CN207983397U - Underwater electric joint structure with position and speed feedback - Google Patents

Abstract

The utility model is related to a kind of underwater electric joint structures with position and speed feedback, including output shaft, seal casinghousing and the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER being respectively contained in seal casinghousing, harmonic wave speed reducing machine, rimless torque motor, motor shaft, multi-turn absolute type encoder and driver, output sealing is rotationally connected with one end of seal casinghousing, and output shaft is equipped with and obtains the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER of position of output axle；Motor shaft is rotatablely installed in seal casinghousing, and one end is located at one end in seal casinghousing with output shaft by harmonic wave speed reducing machine and connect, and the other end of motor shaft is connected with the multi-turn absolute type encoder that can feed back motor shaft velocity information；Motor shaft is equipped with the rimless torque motor for driving motor shaft rotation, and rimless torque motor, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER and multi-turn absolute type encoder are electrically connected with the driver being installed on inside seal casinghousing respectively.The utility model has many advantages, such as to detect high transmission accuracy, dependable performance, compact-sized, multiple functional.

Description

Underwater electric joint structure with position and speed feedback

Technical field

The utility model belongs to underwater robot engineering field, specifically a kind of with the underwater of position and speed feedback Electronic joint structure can be applied to underwater robot joint drive.

Background technology

Underwater manipulator is the main tool of ocean development or underwater operation, and facing the future, (untethered is underwater by operation type AUV Robot)/ARV (benthoscope) and middle-size and small-size operation type ROV (remote underwater robot) application demand, underwater manipulator The features such as requiring lightness, low-power consumption.Motor driving have volume weight is small, low in energy consumption, control accuracy is high, pass through pressure Compensator can realize the advantages that full sea depth operation, therefore motor-driven underwater manipulator has broad application prospects.

Currently, underwater electric manipulator joint adds gear-box to be driven frequently with framed motor, this mode exists negative Loading capability is low, and volume weight is big, the single problem of structure；Meanwhile output end potentiometric pick-up measurement accuracy is relatively low, uses Hall There is shake when controlling motor low-speed running in sensor.Develop light volume weight, detection high transmission accuracy, structure The lightweight underwater electric manipulator joint that compact, performance is stablized becomes urgent problem to be solved.

Utility model content

In order to meet the requirement of underwater electric manipulator joint, the purpose of this utility model is to provide a kind of band positions Set the underwater electric joint structure with velocity feedback.

The purpose of this utility model is achieved through the following technical solutions：

The utility model includes output shaft, seal casinghousing and the single-ring absolute type coding being respectively contained in the seal casinghousing Device, harmonic wave speed reducing machine, rimless torque motor, motor shaft, multi-turn absolute type encoder and driver, wherein output sealing rotation It is connected to one end of seal casinghousing, the both ends of the output shaft are located at the inside and outside of the seal casinghousing, the output Axis is equipped with and obtains the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER of output shaft any time position；The motor shaft rotational installation is in seal casinghousing Interior, one end is located at one end in seal casinghousing with output shaft by the harmonic wave speed reducing machine and connect, the other end of the motor shaft It is connected with the multi-turn absolute type encoder of feedback motor shaft velocity information；The motor shaft is equipped with the nothing for driving motor shaft rotation Frame torque motor, the rimless torque motor, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER and multi-turn absolute type encoder respectively be installed on sealing The driver of enclosure interior is electrically connected；

Wherein：The brake that braking is realized to motor shaft is installed, which is covered with drop inside the seal casinghousing Antimagnetic hood of the low brake to multi-turn absolute type encoder magnetic interference；The brake is electrically connected with driver；

The RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER includes RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER rotor, is somebody's turn to do RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator sleeve is installed on the output shaft on the seal casinghousing inner wall, and the individual pen is absolute Formula encoder rotor is located at the side of RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator and is sleeved on the output shaft, and connects with the output shaft Dynamic, there are pre-determined distances between the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER rotor；The individual pen is exhausted Formula encoder rotor is driven by output shaft and is rotated, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator sends out RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER rotor The carrier signal sent is counted, and then obtains output shaft any time position；

The multi-turn absolute type encoder includes magnetic induction part and the magnet inside the magnetic induction part, the magnetic Sensing element is electrically connected with driver, and the magnet is threadedly coupled with the other end of motor shaft；

