Frameless torque motor and driving structure thereof

Abstract

The invention discloses a frameless torque motor and a driving structure thereof. The driving structure comprises a rotor and a stator; the rotor is rotatably arranged on the inner ring of the stator; the plurality of permanent magnets are distributed around the periphery of the rotor sleeve; the stator comprises a stator sleeve, an iron core monomer framework and a coil; the plurality of iron core monomer frameworks are arranged around the inner ring of the stator sleeve, one end of each iron core monomer framework is connected to the inner wall of the stator sleeve, and the other end of each iron core monomer framework is close to the permanent magnet; and a part of the coil is wound around the winding groove of one iron core monomer framework or the winding grooves of a plurality of adjacent iron core monomer frameworks. According to the scheme, one coil can be installed in a single winding groove according to needs, or one coil can be installed in winding grooves of a plurality of iron core monomer frameworks, and the driving structure of the frameless torque motor can be flexibly adjusted to be low in number of turns, so that resistance and copper loss are reduced, and the reliability of the frameless torque motor is improved. The problems of low debugging flexibility and low filling efficiency caused by a single winding structure of a driving structure of an existing frameless torque motor are solved.

Description

Technical Field

[0001] The present invention relates to the field of motors, and in particular to a frameless torque motor and a drive structure thereof. Background Art

[0002] Existing frameless torque motors feature a hollow design that can be directly embedded into mechanical components to achieve joint motion. They are characterized by high efficiency, easy installation, and reduced size and weight for equivalent torque, meeting the miniaturization and lightweighting requirements of collaborative robots and humanoid robots. However, existing frameless torque motors typically have stator windings with each coil wound around only one stator tooth. This results in a fixed number of stator turns and cannot be adjusted according to actual conditions, making debugging of frameless torque motors inconvenient and inflexible. Furthermore, since each coil is wound around only one stator tooth, the coil winding distance is extended, resulting in increased resistance and copper loss. Combined with the gaps between coils, the actual coil filling efficiency is low. Summary of the Invention

[0003] The purpose of the present invention is to propose a driving structure of a frameless torque motor, which is provided with a plurality of iron core monomer skeletons in the stator sleeve, and each iron core monomer skeleton is provided with a winding slot. According to the present invention, a coil can be installed in a single winding slot or a coil can be installed in the winding slots of multiple iron core monomer skeletons. The driving structure of the frameless torque motor can be flexibly adjusted to a low number of turns to reduce resistance and copper loss.

[0004] The present invention also provides a frameless torque motor, which uses the above-mentioned drive structure.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A driving structure of a frameless torque motor comprises: a rotor and a stator;

[0007] The rotor is rotatably arranged on the inner ring of the stator;

[0008] The rotor comprises: a rotor sleeve and a permanent magnet;

[0009] A plurality of permanent magnets are distributed around the outer circumference of the rotor sleeve;

[0010] The stator comprises: a stator sleeve, an iron core single body frame and a coil;

[0011] Several of the iron core monomer frames are installed around the inner ring of the stator sleeve, one end of the iron core monomer frame is connected to the inner wall of the stator sleeve, and the other end of the iron core monomer frame is close to the permanent magnet. A winding groove is provided between the two ends of the iron core monomer frame; part of the coil is wrapped around the winding groove of one of the iron core monomer frames or the winding grooves of multiple adjacently distributed iron core monomer frames.

[0012] Optimally, the stator sleeve is provided with a plurality of sleeve parts, and the plurality of sleeve parts are sequentially connected end to end to form a ring structure;

[0013] A single set of components is installed with one core monomer skeleton.

[0014] Optimally, the core monomer skeleton includes: a connecting portion and a movable portion;

[0015] The connecting part is installed on the sleeve component, and the movable part is installed on the connecting part with limited movement, and the movable part moves close to or away from the adjacent iron core monomer skeleton; the movable part is provided with the winding groove; a single coil is wrapped around the winding grooves of multiple movable parts.

