Underwater driving joint module

Abstract

The underwater driving joint module comprises a shell, a motor, a speed reducer, a brake, an output disc, a clutch, an encoder and a driver, wherein the motor, the speed reducer, the brake, the output disc, the clutch, the encoder and the driver are sealed in the shell. The motor shaft, the speed reducer input shaft and the clutch are all of a hollow structure and form a wire passing hollow shaft. An air pipe used for connecting and disconnecting the clutch is arranged in the wire passing hollow shaft; a motor shaft and a speed reducer input shaft are sleeved with the clutch, and the speed reducer is connected with the output disc through a connecting flange plate. Connection and disconnection of the motor shaft and the input shaft of the speed reducer are realized through connection and disconnection of the clutch; a motor shaft is sleeved with a brake and an encoder, the encoder, the motor and the brake are all connected with a driver, and the encoder and the driver are both made of radiation-resistant materials. The underwater driving joint module disclosed by the invention has the functions of radiation resistance, water resistance and fault emergency recovery at the same time.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear industry special robot joints, in particular to an underwater drive joint module. Background Art

[0002] Special modules are widely used in the field of special robots. In particular, operating robots used in typical nuclear industry fields such as nuclear power plants often face radioactive underwater environments and foreign body protection requirements. Therefore, operating robots in nuclear industry scenarios are required to have radiation resistance, waterproofness and emergency recovery functions. As a sub-component of the robot, the joint module must also have radiation resistance, waterproofness and emergency recovery functions. At present, there is no joint module that has radiation resistance, waterproofness and emergency recovery functions. Summary of the invention

[0003] The purpose of the present invention is to provide an underwater driving joint module, which has the functions of radiation resistance, waterproofness and emergency recovery in case of failure.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] An underwater driving joint module comprises a housing and a motor, a reducer, a brake, an output disc, a clutch, an encoder and a driver which are sealed and connected in the housing;

[0006] The motor includes a motor shaft, and the reducer includes a reducer input shaft; the motor shaft, the reducer input shaft and the clutch are all hollow structures, forming a wire-passing hollow shaft; an air pipe for connecting or disconnecting the clutch is arranged in the wire-passing hollow shaft;

[0007] The motor shaft and the reducer input shaft are both sleeved in the clutch, and the reducer is connected to the output disk through a connecting flange; the clutch is connected to realize the connection between the motor shaft and the reducer input shaft, and the clutch is disengaged to realize the disengagement of the motor shaft and the reducer input shaft;

[0008] The brake and encoder are sleeved on the motor shaft. The brake is used to brake the motor shaft. The encoder, motor and brake are all connected to the driver. The encoder is used to detect the angular position of the motor shaft and send it to the driver. The driver is used to control the action of the motor and the brake. The radiation sensitive components of the encoder and the driver are made of radiation-resistant materials.

[0009] As one of the possible implementations, the clutch is a single-plate friction clutch, and connection and disconnection are achieved by pneumatics.

[0010] As one possible implementation method, the clutch includes a driven plate, a driving plate and a compression spring;

[0011] The end of the driven disc close to the driving disc fits with the end of the driving disc close to the driven disc to achieve the connection of the clutch; when the clutch is connected, the input shaft of the reducer is connected to the motor shaft;

[0012] The end of the driven disc close to the driving disc is disengaged from the end of the driving disc close to the driven disc, so as to realize the disengagement of the clutch; when the clutch is disengaged, the input shaft of the reducer is disengaged from the motor shaft;

[0013] The driven disc, the driving disc, the reducer input shaft and the motor shaft are all hollow structures, forming a wire-passing hollow shaft; the air pipe is arranged in the wire-passing hollow shaft;

[0014] The reducer input shaft sleeve is arranged in the driven disk and is in driving connection with the driven disk; the motor shaft sleeve is arranged in the driving disk 1 and is in sliding and driving connection with the driving disk;

[0015] A groove is provided at one end of the driven disk close to the driving disk, and a rod is provided at one end of the driving disk close to the driven disk; the rod of the driving disk is slidably connected in the groove of the driven disk to form a piston;

[0016] The rod of the active disk and the groove of the driven disk are sealed and connected through an outer sealing ring and an inner sealing ring to form a sealed chamber;

[0017] An air inlet hole is provided on the driven disk, the air inlet end of the air pipe is sealed and connected to the external air source, the air outlet end of the air pipe is sealed and connected to the air inlet hole, and the air inlet hole is connected to the sealed chamber;

[0018] One end of the compression spring abuts against one end of the active disk away from the driven disk, and the other end of the compression spring abuts against the motor shaft outside the active disk, and the compression spring is always in a compressed state.

