Robot finger steering engine and robot

Abstract

The embodiment of the utility model relates to the technical field of robot finger steering engines, and particularly discloses a robot finger steering engine which comprises a shell, a driving assembly, a second output shaft and a transmission mechanism, and the shell is provided with a first containing cavity; the driving assembly is arranged on the shell, the driving assembly comprises a first output shaft, and the first output shaft is arranged along a first axis X; the second output shaft is rotationally connected to the shell, at least part of the second output shaft is located in the first containing cavity, the second output shaft is arranged along a second axis Y, and the first axis X is perpendicular to the second axis Y; the transmission mechanism comprises a first bevel gear and a second bevel gear, the first bevel gear and the second bevel gear are both arranged in the first containing cavity, the first bevel gear is connected to the first output shaft, the second bevel gear is connected to the second output shaft, and the first bevel gear is meshed with the second bevel gear. According to the embodiment of the utility model, the structure compactness can be improved.

Description

Technical Field

[0001] This utility model relates to the field of robot finger servo technology, and in particular to a robot finger servo and a robot. Background Technology

[0002] Currently, robots are typically equipped with dexterous hands for grasping, and these hands are driven by finger servo motors.

[0003] A robot finger servo motor, as a position (angle) servo actuator, is suitable for control systems that require continuous angle changes and maintenance. It consists of a housing, motor, reduction gear set, sensor, and control circuitry, forming an automatic control device. Its working principle involves the control circuit receiving signals from the sensor, processing them through complex algorithms, and then controlling the motor's speed and direction to rotate the robot finger servo motor to the specified angle. It is used in fields such as shipbuilding, aerospace, drones, industrial automation, and electric toys, and is a key component for achieving flexible movement and precise control of equipment.

[0004] In the process of realizing this utility model, the inventors discovered that current robot finger servo motors often use spur gears for transmission, resulting in large size and non-compact structure along the radial direction of the output shaft of the drive component. Utility Model Content

[0005] This utility model provides a robot finger servo motor and a robot, which can improve structural compactness.

[0006] To solve the above-mentioned technical problems, the present invention provides a robot finger servo motor, which includes a housing, a drive assembly, a second output shaft, and a transmission mechanism. The housing has a first accommodating cavity. The drive assembly is disposed in the housing and includes a first output shaft arranged along a first axis X. A second output shaft is rotatably connected to the housing, at least a portion of which is located in the first accommodating cavity. The second output shaft is arranged along a second axis Y, and the first axis X is perpendicular to the second axis Y. The transmission mechanism includes a first bevel gear and a second bevel gear, both of which are disposed in the first accommodating cavity. The first bevel gear is connected to the first output shaft, and the second bevel gear is connected to the second output shaft. The first bevel gear and the second bevel gear mesh.

[0007] Optionally, the robot finger servo motor further includes a positioning component, which is disposed in the first accommodating cavity along a direction parallel to the second axis Y. The positioning component is disposed on the side of the first bevel gear away from the second bevel gear and along a direction parallel to the second axis Y. The two ends of the positioning component abut against the first bevel gear and the inner wall of the housing in the first accommodating cavity, respectively.

[0008] Optionally, the housing is provided with a first connecting portion, which is disposed along the second axis Y and located in the first accommodating cavity. Two first connecting portions are disposed at intervals along the third axis Z, and the first axis X, the second axis Y, and the third axis Z are perpendicular to each other. Along a direction parallel to the third axis Z, both ends of the positioning member are provided with second connecting portions, which are disposed along the second axis Y. Among them, one of the first connecting portion and the second connecting portion is a protrusion and the other is a groove, and one of the protrusions is inserted into one of the grooves.

