Frameless torque motor applied to robot

Abstract

The frameless torque motor applied to the robot comprises a stator assembly and a double-rotor assembly, the stator assembly comprises a stator supporting frame and a plurality of independent stator parts, the independent stator parts are circumferentially distributed on the stator supporting frame, and the stator supporting frame and the independent stator parts are integrated through injection molding of insulating glue; the double-rotor assembly comprises two shaftless rotors, the two shaftless rotors are used for being clamped on the stator assembly so that the frameless torque motor can form closed-loop double-side magnetic circuit coupling, and the two shaftless rotors are symmetrically arranged on the stator assembly. A tooth part and a yoke part of a traditional axial motor are separated, and the stator yoke part is abandoned, so that the size of the motor can be effectively reduced, and the space utilization rate is improved; a rotor-stator-rotor structure is adopted, so that a magnetic circuit closed loop is formed, stator teeth are fixed and are injection-molded into a whole by using an injection molding material, and the motor is simple to assemble and relatively low in cost; and by arranging the double-rotor assembly, the output torque is effectively increased.

Description

Technical Field

[0001] The invention relates to the field of frameless torque motors, and in particular to a frameless torque motor applied to a robot. Background Art

[0002] Existing radial frameless torque motors mostly adopt an inner rotor structure, with the coil fixed to the outer casing and the main shaft as the rotor. Although they can achieve high-speed operation, they are limited by the small number of poles and small moment of inertia, resulting in weak torque output capacity. In addition, the installation space of existing radial frameless torque motors in robot arms is limited. In order to meet the high torque output, the axial height needs to be increased, which conflicts with the limited installation space and cannot meet higher torque requirements. In addition, the existing radial frameless torque motors have a special structure without a casing and bearings, which has extremely high requirements for the accuracy and concentricity of the stator and rotor. Slight deviations can easily lead to vibration and noise, and the winding and magnet installation links require high-precision equipment support, which significantly increases material costs and processing difficulty. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a frameless torque motor for use in robots, which solves the problems of low torque output, limited installation space, and high manufacturing and maintenance costs of traditional radial frameless torque motors.

[0004] The objective of the present invention is achieved through the following technical solutions: A frameless torque motor for a robot, comprising: A stator assembly, the stator assembly comprising a stator support frame and a plurality of independent stator components, each of the independent stator components is circumferentially distributed on the stator support frame, and the stator support frame and each of the independent stator components are integrally formed by injection molding of insulating glue; A dual rotor assembly includes two shaftless rotors, the two shaftless rotors are used to be clamped on the stator assembly so that the frameless torque motor forms a closed-loop double-sided magnetic circuit coupling, and the two shaftless rotors are symmetrically arranged on the stator assembly.

[0005] In one of the embodiments, the stator support frame and each of the independent stator components are injection molded as one body to form an injection molded colloid structure, and the two shaftless rotors are symmetrically arranged on the injection molded colloid structure.

[0006] In one of the embodiments, in one of the independent stator components, the independent stator component includes a shell, stator teeth and a coil, the stator teeth are wrapped in the shell, the coil is wound outside the shell, and a plurality of injection molding cavities are opened on the injection molding colloid structure, and each of the shell and the coil is installed in the injection molding cavity.

[0007] In one embodiment, the housing includes a base plate, a gear sleeve and an upper cover, the base plate and the upper cover are respectively mounted on both end surfaces of the gear sleeve, and an installation cavity is opened in the gear sleeve, and the stator teeth are accommodated in the installation cavity.

[0008] In one embodiment, a first positioning through hole is formed on the stator tooth, a second positioning through hole is formed on the bottom plate, and a third positioning through hole is formed on the upper cover, and the first positioning through hole, the second positioning through hole, and the third positioning through hole are interconnected.

[0009] In one embodiment, the number of the first positioning through holes, the number of the second positioning through holes, and the number of the third positioning through holes are the same.

