Parallel integrated drive mechanism

A parallel type integrated actuator comprising:

• a driving unit composed of a plurality of motors which are stacked successively in a longitudinal direction of the driving unit, and each motor is provided with a stator fixed to a position on outside of the driving unit and a rotor respectively positioned on inside thereof, the rotors rotating relative to each other;
• a plurality of shafts is provided with one end part thereof respectively connected to each rotor at a position on inside of each rotor, wherein each shaft is inserted into each other through a hollow structure and forming a co-axis, wherein each shaft is capable of rotating relative to each other in an inserted state, and wherein each shaft is provided with other end part thereof extending toward the outside of the driving unit;
• a distal end part disposed at the position on the outside of the driving unit, and on which an actuator is mounted thereto;
• a heat sink housing having a cylindrical shape formed around an outer surface of the driving unit, having an inner circumferential surface thereof thermally connected with the plurality of stators, and provided with a plurality of flow paths formed on an outer circumferential surface thereof;
• and
• a blower fan installed on one end side of the driving unit, provided with a wing part disposed to be adjacent to one end side of the heat sink housing, wherein rotation generates convection for heat exchange between air flowing through the flow paths of the heat sink housing and air outside the driving unit.