The harmonic wave speed reducing machine includes flexbile gear, steel wheel and wave producer, which is annular gear structure, mounted on described close On the inner wall of capsule body, the wave producer is connected to one end of motor shaft, between motor shaft and steel wheel, the flexbile gear One end is located at one end in seal casinghousing mounted on output shaft, the other end of the flexbile gear be located at the wave producer and steel wheel it Between, and the outer surface of the other end is equipped with tooth；The wave producer is rotated with motor shaft, sets the flexbile gear in rotary course Flexible deformation occurs for the other end with teeth, and then is meshed with the steel wheel, drives the output shaft to slow down and exports；

The rimless torque motor includes rimless torque motor stator and rimless torque motor rotor, the rimless torque motor Stator is mounted in the seal casinghousing, the rimless torque motor rotor be located at rimless torque motor stator and motor shaft it Between, and the motor shaft drives rotation by the rimless torque motor rotor；

The side of the rimless torque motor stator is equipped with the rimless torque motor stator baffle being mounted in seal casinghousing, The rimless torque motor stator passes through the rimless torque motor stator baffle axial limiting；The rimless torque motor rotor Side is equipped with the rimless torque motor rotor stop plate being mounted on motor shaft, which passes through the rimless power Torque motor rotor stop plate axial limiting；The motor shaft is connected by deep groove ball bearing and the rimless torque motor stator flapper It connects, and is passed through by the rimless torque motor rotor stop plate；

The seal casinghousing include the sealing drive end bearing bracket being tightly connected successively, connection end cap, A sections of articular shell, outside joint B sections of shell, C sections of articular shell and sealing rear end cap, the output shaft pass through angular contact ball bearing and connection end cap and joint respectively A sections of rotation connections of shell, and be tightly connected by general Sai sealing rings and sealing drive end bearing bracket；It is respectively equipped on the seal casinghousing fast Connection-peg and compensation oil connection, the data line of the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER are connected to the driving by the quick connector Device introduces pressure compensation oil into seal casinghousing by the compensation oil connection；

The rotation centerline of the motor shaft, harmonic wave speed reducing machine and output shaft overlaps.

The advantages of the utility model is with good effect：

1. detecting high transmission accuracy：The utility model has uniquely used Dual-encoder (single under high-pressure and hydraulic oil environment Enclose absolute type encoder and multi-turn absolute type encoder), RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER measures output shaft turned position, and error is less than 0.02°；Multi-turn absolute type encoder measures motor shaft velocity of rotation, avoids rimless torque motor trembling in low-speed running It is dynamic, while harmonic wave speed reducing machine and rimless torque motor driving error are less than 60 ", ensure that mechanical precision.

2. dependable performance：Key components and parts in the utility model have passed through Hi-pot test and have met hyperbaric environment Under use demand, joint peak torque is determined by the rated peak of harmonic wave speed reducing machine, using electricity cut-off type brake, can effectively be protected Protect safety when total joint operating.

3. compact-sized：The utility model uses high-energy density driver, small, multiple functional, while using mould The structure of block design philosophy, module is simple, has stronger adaptability and autgmentability to various complex environments and application requirement, Overall construction design is compact, and all aluminium alloy shell realizes the light-weight design in joint.

Description of the drawings

Fig. 1 is the internal structure sectional view of the utility model；

Fig. 2 is the external perspective structural representation of the utility model；

Wherein：1 is output shaft, and 2 be sealing drive end bearing bracket, and 3 be fixed hub, and 4 be connection end cap, and 501 be single-ring absolute type Encoder stator, 502 be RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER rotor, and 6 be fixed collar, and 701 be flexbile gear, and 702 be steel wheel, and 703 be wave Generator, 801 be rimless torque motor stator, and 802 be rimless torque motor rotor, and 9 be motor shaft, and 10 be brake, 1101 It is magnetic induction part for magnet, 1102,12 be driver, and 13 be heat sink, and 14 be Antimagnetic hood, and 15 turn for rimless torque motor Sub- baffle, 16 be rimless torque motor stator baffle, and 17 be wave producer fixed plate, and 18 be angular contact ball bearing, and 19 be general Sai Sealing ring, 20 be A sections of articular shell, and 21 be B sections of articular shell, and 22 be C sections of articular shell, and 23 be compensation oil connection, and 24 are Rear end cap is sealed, 25 be quick connector, and 26 be deep groove ball bearing.

Specific implementation mode

The utility model is described in further detail below in conjunction with the accompanying drawings.

As shown in Figure 1 and Figure 2, the utility model includes output shaft 1, seal casinghousing and is respectively contained in the seal casinghousing RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, harmonic wave speed reducing machine, rimless torque motor, motor shaft 9, brake 10, multi-turn absolute type encoder With driver 12, output shaft 1, harmonic wave speed reducing machine, rimless torque motor, motor shaft 9 and brake 10 constitute the execution in joint Mechanism, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, multi-turn absolute type encoder are respectively by the velocity of rotation of the position of output shaft 1 and motor shaft 9 Feed back to driver 12.