[0019] As one of the feasible ways, the input shaft of the reducer is connected to the driven disc via a transmission key; and the motor shaft is connected to the driving disc via a sliding key.

[0020] As one of the achievable methods, a connection disk is provided at the upper end of the shell, and a connection end sealing ring is provided between the connection disk and the shell;

[0021] A driving end cover is provided at the right port of the housing, and a driving end cover sealing ring is provided between the driving end cover and the housing;

[0022] The wire-passing hollow shaft is fixedly connected to the housing through a wire-passing shaft support bearing; a bearing end cover is sleeved on the wire-passing shaft support bearing;

[0023] A dynamic sealing ring is arranged between the reducer and the housing, and a static sealing ring is arranged between the output disc and the connecting flange.

[0024] As one of the achievable methods, the encoder includes an encoder stator and an encoder rotor; the encoder stator is fixedly connected to the housing through an encoder stator fixing plate; the encoder rotor is fixedly connected to the motor shaft through a clamping ring, and an encoder rotor transmission sleeve is sleeved on the encoder rotor.

[0025] As one of the feasible ways, the wire-passing hollow shaft cooperates with the inner hole of the inner ring of the wire-passing shaft support bearing; the outer ring of the wire-passing shaft support bearing cooperates with the mounting hole corresponding to the encoder stator fixing plate.

[0026] As one achievable manner, the motor further includes a motor rotor and a motor stator, the motor shaft is fixedly connected to the motor rotor, and the motor stator is fixedly connected to the housing.

[0027] As one achievable manner, the reducer input shaft is fixedly connected to the reducer input end; the reducer is fixedly connected to the housing via a reducer fastener.

[0028] As one possible implementation, the reducer is a harmonic reducer.

[0029] As one of the achievable methods, the brake includes a brake stator and a brake rotor; the brake stator is fixedly connected to the housing through a brake mounting seat, a brake rotor transmission sleeve is sleeved on the brake rotor, and the brake rotor transmission sleeve is fixedly connected to the motor shaft.

[0030] As one possible approach, the radiation sensitive elements of both the encoder and the driver are made of gallium nitride or silicon carbide.

[0031] Beneficial technical effects of the present invention:

[0032] The underwater drive joint module of the present invention has a clutch arranged between the motor and the reducer, so that the brake only needs a smaller braking torque, reducing the volume of the brake, and further reducing the volume of the underwater drive joint module; when the underwater drive joint module loses power due to a fault and the brake brakes the motor shaft, the motor shaft and the reducer input shaft are disengaged by pneumatically disengaging the clutch, so that the output disk can be rotated under manual operation, avoiding the underwater drive joint module from staying in a stuck position; by controlling the pneumatic pressure of the clutch, the speed of emergency recovery can be controlled to prevent overshoot caused by excessive emergency recovery speed, and the module has a reliable fault emergency recovery function, ensuring the reliability of the overall operation.

[0033] The underwater driving joint module of the present invention integrates a motor, a reducer, a driver, a brake, a clutch and an encoder at the same time, and has a high degree of integration.

[0034] The underwater driving joint module of the present invention adopts a radiation-resistant driver and encoder and is suitable for the radiation environment of the nuclear industry.

[0035] The underwater driving joint module of the present invention adopts a combination of dynamic sealing and static sealing and is suitable for underwater environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of an embodiment of the underwater driving joint module of the present invention;

[0037] Figure 2 It is a schematic structural diagram of an embodiment of a clutch.

