A coil skeleton separated frameless motor and a robot

Abstract

The present invention discloses a coil skeleton separated frameless motor and a robot, belonging to the technical field of robots, including a rotor module and a stator module. The rotor module is located inside the stator module. The stator module includes a stator base, which is arranged in a circular shape. A stator cover is provided at the top of the stator base. A combined structure is provided at the bottom of the stator cover. A positioning structure for positioning the position of the stator cover is provided at the top of the stator cover. A winding skeleton is arranged inside the stator base. One end of the winding skeleton is fixedly connected with a connecting seat, which is arranged in a T shape. The surface of the connecting seat is inserted and slid in the inner cavity of the connecting groove. A stator coil is wound around the outer surface of the winding skeleton. A plurality of groups of winding skeletons are provided, thereby shortening the time occupied by the coil disassembly and assembly work, facilitating the replacement work of the coil, and facilitating the maintenance of the frameless motor of the robot.

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, capable of imitating or performing human behaviors and tasks. It is the product of the high combination of physical labor and intellectual labor, aiming 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, then remove the coil on the coil skeleton, and 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 magnetic steel; the magnetic steel is evenly and equally distributed on the outer side of the rotor module and is pasted on the surface of the rotor module with 608C glue; the surface of the magnetic steel 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 a lead-out end; a concave groove is provided at the connection between the lead-out 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-introduced 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, resulting in a large amount of time occupied by the disassembly and assembly work of the coil, bringing inconvenience to the replacement work of the coil and being not convenient for maintaining 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, when taking the stator cover, it can be 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, release the positioning structure and then remove the stator cover 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 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, which is arranged in a circular shape. A stator cover is provided at the top of the stator seat. A combined structure that can be quickly combined with the stator seat is provided at the bottom of the stator cover. A positioning structure for positioning the position of the stator cover is provided 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, which 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 provided.

[0008] Exemplarily, the combined structure includes a slider, which is fixedly connected to the lower surface of the stator cover. A chute 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 chute.

[0009] Exemplarily, the slider is arranged in an L shape, and two groups of sliders are provided. 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, and a locking bolt is threadedly connected to 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, which is arranged in a circular ring shape. Several groups of permanent magnetic blocks are provided on the outer surface of the rotor seat. Connection structures are provided on the surfaces of several groups of permanent magnetic blocks. A locking mechanism is provided on the surface of the rotor seat. Two groups of locking mechanisms are provided, 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, including 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:

[0018] 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, and the winding skeleton can be disassembled to 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.

[0019] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be realized and obtained through the structures pointed out in the specification and the drawings. Description of the Drawings

[0020] Figure 1 Schematic structural diagram of the frameless motor of the present invention;

[0021] Figure 2 Schematic structural diagram of the decomposition of the stator module of the present invention;

[0022] Figure 3 Schematic structural diagram of the stator base and the stator cover of the present invention;

[0023] Figure 4 Schematic structural diagram of the rotor module of the present invention;

[0024] Figure 5 Schematic structural diagram of the decomposition of the rotor module of the present invention;

[0025] Figure 6 Schematic structural diagram of the rotor base of the present invention;

[0026] Figure 7 Schematic structural diagram of the frameless motor of the present invention installed at the robot joint.

[0027] In the figure: 1, stator base; 2, stator cover; 3, combined structure; 31, slider; 32, sliding 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, fixing hole; 104, rotating rod; 105, positioning block; 106, rectangular hole; 11, support seat; 12, movable sleeve; 13, spring; 14, connecting seat; 15, connecting groove. Detailed implementation manners

[0028] For ease of understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. 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 so that the disclosure of the present invention can be understood more thoroughly and comprehensively.

[0029] As Figures 1-6As shown, the present invention provides a coil skeleton separated 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 1, the stator seat 1 is arranged in a circular shape, a stator cover 2 is arranged at the top of the stator seat 1, a combination structure 3 that can be quickly combined with the stator seat 1 is arranged at the bottom of the stator cover 2, a positioning structure 4 for positioning 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 seat 1, one end of the winding skeleton 5 is fixedly connected with a connecting seat 14, the connecting seat 14 is arranged in a T-shape, the surface of the connecting seat 14 is inserted and slid with the inner cavity of the connecting groove 15, a stator coil 6 is wound on the outer surface of the winding skeleton 5, and the winding skeleton 5 is provided with a plurality of groups;

[0030] 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.

[0031] 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.

[0032] 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.

[0033] Preferably, the positioning structure 4 includes a mounting hole 41 and a threaded hole 42. The mounting hole 41 is opened on the upper surface of the stator cover 2. A locking bolt 43 is threadedly connected inside the mounting hole 41. The threaded hole 42 is opened on the upper surface of the stator base 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, take the locking screw rod and insert it into the inner cavity of the mounting hole 41, and the bottom end of the locking screw rod is inserted into the inner cavity of the threaded hole 42 and threadedly connected to the threaded hole 42, so as to fix the position of the stator cover 2 on the stator base 1.

[0034] Furthermore, as Figure 4 shown, the rotor module includes a rotor seat 7. The rotor seat 7 is arranged in a circular ring shape. A plurality of groups of permanent magnet blocks 8 are arranged on the outer surface of the rotor seat 7. Connection structures 9 are arranged on the surfaces of the plurality of groups of permanent magnet blocks 8. A locking mechanism 10 is arranged on the surface of the rotor seat 7. There are two groups of the 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 connection structures 9. After connection, the connection state between the permanent magnet blocks 8 and the rotor seat 7 can be fixed through 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.