[0010] In one embodiment, the stator support frame includes a metal fixing ring and a plurality of fixing pins, each of the fixing pins is respectively disposed on the metal fixing ring, and each of the fixing pins is disposed between two of the independent stator components.

[0011] In one of the embodiments, in one of the shaftless rotors, the shaftless rotor includes an open rotor back iron and a plurality of magnets, an annular mounting groove is formed on the open rotor back iron, and each of the magnets is respectively disposed in the annular mounting groove.

[0012] In one of the embodiments, the shaftless rotor further comprises a plurality of partition bars, each of which is disposed in the annular mounting groove, so that the annular mounting groove is divided into a plurality of separate mounting areas, and each of the magnetic steels is disposed in the mounting area one by one.

[0013] In one embodiment, the open rotor back iron includes an annular cover plate, an inner fixing plate and an outer fixing plate, the inner fixing plate is arranged on the inner circumference of the annular cover plate, the outer fixing plate is arranged on the outer circumference of the annular cover plate, and the annular cover plate, the inner fixing plate and the outer fixing plate together form an annular mounting groove.

[0014] The advantages and beneficial effects of the present invention compared to the prior art are as follows: 1. The present invention is a frameless torque motor applied to a robot. By separating the tooth part and the yoke part of a traditional axial motor and discarding the stator yoke part, the volume of the motor itself can be effectively reduced and the space utilization rate can be improved. A rotor-stator-rotor structure is adopted to form a closed-loop double-sided magnetic circuit coupling, and the stator teeth are fixed and injection-molded into one body with an injection molding material, so that the motor assembly is simple and the cost is low. And by setting a dual rotor assembly, the output torque is effectively increased.

[0015] 2. The present invention can directly install the stator and rotor on the robot arm without the use of bearings, and the relative position of the stator and rotor can be completely fixed by the mounting structure, which can effectively reduce the air gap and solve the problem of radial magnetic pull of traditional axial motors. In addition, compared with traditional radial frameless torque motors that output the same torque, the present invention can effectively reduce the axial height and have more specifications to choose from to meet different torque requirements; at the same time, the torque output can be increased by increasing the number of axial stators and rotors. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural diagram of a frameless torque motor applied to a robot according to an embodiment of the present invention; Figure 2 for Figure 1 An exploded view of a frameless torque motor for use in a robot is shown; Figure 3 for Figure 1 An exploded view of a stator assembly of a frameless torque motor for use in a robot is shown; Figure 4 for Figure 3 An exploded view of the stator teeth of the stator assembly shown; Figure 5 for Figure 1 An exploded view of a shaftless rotor of a frameless torque motor applied to a robot is shown; Figure 6 A comparison curve of the cogging torque of the present invention and that of a conventional motor; Figure 7 A curve diagram comparing the torque of the present invention with that of a conventional motor;

[0017] The figures in the attached drawings are as follows: 10. Stator assembly; 11. Stator support frame; 111. Metal fixing ring; 112. Fixing pin; 12. Independent stator component; 121. Shell; 122. Stator teeth; 122a. First positioning through hole; 123. Coil; 124. Bottom plate; 125. Gear sleeve; 126. Upper cover; 127. Installation cavity; 13. Injection colloid structure; 20. Dual rotor assembly; 21. Shaftless rotor; 22. Open rotor back iron; 221. Ring cover plate; 222. Inner fixing plate; 223. Outer fixing plate; 23. Magnetic steel; 24. Partition strip. DETAILED DESCRIPTION