[0038] In the figure, 1, housing; 2, output disk; 3, connecting flange; 4, wire-passing hollow shaft: 5, reducer input shaft; 6, transmission flange; 7, reducer; 8, dynamic sealing ring; 9, reducer fastener; 10, clutch; 11, motor shaft; 12, motor; 13, brake; 14, brake rotor transmission sleeve; 15, driving end cover sealing ring; 16, encoder rotor transmission sleeve; 17, driving end cover; 18, wire-passing shaft support bearing; 19, bearing end cover; 20, encoder stator fixing plate; 21, driver; 22, encoder; 23, connecting disk; 24, connecting end sealing ring; 10.1, driven disk; 10.2, active disk; 10.3, compression spring; 10.4, air pipe; 10.5, outer sealing ring; 10.6, inner sealing ring; 10.1.1, air inlet. DETAILED DESCRIPTION

[0039] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are part of the embodiments of the present invention, rather than 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.

[0040] In the description of the present invention, it is necessary to understand that the orientations or positional relationships indicated by terms such as “left end”, “right end”, “above”, “below”, “outside”, “inside”, etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0041] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] The technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings and specific embodiments.

[0043] refer to Figure 1 , shows a schematic structural diagram of an embodiment of an underwater drive joint module, the underwater drive joint module includes a housing 1 and a motor 12 sealed and connected in the housing 1, a reducer 7, a brake 13, an output disc 2, a clutch 10, an encoder 22 and a driver 21;

[0044] The motor 12 includes a motor shaft 11, and the reducer 7 includes a reducer input shaft 5; the motor shaft 11, the reducer input shaft 5 and the clutch 10 are all hollow structures, forming a wire-passing hollow shaft 4; an air pipe 10.4 for connecting or disconnecting the clutch 10 is arranged in the wire-passing hollow shaft 4;

[0045] The motor shaft 11 and the reducer input shaft 5 are both sleeved in the clutch 10, and the reducer 7 is connected to the output disc 2 through the connecting flange 3; the clutch 10 is connected to realize the connection between the motor shaft 11 and the reducer input shaft 5, and the clutch 10 is disengaged to realize the disengagement between the motor shaft 11 and the reducer input shaft 5;

[0046] The encoder 22 and the brake 13 are sleeved on the motor shaft 11, and the brake 13 is used to brake the motor shaft 11; the encoder 22, the motor 12 and the brake 13 are all connected to the driver 21, the encoder 22 is used to detect the angular position of the motor shaft 11 and send it to the driver 21, and the driver 21 is used to control the action of the motor 12 and the brake 13, and the radiation sensitive elements of the encoder 22 and the driver 21 are made of radiation-resistant materials.

[0047] In this embodiment, as one of the feasible ways, the clutch 5 is a single-plate friction clutch, and the connection and disconnection are realized by pneumatics.

[0048] The pneumatic pressure of the clutch 10 can be adjusted to accommodate load ends of different weights. At the same time, the pneumatic actuation of the clutch 10 is not affected by power outages, and can also provide a buffer during emergency recovery of the load end, avoiding the load end returning too quickly, resulting in overshoot and equipment damage.

[0049] refer to Figure 2In this embodiment, as one of the achievable ways, the clutch 10 includes a driven plate 10.1, a driving plate 10.2 and a compression spring 10.3;

[0050] One end of the driven disc 10.1 close to the driving disc 10.2 fits with one end of the driving disc 10.2 close to the driven disc 10.1 to achieve the connection of the clutch 10; when the clutch 10 is connected, the reducer input shaft 5 is connected to the motor shaft 11;

[0051] The end of the driven disc 10.1 close to the driving disc 10.2 is disengaged from the end of the driving disc 10.2 close to the driven disc 10.1, so that the clutch 10 is disengaged; when the clutch 10 is disengaged, the reducer input shaft 5 is disengaged from the motor shaft 11;

[0052] The driven disc 10.1, the driving disc 10.2, the reducer input shaft 5 and the motor shaft 11 are all hollow structures, forming a wire-passing hollow shaft 4; the air pipe 10.4 is arranged in the wire-passing hollow shaft 4;

[0053] The reducer input shaft 5 is sleeved in the driven disc 10.1 and is in driving connection with the driven disc 10.1; the motor shaft 11 is sleeved in the driving disc 10.2 and is in sliding and driving connection with the driving disc 10.2;