Seal casinghousing includes the sealing drive end bearing bracket 2 for passing sequentially through screw connection from left to right, connection end cap 4, articular shell A Section 20, articular shell B sections 21, articular shell C sections 22 and sealing rear end cap 24, the both ends of output shaft 1 are located at seal casinghousing It is inside and outside, which passes through angular contact ball bearing 18 and connection end cap 4 and the rotation of articular shell A sections 20 company respectively It connects, and dynamic sealing is carried out by general Sai sealing rings 19 and sealing drive end bearing bracket 2, make to be isolated from the outside world inside seal casinghousing；Output shaft 1 The Internal and external cycle of angular contact ball bearing 18 between articular shell A sections 20 passes through seam allowance on 20 inner wall of articular shell A sections and defeated Shaft shoulder positioning on shaft 1, the inner ring of the angular contact ball bearing 18 between output shaft 1 and connection end cap 4 is by being mounted on output The positioning of fixed hub 3 on axis 1, outer ring are positioned by the seam allowance on 4 inner wall of connection end cap.Seal drive end bearing bracket 2, connection end cap 4, It is realized by static sealing ring between articular shell A sections 20, articular shell B sections 21, articular shell C sections 22 and sealing rear end cap 24 close Envelope realizes that intra articular and extraneous segmentation, intra articular are all connections using this static sealing ring.

Output shaft 1, which is equipped with, obtains the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER of output shaft 1 any time position, which compiles Code device includes RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator 501 and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER rotor 502, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator 501 are sleeved on output shaft 1, and are directly installed on the inner wall of articular shell A sections 20 by screw.Output shaft 1, which is equipped with, to be fixed Collar 6, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER rotor 502 are located at the side of RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator 501 and are located in fixation In collar 6, then it is connected by screw realization with the output shaft 1 and interlocks.RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator 501 and single-ring absolute type There are pre-determined distances between encoder rotor 502.When output shaft 1 rotates, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER rotor 502 passes through output shaft 1 drives rotation, and the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER rotor 502 that 501 pairs of RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator is connected with output shaft 1 is sent Carrier signal counted, and then obtain output shaft 1 any time position.

For the rotational installation of motor shaft 9 in seal casinghousing, one end is located at seal casinghousing by harmonic wave speed reducing machine and output shaft 1 Interior one end connection, the other end of motor shaft 9 are connected with the multi-turn absolute encoding of feedback motor shaft 9 accurately velocity information Device；Motor shaft 9 is equipped with the rimless torque motor for driving motor shaft 9 to rotate, the rimless torque motor, single-ring absolute type coding Device and multi-turn absolute type encoder are electrically connected with the driver 12 being installed on inside seal casinghousing respectively.Installation inside seal casinghousing There are the brake 10 for realizing braking to motor shaft 9, the brake 10 to be covered with Antimagnetic hood 14, which passes through sunk screw In articular shell B sections 21, the interference for reducing brake 10 to multi-turn absolute type encoder magnetic field；Brake 10 with Driver 12 is electrically connected by conducting wire.

Multi-turn absolute type encoder includes magnetic induction part 1102 and the magnet inside the magnetic induction part 1102 1101, magnet 1101 is threadedly coupled with the other end of motor shaft 9, magnetic induction part 1102 be mounted on Antimagnetic hood 14 on, and with drive Dynamic device 12 is electrically connected by conducting wire.When motor shaft 9 rotates, magnetic induction part 1102 is by BISS-C communication protocols to driver 12 transmission signals, realize accurately velocity feedback.Multi-turn absolute type encoder is accurate using magnetic induction principle feedback motor shaft 9 Velocity information.

Quick connector 25 and compensation oil connection 23 are respectively equipped on seal casinghousing, the present embodiment is in articular shell A sections 20 And quick connector 25 is provided in articular shell C sections 22, the data line of RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER passes through the quick connector 25 It is connected to driver 12；It is also provided with compensation oil connection 23 in the articular shell C sections 22 of the present embodiment, passes through the compensation oil pipe Connector 23 introduces pressure compensation oil into seal casinghousing, realizes pressure compensation, it is ensured that can be worked normally in hyperbaric environment under water.

