Frameless motor with separated coil framework and robot

Abstract

The invention discloses a coil framework separation type frameless motor and a robot, and belongs to the technical field of robots, the coil framework separation type frameless motor comprises a rotor module and a stator module, the rotor module is located in an inner cavity of the stator module, the stator module comprises a stator seat, the stator seat is arranged in a circle shape, and a stator cover is arranged at the top end of the stator seat; a combined structure is arranged at the bottom end of the stator cover, a positioning structure for positioning the position of the stator cover is arranged at the top end of the stator cover, a winding framework is arranged in an inner cavity of the stator base, one end of the winding framework is fixedly connected with a connecting base, the connecting base is arranged in a T shape, and the surface of the connecting base is connected with an inner cavity of a connecting groove in an inserted and sliding mode. The stator coil is wound on the outer surface of the winding framework, and the winding framework is provided with a plurality of groups, so that the time occupied by the coil disassembly and assembly work is shortened, convenience is provided for the coil replacement work, and the frameless motor of the robot can be conveniently maintained.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly relates to a coil skeleton separable frameless motor and a robot. Background Art

[0002] A robot is a mechanical device integrating a variety of advanced technologies, with sensing, decision-making, and execution capabilities. It can imitate or execute human behaviors and tasks, and is the product of the high combination of physical labor and intellectual labor. To build an artificial machine that can "think", robots usually use frameless motors to drive the joints or movable parts of the robot.

[0003] The existing frameless motors are usually composed of a rotor and a stator. The stator and the coil skeleton are integrally arranged. When the coil in the frameless motor is damaged, it is necessary to separate the stator from the rotor, and then remove the coil on the coil skeleton. Subsequently, the staff needs to wind the replaced copper wire on the coil skeleton to complete the replacement work.

[0004] According to a frameless servo motor provided by the publication number: CN209200784U, the motor includes a stator assembly and a rotor assembly. The rotor assembly is installed inside the stator assembly; the rotor assembly includes a rotor module and a permanent magnet; the permanent magnets are evenly and equally distributed on the outer side of the rotor module and are pasted on the surface of the rotor module with 608C glue; the surface of the permanent magnet is tied with Kevlar wire, and the Kevlar wire is bonded with ZRE601 epoxy glue to form a protection. The stator assembly includes a skeleton and an outgoing line end; a concave groove is provided at the connection between the outgoing line end and the skeleton. The concave groove is provided with a first concave cavity, a second concave cavity, and a third concave cavity. The first concave cavity and the third concave cavity are symmetrically arranged, and the second concave cavity is arranged on the symmetry axis of the first concave cavity and the third concave cavity. The first concave cavity is used for placing the U-phase wire, the second concave cavity is used for placing the V-phase wire, and the third concave cavity is used for placing the W-phase wire.

[0005] According to the above-described frameless servo motor, since the coil skeleton inside the motor is integrally arranged with the stator, when the coil fails or is damaged and needs to be replaced, the staff needs to remove the coil from the coil skeleton and then take the copper wire to wind the coil skeleton to complete the replacement. This results in a large amount of time being occupied for the disassembly and assembly of the coil, bringing inconvenience to the replacement work of the coil and making it inconvenient to maintain the frameless motor of the robot. Summary of the Invention

[0006] The object of the present invention is to provide a coil skeleton separable frameless motor and a robot. Through the cooperation of the connecting seat and the connecting groove, the winding skeleton and the stator seat can be quickly assembled and disassembled. After assembly, the stator cover is taken and quickly combined with the stator seat through the combined structure, and then the position of the stator cover is fixed through the positioning structure to complete the assembly. When disassembling, the positioning structure is released and then the stator cover is removed to disassemble the winding skeleton and replace the stator coil, thereby shortening the time occupied by the coil disassembly and assembly work, providing convenience for the coil replacement work, and facilitating the maintenance of the frameless motor of the robot, so as to solve the problems raised in the above background technology.

[0007] To achieve the above object, the present invention provides the following technical solution: A coil skeleton separable frameless motor, including a rotor module and a stator module. The rotor module is located in the inner cavity of the stator module. The stator module includes a stator seat, the stator seat is arranged in a circular shape, a stator cover is arranged at the top of the stator seat, a combined structure capable of quickly combining with the stator seat is arranged at the bottom of the stator cover, a positioning structure for positioning the position of the stator cover is arranged at the top of the stator cover, a winding skeleton is arranged in the inner cavity of the stator seat, one end of the winding skeleton is fixedly connected with a connecting seat, the connecting seat is arranged in a T shape, the surface of the connecting seat is inserted and slid in the inner cavity of the connecting groove, the stator coil is wound around the outer surface of the winding skeleton, and several groups of winding skeletons are arranged.