[0054] A groove is provided at one end of the driven disc 10.1 close to the driving disc 10.2, and a rod is provided at one end of the driving disc 10.2 close to the driven disc 10.1; the rod of the driving disc 10.2 is slidably connected in the groove of the driven disc 10.1 to form a piston;

[0055] The rod of the active disc 10.2 and the groove of the driven disc 10.1 are sealed and connected via an outer sealing ring 10.5 and an inner sealing ring 10.6 to form a sealed chamber;

[0056] The driven disk 10.1 is provided with an air inlet 10.1.1, the air inlet end of the air pipe 10.4 is sealed and connected to the external air source, the air outlet end of the air pipe 10.4 is sealed and connected to the air inlet 10.1.1, and the air inlet 10.1.1 is connected to the sealed chamber;

[0057] One end of the compression spring 10.3 abuts against the end of the driving disk 10.2 away from the driven disk 10.1, and the other end of the compression spring 10.3 abuts against the motor shaft 11 outside the driving disk 10.2, and the compression spring 10.3 is always in a compressed state.

[0058] The pneumatic connection principle of the clutch 10 is as follows: when no gas is passed into the air pipe 10.4, under the action of the compression spring 10.3, the end of the driven disc 10.1 close to the driving disc 10.2 is fitted and connected with the end of the driving disc 10.2 close to the driven disc 10.1, thereby realizing the connection of the clutch 10, thereby realizing the connection between the motor shaft 11 and the reducer input shaft 5.

[0059] The pneumatic disengagement principle of the clutch 10 is as follows: gas is gradually introduced into the air pipe 10.4 from the air inlet end of the air pipe 10.4, so that air pressure is formed in the sealed chamber; under the action of the air pressure in the sealed chamber, the active disc 10.2 slides along the motor shaft 11 in the direction away from the driven disc 10.1, so that the compression spring 10.3 is further compressed, and at the same time, the end of the driven disc 10.1 close to the active disc 10.2 is disengaged from the end of the active disc 10.2 close to the driven disc 10.1, so as to realize the disengagement of the clutch 10, thereby realizing the disengagement of the motor shaft 11 and the reducer input shaft 5. Slowly introduce gas into the air pipe 10.4 to realize the smooth disengagement of the clutch 10.

[0060] When the air pressure in the air pipe 10.4 is disconnected, under the rebound pressure of the compression spring 10.3, the active disc 10.2 slides along the motor shaft 11 toward the driven disc 10.1, and the end of the driven disc 10.1 close to the active disc 10.2 fits with the end of the active disc 10.2 close to the driven disc 10.1, so that the clutch 10 is reset, thereby realizing the connection between the motor shaft 11 and the reducer input shaft 5. That is, after the air pressure in the air pipe 10.4 is disconnected, the clutch 10 will reset itself to restore the connection between the reducer input shaft 5 and the motor shaft 11.

[0061] In this embodiment, as one of the feasible ways, the reducer input shaft 5 is connected to the driven disc 10.1 via a transmission key; the motor shaft 11 is connected to the driving disc 10.2 via a sliding key, and the driving disc 10.2 can slide axially along the motor shaft 11.

[0062] In this embodiment, as one of the achievable ways, the motor 12 further includes a motor rotor and a motor stator, the motor shaft 11 is fixedly connected to the motor rotor, and the motor stator is fixedly connected to the housing 1 .

[0063] In this embodiment, as one of the achievable ways, the reducer input shaft 5 is fixedly connected to the reducer input end; the reducer 7 is fixedly connected to the housing 1 via a reducer fastener 9 .

[0064] In this embodiment, as one of the feasible ways, the reducer 7 is a harmonic reducer.

[0065] In this embodiment, as one of the achievable methods, the brake 13 includes a brake stator and a brake rotor; the brake mounting base is fixedly connected to the housing 1; the brake stator is fixedly connected to the housing 1 through the brake mounting base, and the brake rotor is fixedly connected to the motor shaft 11 through the brake rotor transmission sleeve 14.

[0066] In this embodiment, as one of the feasible ways, the encoder 22 includes an encoder stator and an encoder rotor; the encoder stator is fixedly connected to the housing 1 through an encoder stator fixing plate 20; the encoder rotor is fixedly connected to the motor shaft 11 through a clamping ring, and an encoder rotor transmission sleeve 16 is sleeved on the encoder rotor.