[0016] Optimally, part of the movable portion includes: a first movable block and a second movable block;

[0017] The first movable block and the second movable block are respectively connected to the connecting portion in a limited and movable manner;

[0018] A plurality of the movable parts are arranged close to each other to form a combined unit, wherein one coil surrounds the first movable block and the combined unit on one side, and another coil surrounds the second movable block and the combined unit on the other side.

[0019] Optimally, the connecting portion is provided with a connecting groove;

[0020] The first movable block and the second movable block are respectively provided with a moving block, and the moving block is movably limited in the connecting groove.

[0021] Optimally, the connecting portion is provided with a centering plate; the centering plate is arranged in the middle of the connecting groove; the moving block is provided with a matching male portion, and the centering plate is provided with a matching female portion;

[0022] When the movable block moves to the middle of the connecting groove, the engaging male portion engages with the engaging female portion, so that the first movable block or the second movable block is limited to the middle of the connecting groove.

[0023] Optimally, the stator further comprises: a connecting seat;

[0024] One end of the sleeve part is provided with a connecting protrusion, and the other end of the sleeve part is provided with a connecting recess;

[0025] The connecting protrusion of one of the sleeve parts is detachably inserted into the connecting recess of the other sleeve part, and the connecting protrusion is positioned on the inner wall of the connecting recess;

[0026] The sleeve parts are respectively provided with connecting holes near the connecting protrusions and the connecting recesses, and the connecting seat is provided with a pair of connecting columns. One of the connecting columns of the connecting seat extends into the connecting hole of one of the sleeve parts, and the other connecting column of the connecting seat extends into the connecting hole of the other sleeve part, so that two adjacent sleeve parts are connected into one body.

[0027] Optimally, the winding slots of two adjacent core monomer skeletons are separated to form a hollow opening.

[0028] Optimally, a hollow structure is provided inside the iron core monomer skeleton, and the iron core monomer skeleton is provided with a side opening exposing the hollow structure, and part of the side opening is located in the winding groove.

[0029] A frameless torque motor is provided with a housing and a driving structure of the frameless torque motor;

[0030] The driving structure is mounted on the housing.

[0031] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0032] This solution provides a driving structure for a frameless torque motor, which is provided with a plurality of iron core monomer skeletons in the stator sleeve, and each iron core monomer skeleton is provided with a winding slot. This solution can choose to install a coil in a single winding slot as needed, or can choose to install a coil in the winding slots of multiple iron core monomer skeletons. The driving structure of the frameless torque motor can be flexibly adjusted to a low number of turns to reduce resistance and copper loss, thereby solving the problem of low debugging flexibility and low filling efficiency caused by the single winding structure of the driving structure of the existing frameless torque motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a structural diagram of embodiment 1 of the driving structure;

[0034] Figure 2 yes Figure 1 Enlarged view of part A in the middle;

[0035] Figure 3 is a structural diagram of embodiment 2 of the driving structure;

[0036] Figure 4 This is a structural diagram of one embodiment of the drive structure when the connecting seat is disassembled;

[0037] Figure 5 It is a structural diagram of one embodiment of an iron core monomer skeleton.

[0038] in:

[0039] Rotor 1, stator 2;

[0040] Rotor sleeve 11, permanent magnet 12;

[0041] Stator sleeve 21, iron core single frame 22, coil 23; connecting seat 24;

[0042] Sleeve part 211; connecting protrusion 212; connecting recess 213;

[0043] Winding groove 220; connecting portion 221, movable portion 222, connecting groove 223, centering plate 224, mating male portion 225, mating female portion 226; hollow opening 227; hollow structure 228; side opening 229;

[0044] Connecting column 241; connecting hole 242;

[0045] A first movable block 2221 , a second movable block 2222 , and a moving block 2223 . DETAILED DESCRIPTION

[0046] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0047] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", "inner end", "outer end", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of the features, and are used to distinguish the described features, without distinction of order or importance. In the description of the present invention, unless otherwise specified, "multiple" means more than two.