Harmonic wave speed reducing machine includes flexbile gear 701, steel wheel 702 and wave producer 703, which is annular gear structure, leads to It crosses screw to be fixed on the inner wall of articular shell A sections 20, wave producer 703 and one end of motor shaft 9 are electric using being keyed, being located at Between arbor 9 and steel wheel 702, and it is equipped with and is fixed by screws on 9 one end end face of motor shaft in one end of wave producer 703 Wave producer fixed plate 17 carries out axial limiting to wave producer 703.One end of flexbile gear 701 is fixed by screws in output shaft 1 One end in seal casinghousing, the other end of the flexbile gear 701 is between wave producer 703 and steel wheel 702, and the other end Outer surface is equipped with tooth.Wave producer 703 is rotated with motor shaft 9, sends out the other end that flexbile gear 701 is equipped with tooth in rotary course Raw flexible deformation, and then be meshed with steel wheel 702, it drives output shaft 1 to slow down and exports.

Rimless torque motor includes rimless torque motor stator 801 and rimless torque motor rotor 802, rimless torque electricity Machine rotor 802 is between rimless torque motor stator 801 and motor shaft 9, and the motor shaft 9 is by rimless torque motor rotor 802 drive rotation；The rimless torque electricity being mounted in articular shell B sections 21 is equipped in the side of rimless torque motor stator 801 Machine stator baffle 16, the side of rimless torque motor rotor 802 are equipped with the rimless torque motor rotor gear being mounted on motor shaft 9 Plate 15, rimless torque motor stator 801 are located between articular shell B sections 21 and rimless torque motor stator baffle 16, rimless power Torque motor rotor 802 is located between motor shaft 9 and rimless torque motor rotor stop plate 15, and rimless torque motor stator 801 passes through Rimless 16 axial limiting of torque motor stator baffle, rimless torque motor rotor 802 pass through rimless torque motor rotor stop plate 15 Axial limiting.Motor shaft 9 is rotated by deep groove ball bearing 26 and rimless torque motor stator baffle 16 and articular shell B sections 21 Connection is supported by the deep groove ball bearing 26, and is passed through by rimless torque motor rotor stop plate 15.

The sealing drive end bearing bracket 2 of the utility model, fixed hub 3, connection end cap 4, rimless torque motor rotor stop plate 15, nothing Frame torque motor stator baffle 16, articular shell A sections 20, articular shell B sections 21 and articular shell C sections 22 are aluminium alloy processing Part carries out anodized, prevents from corroding in the seawater.

The rotation centerline of the motor shaft 9 of the utility model, harmonic wave speed reducing machine and output shaft 1 overlaps.

The operation principle of the utility model is：

The utility model is uniquely proposed uses Dual-encoder (RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER under high-pressure and hydraulic oil environment And multi-turn absolute type encoder), detection and the operating accuracy of underwater operation tool are improved, and use small size, high torque (HT) Rimless torque motor and harmonic wave speed reducing machine, improve and drive diarthrodial load capacity；Brake 10 is the safe handling in joint Provide guarantee.When work, driver 12 sends out control signal and rimless torque motor rotation, the wave of harmonic wave speed reducing machine is driven to occur Device 703 makes flexbile gear 701 that flexible deformation occur in rotation process, and is engaged with steel wheel 702 and carry out passing power, and high-precision individual pen is exhausted Formula encoder is measured the output end position of harmonic wave speed reducing machine, and signal is fed back into driver 12, while multi-turn is exhausted To formula encoder, by motor shaft 9, accurately velocity information feeds back to driver 12, when avoiding rimless torque motor and slowly running Shake.

The working depth of the utility model is up to 3000m, extraneous seawater pressure 30MPa, and the pressure in seal casinghousing wants high In 30MPa.The reduction ratio of the rimless exportable torque 1Nm of torque motor, harmonic wave speed reducing machine are 100, are subtracted by harmonic wave speed reducing machine After speed, 1 exportable torque of output shaft is 100Nm.

Claims (9)

1. a kind of underwater electric joint structure with position and speed feedback, it is characterised in that：Including output shaft (1), capsul Body and the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER being respectively contained in the seal casinghousing, harmonic wave speed reducing machine, rimless torque motor, motor shaft (9), multi-turn absolute type encoder and driver (12), wherein output shaft (1) seal the one end for being rotationally connected with seal casinghousing, should The both ends of output shaft (1) are located at the inside and outside of the seal casinghousing, and the output shaft (1) is equipped with and obtains output shaft (1) RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER of any time position；In in seal casinghousing, one end passes through for motor shaft (9) rotational installation The harmonic wave speed reducing machine is located at one end in seal casinghousing with output shaft (1) and connect, and the other end of the motor shaft (9) is connected with Feed back the multi-turn absolute type encoder of motor shaft (9) velocity information；The motor shaft (9), which is equipped with, drives motor shaft (9) to rotate Rimless torque motor, the rimless torque motor, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER and multi-turn absolute type encoder respectively be installed on Driver (12) electrical connection inside seal casinghousing.