[0067] In this embodiment, as one of the achievable ways, the radiation sensitive elements of the encoder 22 and the driver 21 are both made of gallium nitride or silicon carbide, so that the encoder 22 and the driver 21 have high radiation resistance.

[0068] In this embodiment, as one of the achievable ways, a connection plate 23 is provided at the upper end of the housing 1, and a connection end sealing ring 24 is provided between the connection plate 23 and the housing 1;

[0069] The right end of the housing 1 is provided with a driving end cover 17, and a driving end cover sealing ring 15 is provided between the driving end cover 17 and the housing 1;

[0070] The wire-passing hollow shaft 4 is fixedly connected to the housing 1 through a wire-passing shaft support bearing 18; a bearing end cover 19 is sleeved on the wire-passing shaft support bearing 18;

[0071] A dynamic sealing ring 8 is provided between the reducer 7 and the housing 1, and a static sealing ring is provided between the output disc 2 and the connecting flange 3. By arranging the dynamic sealing ring and the static sealing ring, the underwater driving joint module has waterproof performance and can be used underwater.

[0072] In this embodiment, as one of the feasible ways, the wire-passing hollow shaft 4 cooperates with the inner hole of the inner ring of the wire-passing shaft support bearing 18; the outer ring of the wire-passing shaft support bearing 18 cooperates with the corresponding mounting hole of the encoder stator fixing plate 20.

[0073] In this embodiment, both the output disk 2 and the connection disk 23 can be connected to the robot arm connecting rod to achieve underwater operation.

[0074] The implementation process of the emergency recovery function of the underwater drive joint module of this embodiment is as follows: when the underwater drive joint module loses power due to a fault, the brake 13 will lock the motor shaft 11 due to the power failure. At this time, the clutch 10 is in a connected state, so the output disk 2 will also stop rotating, and then the clutch 10 is slowly pneumatically disconnected, and the motor shaft 11 and the reducer input shaft 5 are disconnected from the transmission connection. At this time, the output disk 2 can continue to rotate under the action of external force, thereby leaving the extreme stuck posture state. At this time, the entire device can be taken out of the confined space with the help of manual external force, avoiding the risk of the device itself being stuck and unable to be recovered and becoming a foreign body.

[0075] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An underwater driving joint module, characterized in that: It comprises a housing (1), a motor (12) sealed and connected in the housing (1), a reducer (7), a brake (13), an output disc (2), a clutch (10), an encoder (22) and a driver (21); The motor (12) includes a motor shaft (11), and the reducer (7) includes a reducer input shaft (5); the motor shaft (11), the reducer input shaft (5) and the clutch (10) are all hollow structures, forming a wire-passing hollow shaft (4); an air pipe (10.4) for connecting or disconnecting the clutch (10) is arranged inside the wire-passing hollow shaft (4); The motor shaft (11) and the reducer input shaft (5) are both sleeved in the clutch (10), and the reducer 7 is connected to the output disk 2 via the connecting flange 3; the clutch (10) is connected to realize the connection between the motor shaft (11) and the reducer input shaft (5), and the clutch (10) is disengaged to realize the disengagement between the motor shaft (11) and the reducer input shaft (5); An encoder (22) and a brake (13) are sleeved on the motor shaft (11), and the brake (13) is used to brake the motor shaft (11); the encoder (22), the motor (12) and the brake (13) are all connected to a driver (21), the encoder (22) is used to detect the angular position of the motor shaft (11) and send it to the driver (21), and the driver (21) is used to control the action of the motor (12) and the brake (13), and the radiation sensitive elements of the encoder (22) and the driver (21) are all made of radiation-resistant materials.

2. The underwater driving joint module according to claim 1, characterized in that: The clutch (10) is a single-plate friction clutch, which is connected and disconnected by pneumatic means.

