A concentric double axis actuator has a two-stage cross roller bearing, and a preceding-stage actuator and a subsequent-stage actuator which are linked in tandem. The front end of a subsequent stage rotary output shaft of the subsequent actuator, said subsequent stage rotary output shaft passing thr
A concentric double axis actuator has a two-stage cross roller bearing, and a preceding-stage actuator and a subsequent-stage actuator which are linked in tandem. The front end of a subsequent stage rotary output shaft of the subsequent actuator, said subsequent stage rotary output shaft passing through a hollow section of the preceding-stage actuator and projecting forward, is linked and fixed to an inner ring of the two-stage cross roller bearing, and the inner ring functions as a subsequent-stage rotary output member. The output rotary side of the preceding-stage actuator is linked to an middle ring of the two-stage cross roller bearing, which functions as a preceding-stage rotary output member. The rotary output element of each stage is supported by the two-stage cross roller bearing, and surface oscillations of the rotary output member of each stage can be minimized, and the moment stiffness of the members can be increased.
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1. A concentric multi-axis actuator (1) comprising: a multi-stage cross roller bearing (2), a preceding-stage actuator (3) arranged coaxially to a rear side of the multi-stage cross bearing (2), and a subsequent-stage actuator (4) arranged coaxially to a rear side of the preceding-stage actuator (3)
1. A concentric multi-axis actuator (1) comprising: a multi-stage cross roller bearing (2), a preceding-stage actuator (3) arranged coaxially to a rear side of the multi-stage cross bearing (2), and a subsequent-stage actuator (4) arranged coaxially to a rear side of the preceding-stage actuator (3), whereinthe preceding-stage actuator (3) has a preceding-stage hollow section (5) extending through a center thereof along a direction of an axis (1a);the subsequent-stage actuator (4) has a subsequent-stage rotary output shaft (6) extending forward through the preceding-stage hollow section (5);the multi-stage cross roller bearing (2) has an outer ring (11), a middle ring (12) arranged concentrically to an inside of the outer ring, an inner ring (13) arranged concentrically to an inside of the middle ring, an annular outside track (14) of rectangular cross section formed between the outer ring (11) and the middle ring (12), a plurality of outside rollers (15) rollably inserted within the outside track (14), an annular inside track (16) of rectangular cross section formed between the middle ring (12) and the inner ring (13), and a plurality of inside rollers (17) rollably inserted within the inside track (16);the middle ring (12) is a preceding-stage rotary output member rotationally driven by the preceding-stage actuator (3); andthe inner ring (13) is a subsequent-stage rotary output member fixed to the subsequent-stage rotary output shaft (6), andwherein the preceding-stage actuator (3) has a preceding-stage motor (31) and a preceding-stage strain wave gear reducer (32);the preceding-stage strain wave gear reducer (32) has a preceding-stage reducer housing (34), a preceding-stage rigid internal gear (35) fixed coaxially to an inside of the preceding-stage reducer housing, a preceding-stage flexible external gear (36) of silk hat shape arranged coaxially to an inside of the preceding-stage rigid internal gear, a preceding-stage wave generator (37) fitted in an inside of the preceding-stage flexible external gear, and a center through hole (37a) formed in the preceding-stage wave generator (37);the preceding-stage reducer housing (34) is fixed to the outer ring (11), the preceding-stage flexible external gear (36) is fixed to the middle ring (12), and the preceding-stage wave generator (37) is fixed to a hollow motor shaft (31a) of the preceding-stage motor (31), the hollow motor shaft extending through the center through hole (37a) of the preceding-stage wave generator;the subsequent-stage actuator (4) has a subsequent-stage motor (41) and a subsequent-stage strain wave gear reducer (42);the subsequent-stage strain wave gear reducer (42) has a subsequent-stage reducer housing (44), a subsequent-stage rigid internal gear (45) fixed coaxially to an inside of the subsequent-stage reducer housing, a subsequent-stage flexible external gear (46) of silk hat shape arranged coaxially to an inside of the subsequent-stage rigid internal gear, a subsequent-stage wave generator (47) fitted in an inside of the subsequent-stage flexible external gear, and a center through hole (47a) formed in the subsequent-stage wave generator (47);the subsequent-stage housing (44) is fixed to a motor housing (43) of the preceding-stage motor (31), the subsequent-stage flexible external gear (46) is fixed to an rear end of the subsequent-stage rotary output shaft (6); and the subsequent-stage wave generator (47) is fixed to a motor shaft (41a) of the subsequent-stage motor (41), the motor shaft extending through the center through hole (47a) of the subsequent-stage wave generator. 2. The concentric multi-stage actuator (1) according to claim 1, wherein a roller size of the inside rollers (17) are smaller than a roller size of the outside rollers (15), and a roller center (L2) of the inside rollers (17) is positioned at an offset along the direction of the axis (1a), with respect to a roller center (L1) of the outside rollers (15). 3. The concentric multi-stage actuator (1) according to claim 2, wherein an offset amount (Δ) of the roller center (L2) of the inside rollers (17) with respect to the roller center (L1) of the outside roller (15) is in a range of one-half of a track width of the inside track (16) to one-half the sum of a value of this track width and a track width of the outside track (14). 4. The concentric multi-stage actuator (1) according to claim 2, wherein the offset amount (Δ) is one-half of the track width of the outside track (14). 5. The concentric multi-stage actuator (1) according to claim 2, wherein a thickness of the middle ring (12) in a radial direction from a circular inside peripheral face to a circular outside peripheral face thereof is at least twice a thickness of the outer ring (11) in a radial direction from a circular inside peripheral face to a circular outside peripheral face thereof. 6. The concentric multi-stage actuator (1) according to any one of claims 2 to 5, wherein the outside track (14) and the inside track (16) are formed in the outer ring (11), the middle ring (12), and the inner ring (13), at positions closer to one side surfaces thereof than the other side surfaces thereof, and roller insertion holes (12f, 13f) are formed in the one side surfaces of the middle ring (12) and the inner ring (13), and are sealed with stoppers (18, 19). 7. The concentric multi-axis actuator according to any one of claims 1 to 5, wherein the subsequent-stage actuator (4) has a subsequent-stage hollow section (7) extending through a center thereof, the subsequent-stage rotary output shaft (6) is a hollow shaft, and the inner ring (13) is formed with a center through hole, and the subsequent-stage hollow part (7), the hollow part of the subsequent-stage rotary output shaft (6) and the center through hole of the inner ring (13) constitute a hollow part extending to pass through along the direction of the axis (1a). 8. The concentric multi-axis actuator according to claim 6, wherein the subsequent-stage actuator (4) has a subsequent-stage hollow section (7) extending through a center thereof, the subsequent-stage rotary output shaft (6) is a hollow shaft, and the inner ring (13) is formed with a center through hole, and the subsequent-stage hollow part (7), the hollow part of the subsequent-stage rotary output shaft (6) and the center through hole of the inner ring (13) constitute a hollow part extending to pass through along the direction of the axis (1a).
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