[0008] Exemplarily, the combined structure includes a slider, the slider is fixedly connected to the lower surface of the stator cover, a sliding groove is opened on the upper surface of the stator seat, and the surface of the slider is slidably connected to the inner cavity of the sliding groove.

[0009] Exemplarily, the slider is arranged in an L shape, two groups of sliders are arranged, and the two groups of sliders are symmetrically distributed on both sides of the stator cover.

[0010] Exemplarily, the positioning structure includes a mounting hole and a threaded hole. The mounting hole is opened on the upper surface of the stator cover, a locking bolt is threadedly connected in the inner cavity of the mounting hole, the threaded hole is opened on the upper surface of the stator seat, and the inner cavity of the threaded hole is threadedly connected to the outer surface of the locking bolt.

[0011] Exemplarily, the rotor module includes a rotor seat, the rotor seat is arranged in a circular ring shape, several groups of permanent magnetic blocks are arranged on the outer surface of the rotor seat, connecting structures are arranged on the surfaces of the several groups of permanent magnetic blocks, a locking mechanism is arranged on the surface of the rotor seat, two groups of locking mechanisms are arranged, and the two groups of locking mechanisms are located on the upper and lower sides of the rotor seat.

[0012] Exemplarily, the connection structure includes a mounting base, one end of the mounting base is fixedly connected to the surface of the permanent magnet block, positioning holes are formed on both the upper surface and the lower surface of the mounting base, a mounting groove is formed on the outer surface of the rotor seat, and the surface of the mounting base is fitted and clamped with the inner cavity of the mounting groove.

[0013] Exemplarily, the locking mechanism includes a rotor cover, a locking structure is arranged on the outer surface of the rotor cover, a fixing rod is fixedly connected to the inner side wall of the rotor cover, a fixing hole is formed on the surface of the rotor seat, the inner cavity of the fixing hole is communicated with the inner cavity of the mounting groove, and the other end of the fixing rod penetrates through the fixing hole and is fitted and clamped with the inner cavity of the positioning hole.

[0014] Exemplarily, the locking structure includes a rotating rod, the rotating rod is rotatably connected to the surface of the rotor seat through a damping rotating shaft, a positioning block is fixedly connected to the other end of the rotating rod, a rectangular hole is formed on the surface of the rotor cover, and the surface of the positioning block is movably connected with the inner cavity of the rectangular hole.

[0015] Exemplarily, a support seat is arranged on the outer surface of the rotating rod, a movable sleeve is inserted and fixed on the surface of the support seat, the inner cavity of the movable sleeve is slidably connected with the surface of the rotating rod, and a spring is sleeved on the outer surface of the rotating rod, and the spring is arranged between the rotor seat and the support seat.

[0016] The present invention also provides a robot, which includes a coil skeleton separable frameless motor installed on the robot.

[0017] The advantages and beneficial effects of the present invention compared with the prior art are as follows: The present invention provides a coil skeleton separable frameless motor and a robot. Through the cooperation of the connecting seat and the connecting groove, the winding skeleton and the stator seat can be quickly assembled and disassembled. Through the cooperation of the fixing structure and the combination structure, during installation, the winding skeleton is taken and the connecting seat is inserted into the inner cavity of the connecting groove, and then the stator cover is covered and rotated. Through the combination structure, it is quickly combined with the stator seat. Finally, the position of the stator cover is fixed through the positioning structure, and the assembly can be completed. During disassembly, the positioning structure is released and then the stator cover is removed to disassemble the winding skeleton and replace the stator coil, thereby shortening the time occupied by the coil disassembly and assembly work, providing convenience for the coil replacement work, and facilitating the maintenance of the frameless motor of the robot.