3. The underwater driving joint module according to claim 2, characterized in that: The clutch (10) comprises a driven plate (10.1), a driving plate (10.2) and a compression spring (10.3); One end of the driven disc (10.1) close to the driving disc (10.2) is fitted with one end of the driving disc (10.2) close to the driven disc (10.1), thereby realizing the connection of the clutch (10); when the clutch (10) is connected, the reducer input shaft (5) is connected to the motor shaft (11); The end of the driven disc (10.1) close to the driving disc (10.2) is disengaged from the end of the driving disc (10.2) close to the driven disc (10.1), thereby disengaging the clutch (10); when the clutch (10) is disengaged, the reducer input shaft (5) is disengaged from the motor shaft (11); The driven disc (10.1), the driving disc (10.2), the reducer input shaft (5) and the motor shaft (11) are all hollow structures, forming a wire-passing hollow shaft (4); the air pipe (10.4) is arranged in the wire-passing hollow shaft (4); The reducer input shaft (5) is sleeved in the driven disk (10.1) and is in driving connection with the driven disk (10.1); the motor shaft (11) is sleeved in the driving disk (10.2) and is in sliding and driving connection with the driving disk (10.2); A groove is provided at one end of the driven disc (10.1) close to the driving disc (10.2), and a rod is provided at one end of the driving disc (10.2) close to the driven disc (10.1); the rod of the driving disc (10.2) is slidably connected in the groove of the driven disc (10.1) to form a piston; The rod of the active disk (10.2) and the groove of the driven disk (10.1) are sealed and connected via an outer sealing ring (10.5) and an inner sealing ring (10.6) to form a sealed chamber; An air inlet (10.1.1) is provided on the driven disk (10.1), the air inlet end of the air pipe (10.4) is in sealed communication with an external air source, the air outlet end of the air pipe (10.4) is in sealed communication with the air inlet (10.1.1), and the air inlet (10.1.1) is in sealed communication with a sealed chamber; One end of the compression spring (10.3) abuts against one end of the driving disk (10.2) away from the driven disk (10.1), and the other end of the compression spring (10.3) abuts against the motor shaft (11) outside the driving disk (10.2), and the compression spring (10.3) is always in a compressed state.

4. The underwater driving joint module according to claim 3, characterized in that: The reducer input shaft (5) is connected to the driven disc (10.1) via a transmission key; the motor shaft (11) is connected to the driving disc (10.2) via a sliding key.

5. The underwater driving joint module according to claim 1, characterized in that: A connecting plate (23) is provided at the upper end of the housing (1), and a connecting end sealing ring (24) is provided between the connecting plate (23) and the housing (1); A driving end cover (17) is provided at the right end port of the housing (1), and a driving end cover sealing ring (15) is provided between the driving end cover (17) and the housing (1); The wire-passing hollow shaft (4) is fixedly connected to the housing (1) via a wire-passing shaft support bearing (18); a bearing end cover (19) is sleeved on the wire-passing shaft support bearing (18); A dynamic sealing ring (8) is provided between the reducer (7) and the housing (1), and a static sealing ring is provided between the output disc (2) and the connecting flange (3).

6. The underwater driving joint module according to claim 5, characterized in that: The encoder (22) comprises an encoder stator and an encoder rotor; the encoder stator is fixedly connected to the housing (1) via an encoder stator fixing plate (20); the encoder rotor is fixedly connected to the motor shaft (11) via a clamping ring, and an encoder rotor transmission sleeve (16) is sleeved on the encoder rotor.

7. The underwater driving joint module according to claim 6, characterized in that: The wire-passing hollow shaft (4) cooperates with the inner hole of the inner ring of the wire-passing shaft support bearing (18); and the outer ring of the wire-passing shaft support bearing (18) cooperates with the corresponding mounting hole of the encoder stator fixing plate (20).

8. The underwater driving joint module according to claim 1, characterized in that: The motor (12) further comprises a motor rotor and a motor stator; the motor shaft (11) is fixedly connected to the motor rotor, and the motor stator is fixedly connected to the housing (1).

9. The underwater driving joint module according to claim 1, characterized in that: The reducer (7) is a harmonic reducer; the reducer input shaft (5) is fixedly connected to the reducer input end; the reducer (7) is fixedly connected to the housing (1) via a reducer fastener (9).

10. The underwater driving joint module according to claim 1, characterized in that: The brake (13) comprises a brake stator and a brake rotor; the brake stator is fixedly connected to the housing (1) via a brake mounting seat, and the brake rotor is fixedly connected to the motor shaft (11) via a brake rotor transmission sleeve (14).

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