[0018] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0019] It is understandable that the special structure of existing motors without housings and bearings places extremely high demands on the accuracy and concentricity of the stator and rotor. Slight deviations can easily lead to vibration and noise, and the winding and magnet installation require high-precision equipment support, which significantly increases material costs and processing difficulty. In addition, the internal rotor structure of existing motors accounts for more than 70%, with a small number of poles and a small moment of inertia. The torque density is only 77% of that of axial motors under the same volume, which makes it difficult to meet the high torque density requirements of robot joints. The appearance and performance parameters need to be customized according to the mechanical design dimensions, and there is a lack of standardized products. The electromagnetic design and production process experience are demanding, which limits large-scale applications. Although the structure is compact, it needs to rely on external bearing support and is designed without wearing parts, which poses higher challenges to the installation process and system integration flexibility. The radial installation space in the robot arm is limited. In order to meet the high torque output, the axial height needs to be increased, which conflicts with the limited installation space and cannot meet higher torque requirements.

[0020] Based on this, see Figure 1~Figure 5 A frameless torque motor for a robot includes a stator assembly 10 and a dual rotor assembly 20. It should be noted that the motor also includes a stator three-phase outgoing line, and the stator three-phase outgoing line is arranged on the stator assembly.

[0021] The stator assembly 10 includes a stator support frame 11 and a plurality of independent stator components 12, each of which is circumferentially distributed on the stator support frame 11, and the stator support frame 11 and each of the independent stator components 12 are integrated by insulating glue injection molding; it should be noted that the stator assembly 10 is composed of a stator support frame 11 and a plurality of independent stator components 12. The stator support frame 11, as a supporting skeleton, not only provides the necessary mechanical strength, but also ensures the precise positioning of all independent stator components 12. These independent stator components 12 are evenly distributed along the circumference of the stator support frame 11, forming a key part of the motor magnetic field. They are integrated with the stator support frame 11 through insulating glue injection molding technology. This design not only enhances the integrity of the structure, but also effectively isolates the electrical components, thereby improving the safety and reliability of the motor.

[0022] See also Figure 2, the dual rotor assembly 20 includes two shaftless rotors 21, and the two shaftless rotors 21 are used to clamp on the stator assembly 10 so that the frameless torque motor forms a closed-loop double-sided magnetic circuit coupling, and the two shaftless rotors 21 are symmetrically arranged on the stator assembly 10. It should be noted that the shaftless rotor 21 directly relies on the magnets on its periphery to interact with the stator assembly 10 without the need for traditional axial support, thereby reducing friction loss and improving efficiency. The two shaftless rotors 21 are used to clamp the stator assembly 10 to form a closed-loop double-sided magnetic circuit coupling system. This not only enhances the torque density of the motor, but also enables the motor to maintain high stability and fast response when running at high speed. The two shaftless rotors 21 are symmetrically arranged to ensure the balanced distribution of the magnetic field, reduce vibration and noise, and improve overall performance.

[0023] Furthermore, the magnetic field generated by the independent stator component 12 in the stator assembly 10 interacts with the magnets in the dual rotor assembly 20. When current passes through the stator coil, a changing magnetic field is generated. This magnetic field interacts with the permanent magnet or electromagnetic structure on the rotor, thereby generating a rotational torque. Due to the closed-loop double-sided magnetic circuit coupling design, the magnetic field energy circulates between the two rotors, enhancing the utilization efficiency of the magnetic field, allowing the motor to output greater torque while maintaining high efficiency; Figure 7 As shown, Figure 7 The horizontal axis represents the speed change, and the vertical axis represents the torque change. Compared with the traditional radial motor, the motor torque of the present invention is greater and more efficient at the same speed. In addition, the symmetrical rotor layout helps to reduce the imbalance between radial force and axial force, prolong the bearing life, and improve the durability of the motor.

[0024] In this way, by separating the tooth portion and the yoke portion of the traditional axial motor and discarding the stator yoke portion, the volume of the motor itself can be effectively reduced and the space utilization rate can be improved; and a rotor-stator-rotor structure is adopted to form a magnetic circuit closed loop, and the stator teeth 122 are fixed and injection molded as one body with injection molding material, so that the motor assembly is simple and the cost is low; and by setting a dual rotor assembly 20, the output torque is effectively increased.

