generate enough power for precise movement control.

[0026] Through the meshing transmission of the annular enveloping worm and the helical gear shaft, high-precision transmission control can be achieved with low noise and self-locking. The first accommodating cavity and the second accommodating cavity provided in the housing enable the annular enveloping worm and the helical gear shaft to be integrated in the housing with a small volume, thus being suitable for robot finger joints with limited space. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0028] Figure 1 A schematic structural diagram of an embodiment of an annular envelope worm helical gear transmission mechanism for a robot finger joint provided by the present invention;

[0029] Figure 2 A schematic structural diagram of another embodiment of the annular envelope worm helical gear transmission mechanism of the robot finger joint provided by the present invention;

[0030] Figure 3 A schematic structural decomposition diagram of an embodiment of an annular envelope worm helical gear transmission mechanism for a robot finger joint provided by the present invention;

[0031] Figure 4 A cross-sectional view of an embodiment of an annular envelope worm helical gear transmission mechanism for a robot finger joint provided by the present invention;

[0032] Figure 5 A cross-sectional view of another embodiment of the annular envelope worm helical gear transmission mechanism of the robot finger joint provided by the present invention;

[0033] Figure 6 A schematic structural diagram of an embodiment of an annular envelope worm provided by the present invention.

[0034] Description of Figure Numbers:

[0035] 100. Annular envelope worm helical gear transmission mechanism of robot finger joint; 1. housing; 101. annular groove; 2. annular envelope worm; 201. rod body; 202. teeth; 3. helical gear shaft; 4. drive motor; 5. planetary reduction structure; 501. first planetary disk; 502. second planetary disk; 503. protective shell; 6. eccentric sleeve; 601. annular protrusion; 602. first sleeve body; 603. second sleeve body; 7. positioning bearing; 8. first bearing; 9. second bearing; 10. drive plate; 1001. connecting line; 11. sealing ring.

[0036] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0039] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0040] The present invention provides an annular envelope worm helical gear transmission mechanism 100 for a robot finger joint.

[0041] See also Figures 1 to 3 In one embodiment of the present invention, the annular envelope worm helical gear transmission mechanism 100 of the robot finger joint includes a shell 1, an annular envelope worm 2, a helical gear shaft 3 and a driving assembly; a first accommodating chamber and a second accommodating chamber are formed in communication in the shell 1, and a through hole is formed on the opposite side walls of the second accommodating chamber; the annular envelope worm 2 is arranged in the first accommodating chamber, and one end of the annular envelope worm 2 is exposed in the shell 1; the helical gear shaft 3 is arranged in the second accommodating chamber, the helical gear shaft 3 is meshed with the annular envelope worm 2, and the two ends of the helical gear shaft 3 are respectively penetrated through the two through holes, and the axis of the annular envelope worm 2 is perpendicular to the axis of the helical gear shaft 3; the driving assembly includes a driving motor 4 and a planetary reduction structure 5, and the planetary reduction structure 5 connects the output shaft of the driving motor 4 and the annular envelope worm 2 connected to one end exposed in the shell 1.

[0042] The dexterous hand of a humanoid robot will imitate the design of a human hand. Usually, the dexterous hand will have five fingers, each finger has three joints, and each joint has one degree of freedom. The annular envelope worm helical gear transmission mechanism of this embodiment is applied to the finger joints of the robot. Among them, the two ends of the helical gear shaft 3 are used to connect with the force arm of the robot finger joint, the driving motor 4 drives the annular envelope worm 2 to rotate, the annular envelope worm 2 drives the helical gear shaft 3 to rotate, and the two ends of the helical gear shaft 3 drive the force arm to move to realize the bending movement of the fingers, and the bending and extension of the fingers can be controlled by the forward and reverse rotation of the driving motor 4.

[0043] The shell 1 includes two side panels, which enclose a first accommodating cavity and a second accommodating cavity. The two side panels are connected by screws to facilitate the assembly of the transmission mechanism. That is, the annular envelope worm 2, the bevel gear shaft 3 and the drive motor 4 can be assembled to one of the side panels first, and then the two side panels are connected to complete the assembly.