[0009] Optionally, the first bevel gear is provided with a first limiting portion for abutting against the positioning member; the positioning member is provided with a second limiting portion, the second limiting portion being disposed on the side of the positioning member abutting against the first bevel gear, and the second limiting portion abutting against the first limiting portion; the second limiting portion is recessed in a direction away from the first bevel gear, and the first limiting portion is at least partially located within the second limiting portion, so that the wall surface of the second limiting portion restricts the radial movement of the first bevel gear.

[0010] Optionally, the housing and the drive assembly enclose a second receiving cavity. The first receiving cavity and the second receiving cavity are arranged sequentially along a direction parallel to the first axis X. The first receiving cavity is located at the end of the housing away from the drive assembly, and the second receiving cavity is located at the end of the housing close to the drive assembly. At least a portion of the first output shaft is located in the second receiving cavity. The housing has a spacer between the first receiving cavity and the second receiving cavity, and the spacer has a communication port. The transmission mechanism further includes a reduction mechanism, which is located in the second receiving cavity. The input end of the reduction mechanism is connected to the first output shaft, and the output end of the reduction mechanism is connected to the first bevel gear through the communication port.

[0011] Optionally, the transmission mechanism includes a transmission gear, which is disposed at the output end of the reduction mechanism and rotatably disposed at the communication port. The outer side wall of the transmission gear is provided with an external tooth portion. The first bevel gear is provided with a connecting hole, and the inner wall of the first bevel gear is provided with an internal tooth portion. The transmission gear is inserted into the connecting hole, and the external tooth portion meshes with the internal tooth portion.

[0012] Optionally, the robot finger servo motor further includes a first bearing, which is disposed at the communication port, with its outer ring disposed at the spacer portion and its inner ring sleeved on the transmission gear.

[0013] Optionally, both ends of the second output shaft are provided with a drive structure, which is used to connect to the drive component and drive the drive component to rotate; both ends of the second output shaft extend out of the housing so that both drive structures are located outside the housing.

[0014] Optionally, the end face of the second output shaft is provided with a threaded hole, which is used to fix the driven component to the second output shaft.

[0015] To solve the above-mentioned technical problems, another technical solution adopted by this utility model is to provide a robot, including a compact robot finger servo motor as described in any of the above embodiments.

[0016] The beneficial effects of this utility model embodiment are as follows: Unlike existing technologies, this utility model embodiment provides a robot finger servo motor, which includes a housing, a drive assembly, a second output shaft, and a transmission mechanism. The housing has a first accommodating cavity. The drive assembly is disposed in the housing and includes a first output shaft arranged along a first axis X. A second output shaft is rotatably connected to the housing and is arranged along a second axis Y, with the first axis X perpendicular to the second axis Y. The transmission mechanism includes a first bevel gear and a second bevel gear, both disposed in the first accommodating cavity. The first bevel gear is connected to the first output shaft, and the second bevel gear is connected to the second output shaft; the first and second bevel gears mesh. This utility model embodiment achieves transmission through the meshing of the first and second bevel gears, reducing the radial dimension along the first output shaft, resulting in a compact structure and improved space utilization. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0018] Figure 1 This is a perspective view of the robot finger servo motor according to an embodiment of the present invention;

[0019] Figure 2 This is an exploded view of the robot finger servo motor according to an embodiment of the present invention;

[0020] Figure 3 This is an exploded view of the casing of an embodiment of this utility model;

[0021] Figure 4 This is a perspective view of the driving component according to an embodiment of the present utility model;

[0022] Figure 5 This is an embodiment of the present utility model. Figure 1 Sectional view of AA.