[0025] The axial frameless torque motor adopts an innovative magnetic circuit design and a planar stator and rotor arrangement to distribute the magnetic field along the axial direction, significantly shortening the magnetic flux path and improving the power density. The torque density can reach 1.3 times that of the radial motor under the same volume. In addition, the structure removes the traditional housing and bearings to achieve ultra-thin and lightweight (the axial length is only 50% of the radial motor), which is suitable for the stringent requirements of robot joints for compact space and high torque density.

[0026] It should also be noted that the combination of frameless design and double-sided magnetic circuit coupling greatly improves the energy conversion efficiency of the motor and reduces energy loss, making it suitable for robot applications that require high power density and precise control. The shaftless rotor 21 design makes the overall structure of the motor more compact, saves installation space, is easy to integrate into the compact structure of the robot, and improves the flexibility and operating range of the robot. The symmetrical rotor layout and optimized magnetic field design effectively reduce the noise and vibration generated during operation, improve the comfort of the working environment, and also extend the service life of the motor. Due to the efficient use of the magnetic field and the stability of the structure, the motor can achieve high-precision position control and speed regulation to meet the accuracy requirements of complex robot tasks. The modularly designed stator assembly 10 and the easily disassembled dual rotor assembly 20 simplify the maintenance process, reduce maintenance costs, and improve the overall operation and maintenance efficiency of the robot.

[0027] Furthermore, the injection molding material (such as epoxy resin or modified plastic) in the present invention has viscoelasticity, which can convert electromagnetic vibration energy into heat dissipation, inhibit high-frequency vibration from being transmitted to the outside of the motor or external structure, and the injection molding body fills the gap between the stator core and the winding, eliminating the micro-gap vibration amplification effect caused by traditional bolt fixing, and reducing the risk of mechanical resonance; the injection molding process bonds the independent stator component 12 and the support frame as a whole, improves the structural rigidity, reduces the loosening or displacement of the stator teeth 122 or coils 123 caused by electromagnetic force pulsation, thereby inhibiting medium and low frequency vibrations, and the injection molding layer forms a continuous wrapping layer on the stator surface, blocking the path of vibration transmission to the rotor through the air gap, and reducing the noise caused by the uneven magnetic field in the air gap. In addition, the symmetrical layout of the dual rotors makes the magnetic field distribution on both sides of the stator assembly 10 symmetrical, offsetting the unilateral magnetic pull of the traditional single rotor structure, avoiding periodic radial vibration caused by unbalanced electromagnetic force, and the closed-loop double-sided magnetic circuit shortens the magnetic flux path, reduces hysteresis loss and eddy current loss, and reduces thermal deformation and vibration caused by energy loss; the symmetrical coupling magnetic field of the dual rotors can reduce electromagnetic torque pulsation, make the motor run smoother, and reduce low-frequency vibration noise. The 23-circular array and symmetrical distribution of the magnetic steel enhance the uniformity of the magnetic field, weaken the high-order harmonic magnetic field component, and reduce high-frequency electromagnetic noise. The injection molding process mainly absorbs high-frequency vibrations (>1 kHz), while the symmetrical magnetic circuit design reduces medium and low-frequency vibrations (50 Hz-1 kHz). The combination of the two achieves full-band noise reduction; in addition, the injection molding layer acts as a mechanical impedance interface, hindering the transmission of vibration energy from the stator to the outside; the symmetrical magnetic circuit reduces the generation of vibration energy through magnetic field optimization, forming a double suppression mechanism.

[0028] In this example, see Figure 3The stator support frame 11 and the independent stator components 12 are integrally molded by injection molding to form an injection molding colloid structure 13, and the two shaftless rotors 21 are symmetrically arranged on the injection molding colloid structure 13. In this way, the stator support frame 11 and the independent stator components 12 are integrated by the injection molding process to form a solid injection molding colloid structure 13. This not only simplifies the assembly process and improves production efficiency, but also enhances the overall rigidity and anti-seismic performance of the stator assembly 10.