[0048] like Figure 1-5 , a driving structure of a frameless torque motor, comprising: a rotor 1 and a stator 2;

[0049] The rotor 1 is rotatably arranged on the inner ring of the stator 2;

[0050] The rotor 1 includes: a rotor sleeve 11 and a permanent magnet 12;

[0051] The plurality of permanent magnets 12 are distributed around the outer circumference of the rotor sleeve 11;

[0052] The stator 2 includes: a stator sleeve 21, an iron core single frame 22 and a coil 23;

[0053] Several of the core monomer skeletons 22 are installed around the inner ring of the stator sleeve 21, one end of the core monomer skeleton 22 is connected to the inner wall of the stator sleeve 21, and the other end of the core monomer skeleton 22 is close to the permanent magnet 12. A winding groove 220 is provided between the two ends of the core monomer skeleton 22; part of the coil 23 is surrounded by the winding groove 220 of one of the core monomer skeletons 22 or the winding grooves 220 of multiple adjacently distributed core monomer skeletons 22.

[0054] The present solution provides a driving structure for a frameless torque motor, which is provided with a plurality of iron core monomer skeletons 22 in a stator sleeve 21, and each iron core monomer skeleton 22 is provided with a winding slot 220. The present solution can choose to install a coil 23 in a single winding slot 220 as needed, or can choose to install a coil 23 in the winding slots 220 of multiple iron core monomer skeletons 22. The driving structure of the frameless torque motor can be flexibly adjusted to a low number of turns to reduce resistance and copper loss, thereby solving the problem of low debugging flexibility and low filling efficiency caused by the single winding structure of the driving structure of the existing frameless torque motor.

[0055] Specifically, the permanent magnets 12 are distributed around the outer circumference of the rotor sleeve 11, and the rotor sleeve 11 is located in the inner ring of the stator sleeve 21. The rotor sleeve 11 can be limited to the inner ring of the stator sleeve 21 in a well-known manner, for example, it is rotatably mounted in the housing of the drive structure of the frameless torque motor through a bearing; the inner ring of the stator sleeve 21 is provided with a plurality of iron core monomer skeletons 22, and the iron core monomer skeletons 22 are distributed around the center of the stator sleeve 21, and each iron core monomer skeleton 22 is correspondingly provided with a winding slot 220; in Example 1, one winding slot 220 can be provided with one coil 23; in Example 2, two or more winding slots 220 can be provided with the same coil 23 at the same time, that is, a single coil 23 is wound around the winding slots 220 of different iron core monomer skeletons 22; relative to Example 1, Example 2 has a higher slot fill rate, such as Figure 3 In addition to occupying a single winding slot 220, the coil 23 of Example 2 also transitions to the gap between the winding slots 220 and the winding slots 220; at the same time, in Example 1, the coil 23 needs to be wound around the outer walls of multiple sides of a single winding slot 220, such as Figure 2B; and the coil 23 of Example 2 is wound through the winding slots 220 of multiple adjacently distributed iron core monomer skeletons 22, and the coil 23 is annular. The coil 23 will not pass through the side between two adjacent winding slots 220, thereby saving the path of the coil 23. Under the same number of turns, the actual length of the coil 23 is reduced, and thus the resistance and copper loss under the same number of turns can be reduced, which not only makes the copper wire filling rate in the winding slots 220 high, but also makes winding simpler, thereby solving the problem of low debugging flexibility and low filling efficiency caused by the single winding structure of the drive structure of the existing frameless torque motor.

[0056] Optimally, the stator sleeve 21 is provided with a plurality of sleeve parts 211, and the plurality of sleeve parts 211 are sequentially connected end to end to form a ring structure;

[0057] A single sleeve component 211 is installed with one core monomer skeleton 22 .