[0023] Explanation of reference numerals in the attached figures:

[0024] 1000. Robot finger servo motor;

[0025] 1. Housing; 11. First accommodating cavity; 12. Second accommodating cavity; 13. First outer shell; 131. First mounting part; 1311. First connecting part; 1312. First rotating hole; 132. Spacing part; 1321. Connecting port; 133. Extension part; 14. Second outer shell; 141. Second rotating hole;

[0026] 2. Drive assembly; 21. First output shaft; 22. Drive body;

[0027] 3. Second output shaft; 31. Drive structure; 32. Threaded hole;

[0028] 4. Transmission mechanism; 41. First bevel gear; 411. Bevel tooth section; 412. First limiting section; 413. Second mounting section; 42. Second bevel gear; 43. Reduction mechanism; 44. Transmission gear; 441. External tooth section;

[0029] 5. Positioning component; 51. Second connecting part; 52. Second limiting part;

[0030] 6. First bearing; 7. Second bearing; 8. Third bearing. Detailed Implementation

[0031] To facilitate understanding of this utility model, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0032] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0033] Please see Figure 1 and Figure 2 The robot finger servo motor 1000 includes a housing 1, a drive assembly 2, a second output shaft 3, and a transmission mechanism 4. The housing 1 is disposed within the drive assembly 2, and the second output shaft 3 is rotatably connected to the housing 1. The transmission mechanism 4 is disposed within the housing 1, with one end connected to the drive assembly 2 and the other end connected to the second output shaft 3. The drive assembly 2 transmits torque to the second output shaft 3 through the transmission mechanism 4, thereby driving the second output shaft 3 to rotate, which in turn drives the driven component (not shown) to rotate.

[0034] For ease of understanding, the following definition is provided:

[0035] The first axis X is parallel to the height direction of the robot finger servo 1000, the second axis Y is parallel to the width direction of the robot finger servo 1000, and the third axis Z is the length direction of the robot finger servo 1000. The first axis X, the second axis Y, and the third axis Z are all perpendicular to each other. It should be noted that the term "height direction" does not limit the height direction of the robot finger servo 1000 to a direction perpendicular to the horizontal plane.

[0036] For housing 1 mentioned above, please refer to... Figure 3 and Figure 5 The housing 1 includes a first outer shell 13 and a second outer shell 14. The first outer shell 13 includes a first mounting portion 131, a spacer portion 132, and an extension portion 133, arranged sequentially along a direction parallel to the first axis X. The extension portion 133 is located at the end closer to the drive assembly 2, and the first mounting portion 131 is located at the end farther from the drive assembly 2. Along a direction parallel to the second axis Y, the second outer shell 14 is positioned opposite the first mounting portion 131 and connected to it. The first mounting portion 131, the second outer shell 14, and the spacer portion 132 together form a first receiving cavity 11. The spacer portion 132 and the extension portion 133 together, together with the drive assembly 2, form a second receiving cavity 12. The spacer portion 132 is provided with a connecting port 1321, which connects the first receiving cavity 11 and the second receiving cavity 12. It is understood that the first mounting portion 131 can be fixedly connected by means of screwing, snap-fitting, or welding.

[0037] In some embodiments, the structures of the first housing 1 and the second housing 1 are not limited to this, as long as the housing 1 can be connected with the drive assembly 2 to form the first accommodating cavity 11 and the second accommodating cavity 12. For example, the second accommodating cavity 12 may not be formed by the first housing 13 and the drive assembly 2, or the first housing 13 and the second housing 14 may be used to form the first accommodating cavity 11, and the first housing 13, the second housing 14 and the drive assembly 2 may be used to form the second accommodating cavity 12.

[0038] In some embodiments, the first mounting portion 131 is provided with a first rotating hole 1312, and the second housing 14 is provided with a second rotating hole 141. The first rotating hole 1312 and the second rotating hole 141 are arranged opposite to each other along a direction parallel to the second axis Y.

[0039] For driver component 2 mentioned above, please refer to... Figure 2 and Figure 4 The drive assembly 2 and the housing 1 are arranged sequentially along a direction parallel to the first axis X. The drive assembly 2 includes a first output shaft 21 and a drive body 22. The drive body 22 is disposed in the housing 1, and the drive body 22, the extension 133, and the spacer 132 enclose a second receiving cavity 12. At least a portion of the first output shaft 21 is located within the second receiving cavity 12, and the first output shaft 21 is arranged along the first axis X, that is, the axial direction of the first output shaft 21 is parallel to the first axis X.