[0029] See also Figure 3 and Figure 4 In one of the independent stator components 12, the independent stator component 12 includes a housing 121, stator teeth 122 and a coil 123. The stator teeth 122 are wrapped in the housing 121, and the coil 123 is wound outside the housing 121. The injection molding colloid structure 13 is provided with a plurality of injection molding cavities, and each of the housing 121 and the coil 123 is installed in the injection molding cavity. It should be noted that the housing 121 is used as a protective structure to wrap the stator teeth 122 and the coil 123 inside, which not only prevents interference from the external environment, but also ensures the safety of the internal components. The stator teeth 122 are made of magnetic conductive material, which has the effect of optimizing the distribution of the magnetic field and enhancing the electromagnetic coupling effect. The coil 123 is wound outside the housing 121. When the current passes through, a changing magnetic field is generated, which interacts with the magnet or electromagnetic structure on the shaftless rotor 21, thereby generating a rotational torque.

[0030] See also Figure 3 and Figure 4 The housing 121 includes a bottom plate 124, a gear sleeve 125 and an upper cover 126. The bottom plate 124 and the upper cover 126 are respectively mounted on the two end surfaces of the gear sleeve 125, and a mounting inner cavity 127 is provided in the gear sleeve 125, and the stator teeth 122 are accommodated in the mounting inner cavity 127. It should be noted that the bottom plate 124 is used as the bottom support of the housing 121; the gear sleeve 125 is the core part of the housing 121, and a mounting inner cavity 127 is provided inside the gear sleeve 125 for accommodating the stator teeth 122. The material selection of the gear sleeve 125 needs to take into account both magnetic conductivity and mechanical strength to ensure that the stator teeth 122 can be stably fixed in the mounting inner cavity 127 and effectively transmit the magnetic field; the upper cover 126, as the top cover of the housing 121, not only provides additional protection, but also closely cooperates with the bottom plate 124 and the gear sleeve 125 through its structural design to form a closed cavity to prevent interference from the external environment.

[0031] For further information, see Figure 4, a first positioning through hole 122a is provided on the stator tooth 122, a second positioning through hole is provided on the bottom plate 124, and a third positioning through hole is provided on the upper cover 126, and the first positioning through hole, the second positioning through hole, and the third positioning through hole are interconnected. In this embodiment, the number of the first positioning through hole, the second positioning through hole, and the third positioning through hole is the same. Preferably, the number of the first positioning through holes is 2. The stator tooth 122 has two positioning through holes in the axial direction for positioning between different teeth in the circumferential direction. The stator teeth 122 with the wire wound are arranged circumferentially according to the principle of motor windings, and are positioned using the two circular holes on the stator teeth 122, and then the metal fixing ring 111 and the fixing pin 112 are injection molded together to form an integrated injection molded colloid structure 13.

[0032] See also Figure 3 and Figure 4 , the stator support frame 11 includes a metal fixing ring 111 and a plurality of fixing pins 112, each of the fixing pins 112 is respectively arranged on the metal fixing ring 111, and each of the fixing pins 112 is arranged between two independent stator components 12. It should be noted that a metal fixing ring 111 is arranged on the stator support frame 11, and fixing pins 112 are arranged between the stator teeth 122 to connect the metal fixing ring 111 and the injection molded stator assembly 10, so as to fix the entire stator assembly 10. The metal fixing ring 111 is used to provide a stable support platform for the stator assembly 10; the fixing pins 112 are used to fix the stator components, and also play the role of separation and positioning, and can also absorb and disperse vibration energy to a certain extent, thereby improving the running stability and service life of the equipment. There is a fixing pin 112 in the gap between every two stator teeth 122 for reinforcing the structural strength of the stator assembly 10 and the inner wall metal fixing ring 111 after injection molding. A part of the positioning pin is injection molded in the injection molding colloid structure 13 of the stator assembly 10, and the other end is connected to the metal ring.