[0058] The stator sleeve 21 of this solution can be an integral type or a split type; for the split type embodiment, such as Figure 4 , this scheme preferably splits the stator sleeve 21 into multiple sleeve parts 211, and the sleeve parts 211 are connected end to end in sequence and surround to form a ring structure, that is, the tail end of one sleeve part 211 is connected to the head end of another sleeve part 211, thus forming a ring-shaped stator sleeve 21; and each sleeve part 211 is correspondingly installed with an iron core monomer skeleton 22. When a problem occurs with a sleeve part 211 or an iron core monomer skeleton 22, the sleeve part 211 can be removed separately, the sleeve part 211 can be replaced, or the coil 23 of the iron core monomer skeleton 22 can be debugged; in particular, this scheme can select the winding slots 220 of multiple iron core monomer skeletons 22 to install the coil 23, and several sleeve parts 211 can be installed in advance corresponding to the iron core monomer skeleton 22. After the coil 23 is installed on the iron core monomer skeleton 22 and assembled into a unit with 1 turn number, the sleeve parts 211 of multiple units are connected, thereby simplifying the assembly process of the drive structure and reducing the assembly difficulty.

[0059] Optimally, the core monomer skeleton 22 includes: a connecting portion 221 and a movable portion 222;

[0060] The connecting portion 221 is installed on the sleeve component 211, and the movable portion 222 is installed on the connecting portion 221 with limited movement, and the movable portion 222 moves to be close to or away from the adjacent iron core monomer skeleton 22; the movable portion 222 is provided with the winding groove 220; the single coil 23 is wrapped around the winding grooves 220 of multiple movable portions 222.

[0061] The iron core monomer skeleton 22 of this solution is provided with a connecting part 221 and a movable part 222. The movable part 222 can be installed on the connecting part 221 with limited movement. The movable part 222 can approach the iron core monomer skeleton 22 on one side, that is, the movable part 222 can move away from the iron core monomer skeleton 22 on the other side; in this way, when two or more winding slots 220 are provided with the same coil 23, the winding slots 220 of more than two movable parts 222 can be moved to be close to each other. When the coil 23 is wound around multiple winding slots 220, the multiple movable parts 222 can be bolted to be close to each other, thereby reducing the gap between the movable parts 222 of the two iron core monomer skeletons 22, so that the filling rate of the coil 23 in the stator sleeve 21 is higher, and the stator 2 is external to the rotor 1. The size of the stator 2 determines the overall size of the drive structure. The structure of the stator 2 is more compact, and the frameless torque motor of this solution is lighter.

[0062] Optimally, part of the movable portion 222 includes: a first movable block 2221 and a second movable block 2222;

[0063] The first movable block 2221 and the second movable block 2222 are respectively connected to the connecting portion 221 in a limited and movable manner;

[0064] The plurality of movable parts 222 are arranged together to form a combined unit, wherein one coil 23 surrounds the first movable block 2221 and the combined unit on one side, and another coil 23 surrounds the second movable block 2222 and the combined unit on the other side.

[0065] The movable part 222 is specifically divided into a movable first movable block 2221 and a second movable block 2222. For the same split movable part 222, the first movable block 2221 can be moved close to the combined unit adjacent to it, and the second movable block 2222 can be moved close to the combined unit adjacent to it. One coil 23 is wrapped around the first movable block 2221 and its combined unit, and the other coil 23 is wrapped around the second movable block 2222 and its combined unit; because the gap between the first movable block 2221 and the second movable block 2222 is limited, the maximum is the moving end of the first movable block 2221 and the second movable block 2222, such as the end of the connecting slot 223, the gap between the two coils 23 is small, and the gap is equivalent to the gap between the number of turns. It can be used to deheat the left and right coils 23, and can also make the copper wire filling rate in the winding slot 220 high. The overall structure of the stator 2 is more compact, and the filling rate of the coil 23 in the stator sleeve 21 is higher.

