Motor driving device and hollow swivel actuator using same

A motor driving device for a hollow swivel actuator, the motor driving device comprising:

• an actuator housing having a hollow cylindrical portion protruding upward at a center thereof;
• and
• first and second motor driving units which are disposed on both sides of the bottom surface of the actuator housing to face the hollow cylindrical portion, respectively, and which include first to fourth driving motors formed at both ends of the first and second rotary shafts, respectively, and first and second worm gears, which generate rotational outputs of the first to fourth driving motors, and are integrally formed at the centers of the first and second rotary shafts, respectively, wherein
• the first and second worm gears are gear-coupled to a sun gear rotatably supported on an outer circumference of the hollow cylindrical portion.

A hollow swivel actuator comprising:

• an actuator housing having a hollow cylindrical portion protruding upward at a center thereof;
• first and second motor driving units which are disposed on both sides of the bottom surface of the actuator housing to face the hollow cylindrical portion, respectively, and which include first to fourth driving motors formed at both ends of the first and second rotary shafts, respectively, and first and second worm gears, which generate rotational outputs of the first to fourth driving motors, and are integrally formed at the centers of the first and second rotary shafts, respectively;
• a sun gear rotatably supported on the outer circumference of the hollow cylindrical portion and having a worm wheel integrally formed on the outer circumference thereof and gear-coupled to the first and second worm gears to allow deceleration;
• and
• a rotary table having the center part thereof rotatably supported on the outer circumference of the hollow cylindrical portion, the lower end of the center part being coupled to the top end of the sun gear.