[0040] For the second output axis 3 mentioned above, please refer to Figure 2 and Figure 5 The second output shaft 3 is disposed along the second axis Y, that is, the axial direction of the second output shaft 3 is parallel to the second axis Y. At least a portion of the second output shaft 3 is located in the first accommodating cavity 11, one end of the second output shaft 3 is rotatably connected to the first rotating hole 1312, and the other end of the second output shaft 3 is rotatably connected to the second rotating hole 141.

[0041] In some embodiments, a drive structure 31 is provided at both ends of the second output shaft 3, and the drive structure 31 is used to drive the driven component to rotate. The two ends of the second output shaft 3 extend out of the first rotating hole 1312 and the second rotating hole 141 respectively, so that the drive structures 31 at both ends of the second output shaft 3 extend out of the housing 1, thus allowing both ends of the second output shaft 3 to be connected to the driven component. Optionally, the drive structure 31 is a limiting surface formed by extending inward from the outer wall of the second output shaft 3, and the limiting surface is perpendicular to the radial direction of the second output shaft 3. Under the action of the limiting surface, the rotation of the driven component relative to the second output shaft 3 along the circumference of the second output shaft 3 is restricted, thereby allowing the second output shaft 3 to drive the driven component to rotate. The drive structure 31 is a limiting surface, making the drive structure 31 easy to manufacture and facilitating the connection between the drive structure 31 and the driven component. It is understood that the configuration of the drive structure 31 is not limited to this, as long as it can limit the rotation of the driven component relative to the second output shaft 3 along the circumference of the second output shaft 3.

[0042] In some embodiments, the end face of the second output shaft 3 is provided with a threaded hole 32. The threaded hole 32 is used to fix the driven component to the second output shaft 3 and to at least limit the relative movement of the driven component and the second output shaft 3 along a direction parallel to the second axis Y. Thus, the fixing method between the second output shaft 3 and the driven component is simple and convenient, requiring only a screw connector (not shown). Furthermore, the screw connector is small in size and occupies little space, thereby making the structure of the robot finger servo motor 1000 compact. Optionally, either end of the second output shaft 3 may be provided with a drive structure 31 and a threaded hole 32, which can be selected by those skilled in the art as needed.

[0043] In some embodiments, the end face of the second output shaft 3 is provided with a boss (not shown), a threaded hole 32 is provided in the boss, and a limiting plane is provided on the side wall of the boss. The boss is used to insert into the mounting groove of the drive component, and the limiting plane is used to abut against the groove wall plane of the drive component in the mounting groove, thereby achieving limiting. After the screw connector passes through the bottom of the mounting groove, it is screwed into the threaded hole to fix the drive component and the second output shaft 3. Further, the limiting plane is provided with an elastic protrusion (not shown), and the groove wall plane of the drive component is provided with a limiting recess. When the boss is inserted into the mounting groove, the elastic protrusion engages with the limiting recess, thereby achieving triple fixation between the second output shaft 3 and the drive component.

[0044] In some embodiments, the robot finger servo motor 1000 further includes a second bearing 7 and a third bearing 8. The second bearing 7 is disposed in the first rotating hole 1312, the outer ring of the second bearing 7 is disposed in the inner wall of the first mounting portion 131 in the first rotating hole 1312, and the inner ring of the second bearing 7 is sleeved on one end of the second output shaft 3. The third bearing 8 is disposed in the second rotating hole 141, the outer ring of the third bearing 8 is disposed in the inner wall of the second housing 14 in the second rotating hole 141, and the inner ring of the third bearing 8 is sleeved on the other end of the second output shaft 3.