[0044] The axis of the annular enveloping worm 2 is arranged perpendicularly to the axis of the helical gear shaft 3. Combined with the above, it can be seen that the corresponding axis of the annular enveloping worm 2 will be arranged perpendicularly relative to the robot finger, that is, the drive motor 4 can be arranged perpendicularly to the robot finger. Compared with the parallel arrangement with the robot finger, the vertical arrangement can better install the drive motor 4 at the robot finger joint and reduce the space required for the installation of the annular enveloping worm helical gear transmission mechanism.

[0045] The planetary reduction structure 5 can reduce the high-speed rotation of the drive motor 4 to a lower speed suitable for the movement of the finger joints, while correspondingly increasing the output torque so that the finger joints can generate sufficient power for precise movement control.

[0046] The technical solution of the present invention can realize high-precision transmission control, low noise and self-locking through the meshing transmission of the annular envelope worm 2 and the helical gear shaft 3. The first accommodating cavity and the second accommodating cavity provided in the housing 1 enable the annular envelope worm 2 and the helical gear shaft 3 to be integrated in the housing 1, with a small volume, so that it is suitable for robot finger joints with limited space.

[0047] Specifically, in one embodiment of the present invention, please refer to Figure 6 The annular envelope worm 2 includes a rod body 201 and a plurality of teeth 202 disposed on the rod body 201. The plurality of teeth 202 form a transmission section. The helical gear shaft 3 is meshed with the transmission section. From the middle of the transmission section to the two ends of the transmission section, the outer diameter of the teeth 202 gradually increases. That is, the height of the teeth 202 at the two ends of the transmission section is greater than the height of the teeth 202 at the middle of the transmission section. The plurality of teeth 202 are distributed in an arc-like shape. In this way, when the helical gear shaft 3 is meshed with the annular envelope worm 2, multi-tooth meshing can be achieved, thereby generating a greater output torque, thereby effectively transmitting the power of the drive motor 4 to the robot finger, and improving the robot performance. In addition, by setting the size of the annular envelope worm 2 and the helical gear shaft 3, the annular envelope worm helical gear transmission mechanism can have a self-locking ability without the need to design an additional locking mechanism.

[0048] Further, in one embodiment of the present invention, please refer to Figure 2 , Figure 3 as well as Figure 5The annular envelope worm helical gear transmission mechanism 100 of the robot finger joint also includes an eccentric sleeve 6, which is rotatably arranged in the first accommodating chamber, a through hole is provided in the middle of the eccentric sleeve 6, and eccentric holes are provided at both ends of the eccentric sleeve 6. The annular envelope worm 2 is arranged in the eccentric sleeve 6, and the two ends of the annular envelope worm 2 are respectively rotatably arranged in an eccentric hole, and a part of the structure of the helical gear shaft 3 passes through the through hole to engage with the annular envelope worm 2. It can be understood that the eccentric hole is a hole whose center is different from the axis of the eccentric sleeve 6. In this way, by rotating the two ends of the annular envelope worm 2 in an eccentric hole, when the eccentric sleeve 6 is rotated, the annular envelope worm 2 will rotate around the axis of the eccentric sleeve 6 under the restriction of the eccentric hole, that is, the distance between the axis of the annular envelope worm 2 and the axis of the helical gear shaft 3 can be changed, so that it is suitable for robot fingers of different sizes. Among them, in order to facilitate the installation and rotation of the eccentric sleeve 6, two relatively arranged circular holes connected to the first accommodating chamber are arranged on the shell 1, and the eccentric sleeve 6 includes a first sleeve body 602 and a second sleeve body 603, and the first sleeve body 602 and the second sleeve body 603 are spliced ​​to form the eccentric sleeve 6, and the first sleeve body 602 and the second sleeve body 603 are respectively exposed to the shell 1 through two circular holes, and one end of the annular envelope worm 2 passes through the first sleeve body 602 and is connected to the planetary reduction structure 5, and the second sleeve body 603 is exposed at one end of the shell 1 and is provided with cross grooves on the opposite sides, so that the second sleeve body 603 can be easily rotated by tools such as a screwdriver, thereby driving the annular envelope worm 2 in the eccentric sleeve 6 to rotate, so as to achieve the purpose of changing the distance between the axis of the annular envelope worm 2 and the axis of the bevel gear shaft 3.