[0018] Other features and advantages of the present invention will be described in the following description, and part of them will be obvious from the description, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures pointed out in the description and the drawings. Description of the Drawings

[0019] Figure 1Schematic structural diagram of the frameless motor of the present invention; Figure 2 Schematic structural diagram of the decomposed stator module of the present invention; Figure 3 Schematic structural diagram of the stator base and the stator cover of the present invention; Figure 4 Schematic structural diagram of the rotor module of the present invention; Figure 5 Schematic structural diagram of the decomposed rotor module of the present invention; Figure 6 Schematic structural diagram of the rotor base of the present invention; Figure 7 Schematic structural diagram of the frameless motor of the present invention installed at the robot joint.

[0020] In the figure: 1. Stator base; 2. Stator cover; 3. Combined structure; 31. Slide block; 32. Slide groove; 4. Positioning structure; 41. Mounting hole; 42. Threaded hole; 43. Locking bolt; 5. Winding skeleton; 6. Stator coil; 7. Rotor base; 8. Permanent magnet block; 9. Connection structure; 91. Mounting seat; 92. Positioning hole; 93. Mounting groove; 10. Locking mechanism; 101. Rotor cover; 102. Fixed rod; 103. Fixed hole; 104. Rotating rod; 105. Positioning block; 106. Rectangular hole; 11. Support seat; 12. Movable sleeve; 13. Spring; 14. Connection seat; 15. Connection groove. Detailed implementation manners

[0021] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present invention are shown 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, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

[0022] As Figures 1-6 shown, the present invention provides a coil skeleton separable frameless motor, including a rotor module and a stator module. The rotor module is located in the inner cavity of the stator module. The stator module includes a stator base 1, the stator base 1 is arranged in a circular shape, a stator cover 2 is arranged at the top of the stator base 1, a combined structure 3 that can be quickly combined with the stator base 1 is arranged at the bottom of the stator cover 2, a positioning structure 4 for positioning the position of the stator cover 2 is arranged at the top of the stator cover 2, a winding skeleton 5 is arranged in the inner cavity of the stator base 1, one end of the winding skeleton 5 is fixedly connected with a connection seat 14, the connection seat 14 is arranged in a T shape, the surface of the connection seat 14 is inserted and slid in the inner cavity of the connection groove 15, and a stator coil 6 is wound around the outer surface of the winding skeleton 5. There are several groups of winding skeletons 5; Specifically, when the coil is damaged and needs to be replaced, the rotor module is taken out from the stator module, and then the positioning structure 4 is released to release the stator cover 2, and the stator cover 2 is rotated counterclockwise to cancel the connection state with the stator seat 1. After the stator cover 2 is taken out, the winding skeleton 5 is taken and moved upward, and the connecting seat 14 is driven to move out of the inner cavity of the connecting groove 15 to complete the disassembly. During installation, the winding skeleton 5 is taken and the connecting seat 14 is driven to insert into the inner cavity of the connecting groove 15, and then the stator cover 2 is covered and rotated, and the combination structure 3 and the stator seat 1 are quickly combined. Finally, the position of the stator cover 2 is fixed by the positioning structure 4 to complete the assembly, thereby shortening the time occupied by the coil disassembly and assembly work, providing convenience for the replacement of the coil, and facilitating the maintenance of the robot's frameless motor.

[0023] In addition, if Figure 2 and Figure 3 As shown, the combined structure 3 includes a slider 31, which is fixedly connected to the lower surface of the stator cover 2. A slide groove 32 is provided on the upper surface of the stator seat 1. The surface of the slider 31 is slidably connected to the inner cavity of the slide groove 32. Through the cooperation of the slider 31 and the slide groove 32, the stator cover 2 drives the slider 31 to be inserted into the slide groove 32. The stator cover 2 is rotated clockwise to drive the slider 31 to move to the inner cavity of the slide groove 32, so that the slider 31 and the slide groove 32 can cooperate to combine the stator seat 1 and the stator cover 2. For disassembly, the stator cover 2 is rotated counterclockwise to drive the slider 31 to move out of the inner cavity of the slide groove 32, and the stator cover 2 is removed from the stator seat 1.

[0024] Furthermore, the slider 31 is arranged in an L-shape, and two groups of sliders 31 are arranged. The two groups of sliders 31 are symmetrically distributed on both sides of the stator cover 2. Through the arrangement of the sliders 31 and the slide grooves 32, a supporting force is provided between the stator cover 2 and the stator seat 1, thereby improving the stability of the stator cover 2 and the stator seat 1 after being connected, and preventing the slider 31 from detaching from the inner cavity of the slide groove 32 after the connection.