[0045] For the transmission mechanism 4 mentioned above, please refer to... Figure 2 and Figure 5The transmission mechanism 4 includes a first bevel gear 41 and a second bevel gear 42. Both the first bevel gear 41 and the second bevel gear 42 are disposed in the first accommodating cavity 11. The axis of the first bevel gear 41 is parallel to the first shaft X, and the axis of the second bevel gear 42 is perpendicular to the second shaft Y. The first bevel gear 41 is connected to the first output shaft 21, and the second bevel gear 42 is sleeved on the second output shaft 3. The first bevel gear 41 and the second bevel gear 42 mesh. Optionally, the second bevel gear 42 and the second output shaft 3 can be integrally formed, or they can be independent components. Optionally, along a direction parallel to the second shaft Y, the second bevel gear 42 fits against the inner wall of the second housing 1 in the first accommodating cavity 11, so that the first bevel gear 41 can fully utilize the space between the second bevel gear 42 and the first mounting portion 131, thereby making the structure compact. It is understood that, along a direction parallel to the second shaft Y, the second bevel gear 42 can also fit against the inner wall of the first mounting portion 131 in the first accommodating cavity 11.

[0046] The first bevel gear 41 described above includes a bevel tooth portion 411, a first limiting portion 412, and a second mounting portion 413. The bevel tooth portion 411, the first limiting portion 412, and the second mounting portion 413 are sequentially arranged in a direction parallel to the first axis X and in a direction from the housing 1 to the drive assembly 2. The bevel tooth portion 411 is annularly disposed around the first limiting portion 412 and is used to mesh with the second bevel gear 42. The second mounting portion 413 is provided with a connecting hole (not shown), and an internal tooth portion (not shown) is provided on the inner wall of the connecting hole.

[0047] In some embodiments, the robot finger servo motor 1000 further includes a positioning member 5 disposed in the first receiving cavity 11. Along a direction parallel to the second axis Y, both ends of the positioning member 5 abut against the first bevel gear 41 and the inner wall of the housing 1 in the first receiving cavity 11, respectively. This reduces the risk of the first bevel gear 41 moving away from the second bevel gear 42, thereby ensuring stable meshing of the first bevel gear 41 and the second bevel gear 42.

[0048] In some embodiments, the first housing 13 is provided with a first connecting portion 1311, which is located in the first accommodating cavity 11 and is arranged in a direction parallel to the second axis Y. There are two first connecting portions 1311, which are arranged opposite each other in a direction parallel to the third axis Z. Along the direction parallel to the third axis Z, each end of the positioning member 5 is provided with a second connecting portion 51, which is arranged in a direction parallel to the second axis Y, and one second connecting portion 51 is connected to one first connecting portion 1311. One of the first connecting portion 1311 and the second connecting portion 51 is a protrusion, and the other is a groove; the protrusion is inserted into the groove. With the aforementioned groove and protrusion, after aligning the second connecting portion 51 with the first connecting portion 1311, the positioning member 5 can be inserted to complete the installation of the positioning member 5, which is simple to operate. Furthermore, the structure of the first connecting portion 1311 and the second connecting portion 51 is simple, occupies little space, and contributes to the compact structure of the robot finger servo motor 1000.

[0049] In some embodiments, the positioning member 5 is provided with a second limiting portion 52, which is disposed on the side of the positioning member 5 that abuts against the first bevel gear 41. The second limiting portion 52 is recessed inward in a direction away from the first bevel gear 41, and its cross-sectional shape is an arc in a direction perpendicular to the first axis X. The circumferential surface of the first limiting portion 412 of the first bevel gear 41 abuts against the second limiting portion 52, and its cross-sectional shape is circular in a direction perpendicular to the first axis X. At least a portion of the first limiting portion 412 is located within the second limiting portion 52, and the first bevel gear 41 is clamped between the positioning member 5 and the second bevel gear 42. The outer wall surface of the first limiting portion 412 and the circumferential surface of the second limiting portion 52 cooperate with each other, so that the second positioning portion restricts the radial movement of the first bevel gear 41. In this way, the connection between the first bevel gear 41 and the second bevel gear 42 is more stable.