[0035] Preferably, as Figure 5 shown, the connection structure 9 includes a mounting seat 91. One end of the mounting seat 91 is fixedly connected to the surface of the permanent magnet block 8. Positioning holes 92 are opened on both the upper surface and the lower surface of the mounting seat 91. A mounting groove 93 is opened on the outer surface of the rotor seat 7. The surface of the mounting seat 91 is fitted and clamped with the inner cavity of the mounting groove 93. Insert the mounting seat 91 into the inner cavity of the mounting groove 93, so that the permanent magnet block 8 and the rotor seat 7 can be combined. Pull out the permanent magnet block 8 from the inner cavity of the mounting groove 93, and the permanent magnet block 8 and the rotor seat 7 can be separated.

[0036] In addition, the locking mechanism 10 includes a rotor cover 101. A locking structure is arranged on the outer surface of the rotor cover 101. 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 penetrates through the fixing hole 103 and is fitted and clamped with the inner cavity of the positioning hole 92. After the permanent magnet block 8 and the rotor seat 7 are combined, cover the upper and lower rotor covers 101, so that the rotor cover 101 drives the fixing rod 102 to penetrate through the fixing hole 103 and insert into the inner cavity of the positioning hole 92, so as to position the position of the mounting seat 91 in the mounting groove 93 and prevent the mounting seat 91 from disengaging from the inner cavity of the mounting groove 93. Then, lock the connection state between the rotor cover 101 and the rotor seat 7 through the locking structure.

[0037] Specifically, as 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 with 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 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.

[0038] 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 with 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 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.

[0039] In addition, as Figure 7 shown, the present invention also provides a robot, which includes a coil skeleton separable frameless motor installed on the robot.

[0040] 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;

[0041] During installation, take the new winding bobbin 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 installation 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 bobbin 5 and the coil in the stator module;

[0042] 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, driving the fixing rod 102 of the rotor cover 101 to move out of the inner cavities of the fixing hole 103 and the positioning hole 92, and then the permanent magnet block 8 can be pulled out, and the mounting seat 91 can be moved out of the inner cavity of the mounting groove 93, completing the disassembly work of the permanent magnet block 8;

[0043] 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 installation work, providing convenience for the coil replacement work, and facilitating the maintenance of the frameless motor of the robot.

[0044] The above-described embodiments only represent several embodiments of the present invention. Their descriptions are relatively specific and detailed, but should not be construed as limiting 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 skeleton 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 includes a stator base, the stator base is arranged in a circular shape, and a stator cover is arranged at the top of the stator base, and is characterized in that: A combined structure capable of quickly combining with a stator base is provided at the bottom end of the stator cover, and a positioning structure for positioning the position of the stator cover is provided at the top end of the stator cover; A winding skeleton is arranged in the inner cavity of the stator base. 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. A stator coil is wound around the outer surface of the winding skeleton, and a plurality of groups of winding skeletons are provided; The rotor module includes a rotor base. The rotor base is arranged in a circular ring shape. A plurality of groups of permanent magnetic blocks are arranged on the outer surface of the rotor base. Connecting structures are arranged on the surfaces of the plurality of groups of permanent magnetic blocks. A locking mechanism is arranged on the surface of the rotor base. Two groups of locking mechanisms are provided, and the two groups of locking mechanisms are located on the upper and lower sides of the rotor base; 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 in the surface of the rotor base. The inner cavity of the fixing hole communicates with the inner cavity of the installation groove. The other end of the fixing rod penetrates through the fixing hole and is clamped with the inner cavity of the positioning hole in a matching manner; The locking structure includes a rotating rod. The rotating rod is rotatably connected to the surface of the rotor base through a damping rotating shaft. A positioning block is fixedly connected to the other end of the rotating rod. A rectangular hole is formed in the surface of the rotor cover. The surface of the positioning block is movably connected to the inner cavity of the rectangular hole.

2. The separable frameless motor with a coil bobbin according to claim 1, wherein: The combined structure includes a slider. The slider is fixedly connected to the lower surface of the stator cover. A sliding groove is formed in the upper surface of the stator base. The surface of the slider is slidably connected to the inner cavity of the sliding groove.

3. The separable frameless motor with a coil bobbin according to claim 2, characterized in that: The slider is arranged in an L shape. Two groups of sliders are provided, and the two groups of sliders are symmetrically distributed on both sides of the stator cover.

4. The frameless motor with a separable coil bobbin according to claim 1, characterized in that: The positioning structure includes a mounting hole and a threaded hole. The mounting hole is formed in 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 formed in the upper surface of the stator base. The inner cavity of the threaded hole is threadedly connected to the outer surface of the locking bolt.

5. The separable frameless motor with a coil bobbin according to claim 1, wherein: The connecting structure includes a mounting seat. One end of the mounting seat is fixedly connected to the surface of the permanent magnetic block. Positioning holes are formed in the upper surface and the lower surface of the mounting seat. An installation groove is formed in the outer surface of the rotor base. The surface of the mounting seat is clamped with the inner cavity of the installation groove in a matching manner.

6. The separated frameless motor with a coil bobbin according to claim 1, 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. The inner cavity of the movable sleeve is slidably connected to the surface of the rotating rod. A spring is sleeved on the outer surface of the rotating rod. The spring is arranged between the rotor base and the support seat.

7. A robot, characterized in that, The coil skeleton separated frameless motor according to any one of claims 1-6, installed on a robot.

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