[0033] See also Figure 5, in one of the shaftless rotors 21, the shaftless rotor 21 includes an open rotor back iron 22 and a plurality of magnets 23, the open rotor back iron 22 is provided with an annular mounting groove, and each of the magnets 23 is respectively arranged in the annular mounting groove. It should be noted that the open rotor back iron 22 is used as the main structure of the shaftless rotor 21; the annular mounting groove is used to provide space for the embedding of the magnet 23, and also promotes heat dissipation and improves the thermal stability of the rotor; the magnet 23 is responsible for generating a strong magnetic field to ensure that the required electromagnetic force can be generated when the rotor rotates. There is no connection structure between the stator assembly 10 and the two rotors of the frameless torque motor, and the three parts are fixed in relative position by the structure of the machine arm; and the two rotor structures are the same and symmetrical, the open rotor back iron 22 is provided with an annular mounting groove, and the magnet 23 is glued or injection molded in the annular mounting groove, and the back iron is a magnetic conductive material and is part of the closed magnetic circuit.

[0034] Furthermore, an open rotor back iron 22 and an annular mounting groove of the magnetic steel 23 are provided in the rotor, which allows the magnetic steel 23 to fit on the surface of the stator assembly 10, which can effectively shorten the air gap, reduce the magnetic resistance and reduce the magnetic field distortion, thereby weakening the electromagnetic force pulsation caused by the uneven magnetic field; and the symmetrical dual-rotor layout can offset the unilateral magnetic pull, eliminate the radial electromagnetic force imbalance of the traditional single-rotor structure, and suppress medium and low frequency vibrations; the annular mounting groove of the magnetic steel 23 and the stator teeth 122 form a closed-loop magnetic circuit, reduce leakage magnetic and high-order harmonic components, reduce tooth slot torque pulsation, and reduce high-frequency electromagnetic noise, such as Figure 6 As shown, Figure 6 The horizontal axis is the angle change, and the vertical axis is the cogging torque; compared with the traditional radial motor, the cogging torque of the present invention has smaller pulsation changes and more stable overall cogging torque; after the annular mounting groove of the magnetic steel 23 is fitted with the stator assembly 10, the injection molding material is filled on the stator assembly 10, and the viscoelastic properties of the material are used to convert high-frequency vibration energy into heat energy, and it is quickly dissipated through the heat dissipation channel of the open structure; the open design increases the air gap heat dissipation area, combined with the symmetrical layout of the magnetic steel 23 slots, reduces the temperature rise of the coil 123, reduces the mechanical deformation and vibration caused by thermal expansion, and further reduces the generation of noise.

[0035] See also Figure 5 The shaftless rotor 21 further includes a plurality of partition bars 24, each of which is disposed in the annular mounting groove so that the annular mounting groove separates a plurality of separate mounting areas, and each of the magnetic steels 23 is disposed in the mounting area in a one-to-one correspondence. The partition bars 24 are used to prevent direct contact between the magnetic steels 23, reduce potential magnetic short circuit risks, and improve the utilization efficiency of magnetic energy by optimizing the magnetic field distribution.

[0036] See also Figure 5The open rotor back iron 22 includes an annular cover plate 221, an inner fixing plate 222 and an outer fixing plate 223. The inner fixing plate 222 is arranged on the inner circumference of the annular cover plate 221, and the outer fixing plate 223 is arranged on the outer circumference of the annular cover plate 221. The annular cover plate 221, the inner fixing plate 222 and the outer fixing plate 223 together form an annular mounting groove, and each of the partition bars 24 is respectively arranged on the annular cover plate 221. It should be noted that the annular cover plate 221 is used to provide necessary structural support; and by providing the reinforcement of the inner fixing plate 222 and the outer fixing plate 223, the strength and stability of the rotor back iron are ensured.