[0025] Preferably, the positioning structure 4 includes a mounting hole 41 and a threaded hole 42, the mounting hole 41 is provided on the upper surface of the stator cover 2, the inner cavity of the mounting hole 41 is threadedly connected with a locking bolt 43, the threaded hole 42 is provided on the upper surface of the stator seat 1, the inner cavity of the threaded hole 42 is threadedly connected to the outer surface of the locking bolt 43, after the position of the stator cover 2 is adjusted, the locking screw is inserted into the inner cavity of the mounting hole 41, and the bottom end of the locking screw is inserted into the inner cavity of the threaded hole 42 and threadedly connected to the threaded hole 42, so that the position of the stator cover 2 on the stator seat 1 is fixed.

[0026] Further, such as Figure 4As shown, the rotor module includes a rotor seat 7, which is arranged in a circular ring shape. Several groups of permanent magnet blocks 8 are arranged on the outer surface of the rotor seat 7. The surfaces of the several groups of permanent magnet blocks 8 are all provided with connecting structures 9. The surface of the rotor seat 7 is provided with a locking mechanism 10. There are two groups of locking mechanisms 10, and the two groups of locking mechanisms 10 are located on the upper and lower sides of the rotor seat 7. The permanent magnet blocks 8 are connected or disassembled with the rotor seat 7 through the connecting structure 9. After the connection, the connection state between the permanent magnet blocks 8 and the rotor seat 7 can be fixed by the locking mechanism 10, so that the rotor seat 7 and the permanent magnet blocks 8 can be flexibly disassembled and assembled, which provides convenience for the disassembly work between the rotor seat 7 and the permanent magnet blocks 8.

[0027] Preferably, Figure 5 As shown, the connection structure 9 includes a mounting seat 91, one end of which is fixedly connected to the surface of the permanent magnet block 8, and positioning holes 92 are provided on the upper and lower surfaces of the mounting seat 91. A mounting groove 93 is provided on the outer surface of the rotor seat 7. The surface of the mounting seat 91 is engaged with the inner cavity of the mounting groove 93. The mounting seat 91 is inserted into the inner cavity of the mounting groove 93 so that the permanent magnet block 8 and the rotor seat 7 can be combined. The permanent magnet block 8 can be pulled out of the inner cavity of the mounting groove 93 to separate the permanent magnet block 8 from the rotor seat 7.

[0028] In addition, the locking mechanism 10 includes a rotor cover 101, the outer surface of which is provided with a locking structure, a fixing rod 102 is fixedly connected to the inner side wall of the rotor cover 101, a fixing hole 103 is opened on the surface of the rotor seat 7, the inner cavity of the fixing hole 103 is communicated with the inner cavity of the mounting groove 93, the other end of the fixing rod 102 passes through the fixing hole 103 and is engaged with the inner cavity of the positioning hole 92. When the permanent magnet block 8 is combined with the rotor seat 7, the rotor covers 101 on the upper and lower sides are covered, so that the rotor cover 101 drives the fixing rod 102 to pass through the fixing hole 103 and insert into the inner cavity of the positioning hole 92, so that the mounting seat 91 is positioned in the mounting groove 93 to prevent the mounting seat 91 from being separated from the inner cavity of the mounting groove 93, and then the connection state between the rotor cover 101 and the rotor seat 7 is locked by the locking structure.

[0029] Specifically, Figure 6As shown in the figure, the locking structure includes a rotating rod 104. The rotating rod 104 is rotatably connected to the surface of the rotor seat 7 through a damping rotating shaft. The other end of the rotating rod 104 is fixedly connected with a positioning block 105. A rectangular hole 106 is formed on the surface of the rotor cover 101. The surface of the positioning block 105 is movably connected to the inner cavity of the rectangular hole 106. When the rotor cover 101 is connected to the rotor seat 7, the positioning block 105 passes through the rectangular hole 106 and moves to the outer surface of the rotor cover 101. After the surface of the rotor cover 101 contacts the surface of the rotor seat 7, rotate the positioning block 105 to change the angle of the positioning block 105, so that the inner side wall of the positioning block 105 fits with the outer surface of the rotor cover 101, and the positioning block 105 supports the other end of the rotor cover 101, then the rotor cover 101 can be positioned on the rotor seat 7. When releasing, rotate the angle of the positioning block 105 so that the surface of the positioning block 105 can slide in the inner cavity of the rectangular hole 106, then the rotor cover 101 can be removed from the rotor seat 7, and the permanent magnet block 8 can be disassembled, thus providing convenience for the disassembly and assembly work between the permanent magnet block 8 and the rotor seat 7.

