The invention relates to a two-degree-of-freedom joint for a
deep sea multi-joint submersible vehicle, and the two-degree-of-freedom joint comprises a driving unit and a transmission unit, wherein a
front cover lug support part of the driving unit is connected with a transmission shaft A of the transmission unit. The driving unit comprises two drivers, a motor frame, a
front cover, two motors, a
coupling, an end cover A, a driving shaft, a combined seal, an end cover B, a sleeve A, an end cover C, a
bevel gear A, a bearing A, a bearing sleeve, a bearing B and a sleeve B; and the transmission unit comprises a gear carrier, a rear cover, a transmission shaft A, a bearing C, an end cover D, a combined gear, a sleeve E, a transmission shaft B, a bearing E, a sleeve D, a
bevel gear B, a sleeveC, an end cover I, a bearing D, an end cover E, an end cover G, an end cover F and an end cover H.