[0049] In one embodiment of the present invention, please refer to 2 and Figure 4 The inner wall of the first accommodating cavity is formed with an annular groove 101; the outer wall of the eccentric sleeve 6 is formed with an annular protrusion 601, and the annular protrusion 601 is engaged with the annular groove 101. The cooperation between the annular protrusion 601 and the annular groove 101 can provide a mechanical lock, thereby limiting the position of the eccentric sleeve 6 relative to the housing 1, so that during the rotation of the eccentric sleeve 6, it can be ensured that it will not move relative to the housing 1, and during the process of the drive motor 4 driving the annular envelope worm 2 to rotate, the eccentric sleeve 6 will not shift.

[0050] Further, in one embodiment of the present invention, please refer to Figure 3 and Figure 4, a mounting hole connected to the eccentric hole is provided on the side of the eccentric sleeve 6 facing the driving assembly, and one end of the annular envelope worm 2 passes through the mounting hole and is connected to the planetary reduction structure 5; the annular envelope worm helical gear transmission mechanism 100 of the robot finger joint also includes a positioning bearing 7, which is arranged in the mounting hole and sleeved on the annular envelope worm 2. The positioning bearing 7 is arranged in the mounting hole and sleeved on the annular envelope worm 2, providing additional support and positioning. This helps to reduce the swing and deformation of the annular envelope worm 2 when it rotates at high speed or bears a large torque, enhances the structural stability of the entire transmission mechanism, and ensures that the finger joint can still operate stably under high load or high precision working conditions.

[0051] In order to improve the service life, in one embodiment of the present invention, please refer to 3. Figure 4 and Figure 5 , the annular envelope worm helical gear transmission mechanism 100 of the robot finger joint also includes two first bearings 8, the two first bearings 8 are arranged in the first accommodating cavity, and the two first bearings 8 are respectively sleeved on the two ends of the annular envelope worm 2. Similarly, the annular envelope worm helical gear transmission mechanism 100 of the robot finger joint also includes two second bearings 9, the two second bearings 9 are arranged in the second accommodating cavity, and the two second bearings 9 are respectively sleeved on the two ends of the helical gear shaft 3. The setting of the first bearing 8 and the second bearing 9 can reduce the direct contact between the annular envelope worm 2 and the inner wall of the housing 1, and between the helical gear shaft 3 and the inner wall of the housing 1, thereby reducing friction and wear, improving rotation efficiency, and also helping to extend service life. The first bearing 8 and the second bearing 9 can also provide stable support points, which help to maintain the position of the annular envelope worm 2 and the helical gear shaft 3 and ensure stability. Among them, when the eccentric sleeve 6 is provided, the first bearing 8 is correspondingly arranged in the eccentric sleeve 6.

[0052] Further, in one embodiment of the present invention, please refer to Figure 1 The drive assembly also includes a drive board 10, which is electrically connected to the drive motor 4; the housing 1 is formed with a receiving groove, which is used to receive the connecting wire 1001 of the drive board 10. The drive board 10 is electrically connected to the drive motor 4, and the connecting wire 1001 of the drive board 10 is received by the receiving groove on the housing 1. This design realizes the compact integration of electrical components. In a limited space, the drive board 10 and its connecting wire 1001 are reasonably arranged to avoid the clutter of the lines and external interference, making the entire transmission mechanism neater and more orderly, and improving the space utilization efficiency.