2. the underwater electric joint structure according to claim 1 with position and speed feedback, it is characterised in that：The sealing Enclosure interior is equipped with the brake (10) that braking is realized to motor shaft (9), which is covered with reduction brake (10) to the Antimagnetic hood (14) of multi-turn absolute type encoder magnetic interference；The brake (10) is electrically connected with driver (12).

3. the underwater electric joint structure according to claim 1 with position and speed feedback, it is characterised in that：The individual pen Absolute type encoder includes that RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator (501) and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER rotor (502), the individual pen are exhausted Formula encoder stator (501) is sleeved on the output shaft (1), and is installed on the seal casinghousing inner wall, the individual pen is exhausted The side of RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator (501) is located to formula encoder rotor (502) and is sleeved on the output shaft (1), And it is interlocked with the output shaft (1), the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER stator (501) and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER rotor (502) Between there are pre-determined distances；The RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER rotor (502) is driven by output shaft (1) to rotate, and individual pen is absolute The carrier signal that formula encoder stator (501) sends RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER rotor (502) counts, and then obtains institute State output shaft (1) any time position.

4. the underwater electric joint structure according to claim 1 with position and speed feedback, it is characterised in that：The multi-turn Absolute type encoder includes magnetic induction part (1102) and is located at the internal magnet (1101) of the magnetic induction part (1102), described Magnetic induction part (1102) is electrically connected with driver (12), and the magnet (1101) is threadedly coupled with the other end of motor shaft (9).

5. the underwater electric joint structure according to claim 1 with position and speed feedback, it is characterised in that：The harmonic wave Speed reducer includes flexbile gear (701), steel wheel (702) and wave producer (703), which is annular gear structure, is mounted on institute It states on the inner wall of seal casinghousing, the wave producer (703) is connected to one end of motor shaft (9), is located at motor shaft (9) and steel wheel (702) between, one end of the flexbile gear (701) is located at one end in seal casinghousing mounted on output shaft (1), the flexbile gear (701) The other end between the wave producer (703) and steel wheel (702), and the outer surface of the other end be equipped with tooth；The wave Generator (703) is rotated with motor shaft (9), makes the other end that the flexbile gear (701) is equipped with tooth that elasticity occur in rotary course Deformation, and then be meshed with the steel wheel (702), it drives the output shaft (1) to slow down and exports.

6. the underwater electric joint structure according to claim 1 with position and speed feedback, it is characterised in that：It is described rimless Torque motor includes rimless torque motor stator (801) and rimless torque motor rotor (802), the rimless torque motor stator (801) it is mounted in the seal casinghousing, the rimless torque motor rotor (802) is located at rimless torque motor stator (801) Between motor shaft (9), and the motor shaft (9) drives rotation by the rimless torque motor rotor (802).

7. the underwater electric joint structure according to claim 6 with position and speed feedback, it is characterised in that：It is described rimless The side of torque motor stator (801) is equipped with the rimless torque motor stator baffle (16) being mounted in seal casinghousing, this is rimless Torque motor stator (801) passes through rimless torque motor stator baffle (16) axial limiting；The rimless torque motor turns The side of sub (802) is equipped with the rimless torque motor rotor stop plate (15) being mounted on motor shaft (9), which turns Sub (802) pass through rimless torque motor rotor stop plate (15) axial limiting；The motor shaft (9) passes through deep groove ball bearing (26) it is rotatablely connected with the rimless torque motor stator baffle (16), and is worn by the rimless torque motor rotor stop plate (15) It crosses.

8. the underwater electric joint structure according to claim 1 with position and speed feedback, it is characterised in that：The sealing Shell includes the sealing drive end bearing bracket (2) being tightly connected successively, connection end cap (4), articular shell A sections (20), B sections of articular shell (21), articular shell C sections (22) and sealing rear end cap (24), the output shaft (1) respectively by angular contact ball bearing (18) with Connection end cap (4) and A sections of articular shell (20) rotation connection, and sealed by general Sai sealing rings (19) and sealing drive end bearing bracket (2) Connection；Quick connector (25) and compensation oil connection (23), the single-ring absolute type coding are respectively equipped on the seal casinghousing The data line of device is connected to the driver (12) by the quick connector (25), by the compensation oil connection (23) to close Pressure compensation oil is introduced in capsule body.

9. the underwater electric joint structure according to claim 1 with position and speed feedback, it is characterised in that：The motor The rotation centerline of axis (9), harmonic wave speed reducing machine (7) and output shaft (1) overlaps.