[0066] Optimally, the connecting portion 221 is provided with a connecting groove 223;

[0067] The first movable block 2221 and the second movable block 2222 are respectively provided with a movable block 2223 . The movable block 2223 is movably limited in the connecting groove 223 .

[0068] The connecting groove 223 can provide a moving guide for the first movable block 2221 and the second movable block 2222. The movable blocks 2223 of the first movable block 2221 and the second movable block 2222 are respectively moved to the connecting groove 223. The first movable block 2221 and the second movable block 2222 can move along the length direction of the connecting groove 223, thereby approaching or moving away from the adjacent combination unit, which can improve the movement smoothness of the first movable block 2221 and the second movable block 2222 to facilitate winding the coil 23.

[0069] Optimally, the connecting portion 221 is provided with a centering plate 224; the centering plate 224 is provided in the middle of the connecting groove 223; the moving block 2223 is provided with a matching male portion 225, and the centering plate 224 is provided with a matching female portion 226;

[0070] When the movable block 2223 moves to the middle of the connecting groove 223 , the engaging male portion 225 engages with the engaging female portion 226 , so that the first movable block 2221 or the second movable block 2222 is confined to the middle of the connecting groove 223 .

[0071] The centering plate 224 can be used to position the first movable block 2221 and the second movable block 2222. When the first movable block 2221 and / or the second movable block 2222 moves to the middle of the connecting groove 223, the mating male portion 225 of the movable block 2223 will approach and abut against the mating female portion 226 of the centering plate 224. The mating male portion 225 is mated with the mating female portion 226, so that the first movable block 2221 or the second movable block 2222 corresponding to the movable block 2223 can be limited to the centering plate 224, thereby limiting the first movable block 2221 and the second movable block 2222 to the middle of the connecting groove 223, and then switching the first movable block 2221 and the second movable block 2222 from a split state to a combined state. In the combined state, the movable portion 222 will not deviate from the original position of the connecting portion 221, so that the movable portion 222 of each iron core monomer skeleton 22 can be positioned to the connecting portion 221 to avoid affecting the magnetic field distribution. Similarly, when it is necessary to switch the first movable block 2221 and the second movable block 2222 from the combined state to the separated state.

[0072] Among them, one of the mating male part 225 and the mating female part 226 can be replaced by a well-known structure such as a hole structure, a groove structure, a column structure, a block structure, etc. After the mating male part 225 and the mating female part 226 are mated, the first movable block 2221 and the second movable block 2222 can be limited to the centering plate 224.

[0073] Optimally, the stator 2 further includes: a connecting seat 24;

[0074] One end of the sleeve member 211 is provided with a connecting protrusion 212, and the other end of the sleeve member 211 is provided with a connecting recess 213;

[0075] The connecting protrusion 212 of one of the sleeve parts 211 is detachably inserted into the connecting recess 213 of the other sleeve part 211 , and the connecting protrusion 212 is positioned on the inner wall of the connecting recess 213 ;

[0076] The sleeve component 211 is respectively provided with connecting holes 242 near the connecting protrusion 212 and the connecting recess 213, and the connecting seat 24 is provided with a pair of connecting columns 241. One of the connecting columns 241 of the connecting seat 24 extends into the connecting hole 242 of one of the sleeve components 211, and the other connecting column 241 of the connecting seat 24 extends into the connecting hole 242 of the other sleeve component 211, so that two adjacent sleeve components 211 are connected together.