[0053] Specifically, in one embodiment of the present invention, please refer to Figure 3The planetary reduction structure 5 includes a first planetary disc 501, a second planetary disc 502, three first planetary gears (not shown in the figure), three second planetary gears (not shown in the figure), a first sun gear (not shown in the figure) and a second sun gear (not shown in the figure); a first output rod and three first input rods are respectively arranged on both sides of the first planetary disc 501, and three second input rods are arranged on the second planetary disc 502. Each first planetary gear is sleeved on a first input rod, and each second planetary gear is sleeved on a second input rod. The first sun gear is sleeved on the output shaft of the driving motor 4 and meshes with the three first planetary gears. The second sun gear is sleeved on the first output rod and meshes with the three second planetary gears. The end of the annular enveloping worm 2 connected to the housing 1 is limitedly inserted in the second planetary disc 502. Through the meshing of the first sun gear with the three first planetary gears, and the meshing of the second sun gear with the three second planetary gears, two-stage reduction is achieved. This multi-stage reduction structure can achieve a larger reduction ratio in a smaller volume, thereby reducing the high-speed rotation of the drive motor 4 to a lower speed suitable for the movement of the finger joints, while significantly increasing the output torque, so that the finger joints can generate enough power for precise movement control. In addition, the planetary reduction structure 5 also includes a protective shell 503, which connects the housing 1 and the housing of the motor, and the first planetary disk 501, the second planetary disk 502, the three first planetary gears, the three second planetary gears, the first sun gear and the second sun gear are all located in the protective shell 503.

[0054] Further, in one embodiment of the present invention, please refer to Figure 3 and Figure 5 , the hole wall of the through hole is formed with an annular mounting groove; the annular enveloping worm helical gear transmission mechanism 100 of the robot finger joint also includes two sealing rings 11, and the two sealing rings 11 are respectively sleeved on the two ends of the helical gear shaft 3, and each sealing ring 11 is sealed and embedded in an annular mounting groove. The sealing ring 11 is sleeved on the two ends of the helical gear shaft 3, and each sealing ring 11 is sealed and embedded in an annular mounting groove, which can effectively prevent dust, moisture or other contaminants from entering the first accommodating chamber, and protect various components from wear or corrosion. In addition, lubricating oil is usually set in the first accommodating chamber and the second accommodating chamber, and the lubricating oil can provide lubrication for the annular enveloping worm 2, the helical gear shaft 3, the first bearing 8 and the second bearing 9. In this case, the provision of the sealing ring 11 can also prevent the lubricating oil from leaking from the inside, ensure that each component is continuously lubricated, and help to extend the service life of each component.

[0055] Specifically, in one embodiment of the present invention, the transmission ratio of the annular envelope worm helical gear transmission mechanism 100 of the robot finger joint is 10:1 to 30:1. That is, it has a high reduction ratio, which can provide precise speed control, thereby ensuring the accuracy of the robot finger movement. In addition, it also ensures the flexibility and adaptability of the transmission mechanism in different application scenarios.

[0056] The distance between the axis of the annular enveloping worm 2 and the axis of the helical gear shaft 3 is 3 mm to 10 mm. That is, the center distance between the annular enveloping worm 2 and the helical gear shaft 3 is 3 mm to 10 mm. By changing the center distance between the annular enveloping worm 2 and the helical gear shaft 3, the transmission mechanism can be applied to robot fingers of different sizes.

[0057] The module of the annular envelope worm 2 and the module of the helical gear shaft 3 are both m, 0.15≤m≤0.5. The module within this range can ensure the accuracy and stability of the transmission mechanism.

[0058] The present invention also proposes a robot, which includes the annular surface enveloping worm helical gear transmission mechanism 100 of the above-mentioned robot finger joints. The specific structure of the annular surface enveloping worm helical gear transmission mechanism 100 of the robot finger joints refers to the above-mentioned embodiment. Since the robot adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0059] The above are only exemplary embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A ring-enveloping worm helical gear transmission mechanism for a robot finger joint, characterized in that: include: A housing, wherein a first accommodating cavity and a second accommodating cavity are formed in the housing, and two opposite side walls of the second accommodating cavity are each formed with a through hole; An annular envelope worm, wherein the annular envelope worm is disposed in the first accommodating cavity, and one end of the annular envelope worm is exposed from the housing; A helical gear shaft, the helical gear shaft is disposed in the second accommodating cavity, the helical gear shaft is meshed with the annular surface enveloping worm, two ends of the helical gear shaft are respectively penetrated through the two through holes, and the axis of the annular surface enveloping worm is perpendicularly arranged to the axis of the helical gear shaft; as well as A drive assembly includes a drive motor and a planetary reduction structure, wherein the planetary reduction structure is connected to an output shaft of the drive motor and the annular surface enveloping worm gear and is exposed at one end of the housing.

