Underwater manipulator joint driving device

According to the underwater mechanical arm joint driving device, a motor and a mechanical arm joint are fused, the purposes of wiring in a mechanical arm and neat and attractive appearance are achieved, the driving force of the whole device comes from electric energy, then the device provides power, and therefore the whole device is driven; a motor stator is bonded with a joint shell, a motor rotor is bonded with a rotating shaft, one side of the rotating shaft is connected with a rotor of a rotary transformer for speed detection, and the other side of the rotating shaft is connected with a tail rotary transformer for output shaft angle detection, so that the movement of the whole device is controlled. The device has extremely high sealing performance, and can meet the large-depth underwater working requirement after oil filling pressure compensation. 本发明涉及一种水下机械手关节驱动装置，把电机与机械手关节融合，实现了机械手内走线，外观整洁、美观的目的，整个装置的驱动力来自于电能，然后由本装置提供动力，从而驱动整个装置，本装置采用无框力矩电机驱动，电机定子与关节壳体粘接，电机转子与一转动轴粘接，转动轴一侧与旋转变压器的转子连接，进行速度检测，转动轴另一侧与尾部旋转变