[0077] The connecting protrusion 212 is located at the end of the sleeve part 211, and the connecting recess 213 is located at the other end of the sleeve part 211. When the connecting protrusion 212 of the sleeve part 211 extends into the connecting recess 213 of the other sleeve part 211, the connecting protrusion 212 abuts against the inner wall of the connecting recess 213. The inner wall of the connecting recess 213 will position the connecting protrusion 212 so that the connecting protrusion 212 fits according to the inner contour of the connecting recess 213. The angles of the two sleeve parts 211 are fixed, and the connecting protrusion 212 is positioned at a specific angle to the sleeve part 211. When multiple sleeve parts 211 are connected end to end, the connecting protrusions 212 and the connecting recesses 213 between the sleeve parts 211 can surround and form a ring structure. In this regard, the present invention has a plurality of sleeve parts 211. A connecting seat 24 is installed between them, and the connecting seat 24 is provided with two connecting columns 241, each connecting column 241 correspondingly extends into the connecting hole 242 of the sleeve component 211, so that the two adjacent sleeve components 211 are fixed together; based on the fixed angle between the sleeve components 211 by the connecting protrusion 212 and the connecting recess 213, the sleeve components 211 of this scheme are very convenient to assemble, and the stator sleeve 21 does not need to be fixed and assembled with screws; when the iron core monomer skeleton 22 needs to be removed, the connecting column 241 can be pulled out to remove the two sleeve components 211, and the other sleeve components 211 remain in a connected state. When the iron core monomer skeleton 22 in a specific area is removed, the stator 2 cannot be completely removed, which simplifies the installation and disassembly steps and makes the debugging of the drive structure of the frameless torque motor more flexible.

[0078] Optimally, the winding slots 220 of two adjacent core monomer skeletons 22 are separated to form a hollow opening 227 .

[0079] The hollow opening 227 is located between two adjacent winding slots 220, the winding slots 220 are arranged with the coil 23, and the hollow opening 227 is close to the coil 23; air can enter the hollow opening 227 and take away the heat of the coil 23 in the hollow opening 227; especially when the rotor sleeve 11 drives the permanent magnet 12 to rotate relative to the stator sleeve 21, the permanent magnet 12 is equivalent to a fan blade, which can increase the air flow at the position where the permanent magnet 12 and the iron core monomer frame 22 are close to each other, thereby improving the heat exchange efficiency of the coil 23 in the hollow opening 227.

[0080] Optimally, a hollow structure 228 is provided inside the core monomer skeleton 22 , and a side opening 229 is provided on the core monomer skeleton 22 to expose the hollow structure 228 , and a portion of the side opening 229 is located in the winding groove 220 .

[0081] The hollow structure 228 of the core monomer skeleton 22 can expose the hollow structure 228 through the side opening 229 on the outside; the side opening 229 is located in the winding groove 220, and since the winding grooves 220 of the core monomer skeleton 22 are separated to form a hollow opening 227, the hollow structures 228, the side openings 229 and the winding grooves 220 of the two core monomer skeletons 22 are in a connected state at the hollow opening 227; since the winding grooves 220 of multiple core monomer skeletons 22 are equipped with one coil 23, and the coil 23 is multi-turn, the coil 23 at the deepest part of the conventional winding groove 220 is difficult to dissipate heat; and the hollow structure 228 of the core monomer skeleton 22 of this embodiment can allow air to pass through the hollow structure 228, the side opening 229 and the winding groove 220 in sequence. 29, the winding slots 220 and the hollow openings 227, so that the coil 23 at the bottom of the winding slots 220 on the side not having the hollow openings 227 can discharge heat through the hollow openings 227; in particular, this solution uses a single coil 23 wrapped around the winding slots 220 of multiple adjacently distributed iron core monomer skeletons 22, and the coil 23 will not pass through the side adjacent to each other between two adjacent winding slots 220, so that air can more easily enter the hollow structure 228 from the side openings 229 adjacent to each other between the winding slots 220, and then contact the side openings 229 with the coil 23 to take away heat, thereby avoiding excessive local heating of the iron core monomer skeleton 22; in this way, this solution can avoid heat dissipation for the coil 23 while maintaining a compact structure of the stator 2.

[0082] A frameless torque motor is provided with a housing and a driving structure of a frameless torque motor according to any of the above embodiments; the driving structure is mounted on the housing.