[0030] Preferably, a support seat 11 is arranged on the outer surface of the rotating rod 104. A movable sleeve 12 is inserted and fixed on the surface of the support seat 11. The inner cavity of the movable sleeve 12 is slidably connected to the surface of the rotating rod 104. A spring 13 is sleeved on the outer surface of the rotating rod 104. The spring 13 is arranged between the rotor seat 7 and the support seat 11. When the rotor cover 101 is connected to the rotor seat 7, the support seat 11 is extruded by the inner side wall of the rotor cover 101, and the support seat 11 extrudes the spring 13. After the positioning block 105 passes through the rectangular hole 106, rotate the positioning block 105 to fit with the outer surface of the rotor cover 101. At the same time, the spring 13 rebounds to provide a thrust to push the rotor cover 101 to move towards the positioning block 105, and the positioning block 105 at the other end supports the rotor cover 101, so that the friction between the positioning block 105 and the rotor cover 101 increases. By increasing the friction, it is avoided that the positioning block 105 rotates on the outer surface of the rotor cover 101, and the stability of the positioning block 105 after positioning the rotor cover 101 is increased.

[0031] In addition, as Figure 7 shown, the present invention also provides a robot, which includes a coil skeleton separated frameless motor installed on the robot.

[0032] During specific use: when the coil of the frameless motor on the robot is damaged, first take out the rotor module from the stator module, then rotate the locking bolt 43 counterclockwise to move the locking bolt 43 out of the inner cavities of the mounting hole 41 and the threaded hole 42 to release the stator cover 2. Then rotate the stator cover 2 clockwise to drive the slider 31 to rotate, so that the slider 31 moves out of the inner cavity of the chute 32, and then the stator cover 2 can be removed from the stator seat 1. Finally, the staff only needs to take the winding skeleton 5 and drive the connecting seat 14 to move out of the inner cavity of the connecting groove 15, then the winding skeleton 5 and the damaged coil can be taken out of the stator module together; During installation, take the new winding skeleton 5 and drive the connecting seat 14 to insert into the inner cavity of the connecting groove 15, then cover the stator cover 2. The stator cover 2 drives the slider 31 into the chute 32. Then, rotate the stator cover 2 counterclockwise to drive the slider 31 to insert into the inner cavity of the chute 32, completing the combination work between the stator cover 2 and the stator base 1. Finally, take the locking bolt 43 and insert it into the mounting hole 41 and the threaded hole 42, and rotate the locking bolt 43 clockwise to lock it, fixing the stator cover 2 on the surface of the stator base 1, thus realizing the installation of the winding skeleton 5 and the coil in the stator module; When replacing the permanent magnet block 8, rotate the positioning block 105 to change the angle of the positioning block 105, so that the positioning block 105 moves directly above the rectangular hole 106, and the surface of the positioning block 105 can slide in the inner cavity of the rectangular hole 106, then the rotor cover 101 can be removed from the rotor base 7, and the rotor cover 101 drives the fixing rod 102 to move out of the inner cavities of the fixing hole 103 and the positioning hole 92, then the permanent magnet block 8 can be pulled out, and the mounting seat 91 moves out of the inner cavity of the mounting groove 93, completing the disassembly work of the permanent magnet block 8; During installation, take the new permanent magnet block 8 and insert the mounting seat 91 into the inner cavity of the mounting groove 93, then cover the rotor cover 101. The rotor cover 101 drives the fixing rod 102 to insert into the fixing hole 103 and extend into the inner cavity of the positioning hole 92, fixing the position of the mounting seat 91 in the inner cavity of the mounting groove 93. At the same time, the inner side wall of the rotor cover 101 presses on the support seat 11, and the support seat 11 presses on the spring 13. After the positioning block 105 passes through the rectangular hole 106, rotate the positioning block 105 to fit with the outer surface of the rotor cover 101. At the same time, the spring 13 rebounds to provide a thrust to push the rotor cover 101 to move towards the positioning block 105, and the positioning block 105 at the other end supports the rotor cover 101, increasing the friction between the positioning block 105 and the rotor cover 101. By increasing the friction, it is avoided that the positioning block 105 rotates on the outer surface of the rotor cover 101, positioning the connection state between the rotor cover 101 and the rotor base 7, thereby shortening the time occupied by the coil disassembly and assembly work, providing convenience for the coil replacement work, and facilitating the maintenance of the frameless motor of the robot.