[0050] It is understood that the second limiting part 52 can also be a rectangular groove (not shown in the figure), and the cross-sectional shape of the first limiting part 412 along the direction perpendicular to the first axis X is the inscribed circle of the rectangular groove. This embodiment of the utility model does not limit the structure of the first limiting part 412 and the second limiting part 52, as long as the second limiting part 52 can restrict the radial movement of the first bevel gear 41.

[0051] In some embodiments, the transmission mechanism 4 further includes a reduction mechanism 43 and a transmission gear 44. The reduction mechanism 43 is disposed in the second accommodating cavity 12. The input end of the reduction mechanism 43 is connected to the first output shaft 21, and the transmission gear 44 is disposed at the output end of the reduction mechanism 43. The transmission gear 44 is a spur gear, and the transmission gear 44 is provided with an external tooth portion 441, which is located in the first accommodating cavity 11. The transmission gear 44 is inserted into the connecting hole, and the axis of the first bevel gear 41 coincides with the axis of the transmission gear 44. The external tooth portion 441 of the transmission gear 44 directly meshes with the internal tooth portion of the first bevel gear 41, so that the transmission gear 44 drives the first bevel gear 41 to rotate. Optionally, the transmission gear 44 may not be provided, and a third output shaft (not shown) may be provided at the output end of the reduction mechanism 43. The third output shaft is connected to the first bevel gear 41 through a coupling.

[0052] In some embodiments, the robot finger servo motor 1000 further includes a first bearing 6, which is disposed at the communication port 1321. The outer ring of the first bearing 6 is disposed on the inner sidewall of the communication port 1321 at the spacer 132, and the inner ring of the first bearing 6 is sleeved on the transmission gear 44 so that the transmission gear 44 is rotatably disposed at the communication port 1321. Thus, the first bevel gear 41 is supported on the housing 1 by the positioning member 5, and the first bevel gear 41 is also supported on the housing 1 by the transmission gear 44 and the first bearing 6 in sequence. Thus, along the direction parallel to the first axis X, that is, the length direction of the first bevel gear 41, the first bevel gear 41 has two supports, making the rotation of the first bevel gear 41 more stable.

[0053] In this embodiment of the invention, the robot finger servo motor 1000 includes a housing 1, a drive assembly 2, a second output shaft 3, and a transmission mechanism 4. The housing 1 has a first accommodating cavity 11. The drive assembly 2 is disposed in the housing 1 and includes a first output shaft 21, which is arranged along a first axis X. A second output shaft 3 is rotatably connected to the housing 1 and is arranged along a second axis Y, with the first axis X perpendicular to the second axis Y. The transmission mechanism 4 includes a first bevel gear 41 and a second bevel gear 42, both disposed in the first accommodating cavity 11. The first bevel gear 41 is connected to the first output shaft 21, and the second bevel gear 42 is connected to the second output shaft 3. The first bevel gear 41 and the second bevel gear 42 mesh. This embodiment of the invention uses the meshing of the first bevel gear 41 and the second bevel gear 42 for transmission, reducing the radial dimension along the first output shaft 21, resulting in a compact structure and improved space utilization.

[0054] This utility model provides an embodiment of a robot, which includes the robot finger servo motor 1000 described above. The structure and function of the robot finger servo motor 1000 can be referred to the above embodiment, and will not be repeated here.

[0055] It should be noted that while the preferred embodiments of this utility model are provided in the specification and accompanying drawings, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are not intended to impose additional limitations on the content of this utility model; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Furthermore, the above-described technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of this utility model specification. Moreover, those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A robotic finger servo, comprising: The robot finger steering engine comprises a housing, a driving assembly arranged in the housing, a first output shaft of the driving assembly arranged along a first axis X, a second output shaft rotatably connected to the housing, at least a part of the second output shaft being arranged in a first accommodating cavity of the housing, the second output shaft being arranged along a second axis Y, the first axis X being perpendicular to the second axis Y, a transmission mechanism comprising a first bevel gear and a second bevel gear, the first bevel gear and the second bevel gear being arranged in the first accommodating cavity, the first bevel gear being connected to the first output shaft, the second bevel gear being connected to the second output shaft, the first bevel gear and the second bevel gear being engaged.