2. The ring-enveloping worm helical gear transmission mechanism of the robot finger joint according to claim 1, characterized in that: The annular surface enveloping worm includes a rod body and a plurality of teeth arranged on the rod body, the plurality of teeth form a transmission section, the bevel gear shaft is meshed with the transmission section, and the outer diameter of the teeth gradually increases from the middle of the transmission section to the two ends of the transmission section.

3. The ring-enveloping worm helical gear transmission mechanism of the robot finger joint according to claim 1, characterized in that: The annular envelope worm helical gear transmission mechanism of the robot finger joint also includes an eccentric sleeve, which is rotatably arranged in the first accommodating cavity, a through hole is provided in the middle of the eccentric sleeve, and eccentric holes are provided at both ends of the eccentric sleeve. The annular envelope worm is arranged in the eccentric sleeve, and the two ends of the annular envelope worm are respectively rotatably arranged in one of the eccentric holes, and a partial structure of the helical gear shaft passes through the through hole to engage with the annular envelope worm.

4. The annular envelope worm helical gear transmission mechanism of the robot finger joint according to claim 3, characterized in that: A mounting hole communicating with the eccentric hole is provided on one side of the eccentric sleeve facing the driving assembly, and one end of the annular envelope worm passes through the mounting hole and is connected to the planetary reduction structure; The annular envelope worm helical gear transmission mechanism of the robot finger joint also includes a positioning bearing, which is arranged in the mounting hole and sleeved on the annular envelope worm.

5. The ring-enveloping worm helical gear transmission mechanism of the robot finger joint according to claim 1, characterized in that: The annular envelope worm helical gear transmission mechanism of the robot finger joint further includes two first bearings, the two first bearings are arranged in the first accommodating cavity, and the two first bearings are respectively sleeved on both ends of the annular envelope worm; and / or The annular envelope worm helical gear transmission mechanism of the robot finger joint also includes two second bearings, the two second bearings are arranged in the second accommodating cavity, and the two second bearings are respectively sleeved on both ends of the helical gear shaft.

6. The annular envelope worm helical gear transmission mechanism of the robot finger joint according to claim 1, characterized in that: The driving assembly further comprises a driving plate, wherein the driving plate is electrically connected to the driving motor; The housing is formed with a receiving groove, and the receiving groove is used to receive the connecting wire of the driving board.

7. The annular envelope worm helical gear transmission mechanism for a robot finger joint as claimed in claim 1, characterized in that: The planetary reduction structure includes a first planetary disk, a second planetary disk, three first planetary gears, three second planetary gears, a first sun gear and a second sun gear; A first output rod and three first input rods are respectively provided on both sides of the first planetary disk, and three second input rods are provided on the second planetary disk. Each of the first planetary gears is sleeved on one of the first input rods, and each of the second planetary gears is sleeved on one of the second input rods. The first sun gear is sleeved on the output shaft of the drive motor and meshes with the three first planetary gears. The second sun gear is sleeved on the first output rod and meshes with the three second planetary gears. The end of the annular surface enveloping worm gear connected to the exposed portion of the housing is limitedly inserted into the second planetary disk.

8. The ring-enveloping worm helical gear transmission mechanism of the robot finger joint according to claim 1, characterized in that: The hole wall of the via hole is formed with an annular mounting groove; The annular envelope worm helical gear transmission mechanism of the robot finger joint also includes two sealing rings, which are respectively sleeved on the two ends of the helical gear shaft, and each sealing ring is sealingly embedded in one of the annular mounting grooves.

9. The annular envelope worm helical gear transmission mechanism of the robot finger joint according to claim 1, characterized in that: The transmission ratio of the annular envelope worm helical gear transmission mechanism of the robot finger joint is 10:1 to 30:1; The distance between the axis of the annular envelope worm and the axis of the helical gear shaft is 3 mm to 10 mm; The module of the annular surface enveloping worm and the module of the helical gear shaft are both m, 0.15≤m≤0.

5.

10. A robot, characterized in that: A ring-shaped envelope worm helical gear transmission mechanism comprising a robot finger joint as described in any one of claims 1 to 9.

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