[0033] The above-described embodiments only represent several embodiments of the present invention. The description is relatively specific and detailed, but it cannot be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

1. A coil frame separated frameless motor, comprising a rotor module and a stator module, wherein the rotor module is located in the inner cavity of the stator module, the stator module comprises a stator seat, the stator seat is arranged in a circular shape, and a stator cover is arranged at the top of the stator seat, characterized in that: The bottom end of the stator cover is provided with a combination structure that can be quickly combined with the stator seat, and the top end of the stator cover is provided with a positioning structure for locating the position of the stator cover; The inner cavity of the stator seat is provided with a winding skeleton, one end of the winding skeleton is fixedly connected to a connecting seat, the connecting seat is arranged in a T shape, the surface of the connecting seat is inserted and slid with the inner cavity of the connecting groove, the outer surface of the winding skeleton is wound with a stator coil, and the winding skeleton is provided with several groups.

2. A coil frame separated frameless motor according to claim 1, characterized in that: The combined structure comprises a slider which is fixedly connected to the lower surface of the stator cover. A slide groove is provided on the upper surface of the stator seat. The surface of the slider is slidably connected to the inner cavity of the slide groove.

3. The coil frame separated frameless motor according to claim 2, characterized in that: The slider is arranged in an L shape, and two groups of the slider are arranged. The two groups of the slider are symmetrically distributed on both sides of the stator cover.

4. The coil frame separated frameless motor according to claim 1, characterized in that: The positioning structure includes a mounting hole and a threaded hole. The mounting hole is provided on the upper surface of the stator cover, the inner cavity of the mounting hole is threadedly connected with a locking bolt, and the threaded hole is provided on the upper surface of the stator seat, the inner cavity of the threaded hole is threadedly connected with the outer surface of the locking bolt.

5. The coil frame separated frameless motor according to claim 1, characterized in that: The rotor module includes a rotor seat, which is arranged in a circular ring shape. Several groups of permanent magnet blocks are arranged on the outer surface of the rotor seat. The surfaces of the several groups of permanent magnet blocks are all provided with connecting structures. The surface of the rotor seat is provided with a locking mechanism. There are two groups of locking mechanisms, and the two groups of locking mechanisms are located on the upper and lower sides of the rotor seat.

6. The coil frame separated frameless motor according to claim 5, characterized in that: The connection structure includes a mounting seat, one end of which is fixedly connected to the surface of the permanent magnet block, the upper surface and the lower surface of the mounting seat are both provided with positioning holes, the outer surface of the rotor seat is provided with a mounting groove, and the surface of the mounting seat is engaged with the inner cavity of the mounting groove.

7. The coil frame separated frameless motor according to claim 5, characterized in that: The locking mechanism includes a rotor cover, the outer surface of which is provided with a locking structure, a fixing rod is fixedly connected to the inner wall of the rotor cover, a fixing hole is opened on the surface of the rotor seat, the inner cavity of the fixing hole is communicated with the inner cavity of the mounting groove, and the other end of the fixing rod passes through the fixing hole and is engaged with the inner cavity of the positioning hole.

8. The coil frame separated frameless motor according to claim 7, characterized in that: The locking structure includes a rotating rod, which is rotatably connected to the surface of the rotor seat through a damping shaft, and the other end of the rotating rod is fixedly connected to a positioning block. A rectangular hole is opened on the surface of the rotor cover, and the surface of the positioning block is movably connected to the inner cavity of the rectangular hole.

9. The coil frame separated frameless motor according to claim 8, characterized in that: A support seat is arranged on the outer surface of the rotating rod, a movable sleeve is inserted and fixed on the surface of the support seat, an inner cavity of the movable sleeve is slidably connected to the surface of the rotating rod, a spring is arranged on the outer surface of the rotating rod, and the spring is arranged between the rotor seat and the support seat.

10. A robot, characterized in that: The coil skeleton separated frameless motor comprises any one of claims 1-9 installed on a robot.

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