BIAXIAL INTEGRATED MODULE AND MULTIJOINT ROBOT ARM DEVICE

摘要

Provided is a configuration with which it is possible to suppress an increase in size of a biaxial integrated module comprising two motor units arranged such that two rotational axial lines of the two motor units intersect on a plane including the two rotational axial lines. A biaxial integrated module 1 comprises: a first motor unit 10; a second motor unit 20; a casing body 31 accommodating the first motor unit 10 and the second motor unit 20 such that a first rotational axial line P and a second rotational axial line Q intersect, forming a common space X toward which a first hollow portion 13 and a second hollow portion 23 open, and having an opening 31a enabling access from outside to the common space X; and a casing cover 32 detachably provided on the casing body 31 to cover the opening 31a. The biaxial integrated module 1 further comprises an electric circuit substrate 60 that is electrically connected to both the first motor unit 10 and the second motor unit 20. The electric circuit substrate 60 is supported by the casing cover 32 in such a position as to intersect with the first rotational axial line P and the second rotational axial line Q at a non-right angle, so as to partition the common space X into an inner common space X1 and an outer common space X2.