2. The robot finger steering engine according to claim 1, further comprising a positioning member arranged in the first accommodating cavity, the positioning member being arranged on a side of the first bevel gear away from the second bevel gear along a direction parallel to the second axis Y, and the two ends of the positioning member being respectively abutted against the first bevel gear and an inner wall of the first accommodating cavity of the housing along the direction parallel to the second axis Y. The housing is provided with a first connecting portion arranged along the second axis Y, the first connecting portion being arranged in the first accommodating cavity, the first connecting portion being spaced apart along a third axis Z, the first axis X, the second axis Y and the third axis Z being perpendicular to each other, The two ends of the positioning member are provided with a second connecting portion arranged along the second axis Y along a direction parallel to the third axis Z. One of the first connecting portion and the second connecting portion is a protrusion, and the other is a groove, and the protrusion is inserted into the groove. The first bevel gear is provided with a first limiting portion for abutting against the positioning member. The positioning member is provided with a second limiting portion arranged on a side of the positioning member abutting against the first bevel gear, the second limiting portion being abutted against the first limiting portion.

3. The robotic finger servo of claim 2, wherein, The second limiting portion is recessed in a direction away from the first bevel gear, and the first limiting portion is at least partially arranged in the second limiting portion, so that a wall surface of the second limiting portion limits the movement of the first bevel gear in a radial direction. The housing and the driving assembly enclose a second accommodating cavity, the first accommodating cavity and the second accommodating cavity being arranged in sequence along a direction parallel to the first axis X, the first accommodating cavity being arranged at an end of the housing away from the driving assembly, the second accommodating cavity being arranged at an end of the housing close to the driving assembly, and at least a part of the first output shaft being arranged in the second accommodating cavity. The housing is provided with a spacing portion between the first accommodating cavity and the second accommodating cavity, the spacing portion being provided with a communication port.

4. The robotic finger servo of claim 2, wherein, The transmission mechanism further comprises a speed reduction mechanism arranged in the second accommodating cavity, an input end of the speed reduction mechanism being connected to the first output shaft, and an output end of the speed reduction mechanism and the first bevel gear being connected through the communication port. ​ ​ 5. The robotic finger actuator of claim 1, wherein, ​ ​ ​ 6. The robotic finger servo of claim 5, wherein, The transmission mechanism comprises a transmission gear, which is arranged at the output end of the speed reduction mechanism, is rotationally arranged at the communication opening, and is provided with an outer tooth portion on the outer side wall thereof; The first bevel gear is provided with a connecting hole, is provided with an inner tooth portion on the inner wall of the connecting hole, and the transmission gear is inserted into the connecting hole, and the outer tooth portion is engaged with the inner tooth portion.

7. The robotic finger actuator of claim 6, wherein, The robot finger steering engine further comprises a first bearing, which is arranged at the communication opening, the outer ring of the first bearing is arranged at the spacing portion, and the inner ring of the first bearing is sleeved on the transmission gear.

8. The robotic finger actuator of any one of claims 1-7, wherein, Both ends of the second output shaft are provided with driving structures, which are used for being connected with to-be-driven members and are used for driving the to-be-driven members to rotate. Both ends of the second output shaft protrude out of the shell, so that the two driving structures are located outside the shell.

9. The robotic finger actuator of claim 8, wherein, The end surface of the second output shaft is provided with a threaded hole, which is used for fixing the to-be-driven member to the second output shaft.

10. A robot, characterized in that The robot finger steering engine comprises the robot finger steering engine according to any one of claims 1-9.

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