[0037] Compared to outer rotor radial motors, the solution of the present invention improves torque output capacity by more than 40% while maintaining high speed response by optimizing winding layout and magnetic circuit coupling efficiency, providing a better solution for robot motion control. The present invention solves the difficulty of low output torque of existing radial frameless torque motors, and solves the problems of manufacturing difficulties and axial magnetic pull of existing axial motors. The present invention directly mounts the rotor and stator on the robot arm, and the relative positions of the two rotors and stators are absolutely fixed. There is no increase in mechanical loss due to axial magnetic pull, and the efficiency is higher than that of traditional axial motors.

[0038] The above-mentioned embodiments only express several embodiments of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A frameless torque motor for a robot, characterized in that: include: A stator assembly, the stator assembly comprising a stator support frame and a plurality of independent stator components, each of the independent stator components is circumferentially distributed on the stator support frame, and the stator support frame and each of the independent stator components are integrally formed by injection molding of insulating glue; A dual rotor assembly includes two shaftless rotors, the two shaftless rotors are used to be clamped on the stator assembly so that the frameless torque motor forms a closed-loop double-sided magnetic circuit coupling, and the two shaftless rotors are symmetrically arranged on the stator assembly.

2. The frameless torque motor for a robot according to claim 1, characterized in that: The stator support frame and each of the independent stator components are injection molded as one body to form an injection molded colloid structure, and the two shaftless rotors are symmetrically arranged on the injection molded colloid structure.

3. The frameless torque motor for a robot according to claim 2, characterized in that: In one of the independent stator components, the independent stator component includes a shell, stator teeth and a coil, the stator teeth are wrapped in the shell, the coil is wound outside the shell, and a plurality of injection molding cavities are opened on the injection molding colloid structure, and each of the shell and the coil is installed in the injection molding cavity.

4. The frameless torque motor for a robot according to claim 3, characterized in that: The housing comprises a bottom plate, a gear sleeve and an upper cover. The bottom plate and the upper cover are respectively mounted on both end surfaces of the gear sleeve. An installation cavity is provided in the gear sleeve, and the stator teeth are accommodated in the installation cavity.

5. The frameless torque motor for a robot according to claim 4, characterized in that: A first positioning through hole is formed on the stator teeth, a second positioning through hole is formed on the bottom plate, and a third positioning through hole is formed on the upper cover. The first positioning through hole, the second positioning through hole, and the third positioning through hole are interconnected.

6. The frameless torque motor for a robot according to claim 5, characterized in that: The number of the first positioning through holes, the second positioning through holes, and the third positioning through holes is the same.

7. The frameless torque motor for a robot according to any one of claims 1 to 6, characterized in that: The stator support frame includes a metal fixing ring and a plurality of fixing pins, each of the fixing pins is respectively arranged on the metal fixing ring, and each of the fixing pins is arranged between two independent stator components.

8. The frameless torque motor for a robot according to claim 1, characterized in that: In one of the shaftless rotors, the shaftless rotor includes an open rotor back iron and a plurality of magnetic steels. An annular mounting groove is provided on the open rotor back iron, and each of the magnetic steels is respectively arranged in the annular mounting groove.

9. The frameless torque motor for a robot according to claim 8, characterized in that: The shaftless rotor further comprises a plurality of partition bars, each of which is disposed in the annular mounting groove so that the annular mounting groove is divided into a plurality of separate mounting areas, and each of the magnetic steels is disposed in the mounting area in a one-to-one correspondence.

10. The frameless torque motor for a robot according to claim 8, characterized in that: The open rotor back iron includes an annular cover plate, an inner fixing plate and an outer fixing plate. The inner fixing plate is arranged on the inner circumference of the annular cover plate, and the outer fixing plate is arranged on the outer circumference of the annular cover plate. The annular cover plate, the inner fixing plate and the outer fixing plate together form an annular mounting groove.

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