[0083] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A driving structure of a frameless torque motor, characterized in that: include: rotor and stator; The rotor is rotatably arranged on the inner ring of the stator; The rotor comprises: a rotor sleeve and a permanent magnet; A plurality of permanent magnets are distributed around the outer circumference of the rotor sleeve; The stator comprises: a stator sleeve, an iron core single body frame and a coil; Several of the iron core monomer frames are installed around the inner ring of the stator sleeve, one end of the iron core monomer frame is connected to the inner wall of the stator sleeve, and the other end of the iron core monomer frame is close to the permanent magnet. A winding groove is provided between the two ends of the iron core monomer frame; part of the coil is wrapped around the winding groove of one of the iron core monomer frames or the winding grooves of multiple adjacently distributed iron core monomer frames.

2. The driving structure of a frameless torque motor according to claim 1, characterized in that: The stator sleeve is provided with a plurality of sleeve parts, and the plurality of sleeve parts are sequentially connected end to end to form a ring structure; A single set of components is installed with one core monomer skeleton.

3. The driving structure of a frameless torque motor according to claim 2, characterized in that: The core monomer skeleton includes: a connecting part and a movable part; The connecting part is installed on the sleeve component, and the movable part is installed on the connecting part with limited movement, and the movable part moves close to or away from the adjacent iron core monomer skeleton; the movable part is provided with the winding groove; a single coil is wrapped around the winding grooves of multiple movable parts.

4. The driving structure of a frameless torque motor according to claim 3, characterized in that: Part of the movable portion includes: a first movable block and a second movable block; The first movable block and the second movable block are respectively connected to the connecting portion in a limited and movable manner; A plurality of the movable parts are arranged close to each other to form a combined unit, wherein one coil surrounds the first movable block and the combined unit on one side, and another coil surrounds the second movable block and the combined unit on the other side.

5. The driving structure of a frameless torque motor according to claim 4, characterized in that: The connecting portion is provided with a connecting groove; The first movable block and the second movable block are respectively provided with a moving block, and the moving block is movably limited in the connecting groove.

6. The driving structure of a frameless torque motor according to claim 5, characterized in that: The connecting portion is provided with a centering plate; the centering plate is arranged in the middle of the connecting groove; the moving block is provided with a matching male portion, and the centering plate is provided with a matching female portion; When the movable block moves to the middle of the connecting groove, the engaging male portion engages with the engaging female portion, so that the first movable block or the second movable block is limited to the middle of the connecting groove.

7. The driving structure of a frameless torque motor according to claim 2, characterized in that: The stator further comprises: a connecting seat; One end of the sleeve part is provided with a connecting protrusion, and the other end of the sleeve part is provided with a connecting recess; The connecting protrusion of one of the sleeve parts is detachably inserted into the connecting recess of the other sleeve part, and the connecting protrusion is positioned on the inner wall of the connecting recess; The sleeve parts are respectively provided with connecting holes near the connecting protrusions and the connecting recesses, and the connecting seat is provided with a pair of connecting columns. One of the connecting columns of the connecting seat extends into the connecting hole of one of the sleeve parts, and the other connecting column of the connecting seat extends into the connecting hole of the other sleeve part, so that two adjacent sleeve parts are connected into one body.

8. The driving structure of a frameless torque motor according to claim 3, characterized in that: The winding slots of two adjacent iron core monomer skeletons are separated to form a hollow opening.

9. The driving structure of a frameless torque motor according to claim 8, characterized in that: A hollow structure is provided inside the iron core monomer skeleton, and a side opening is provided on the iron core monomer skeleton to expose the hollow structure, and part of the side opening is located in the winding groove.

10. A frameless torque motor, characterized in that: A frameless torque motor drive structure comprising a housing and the frameless torque motor drive structure according to any one of claims 1 to 9; The driving structure is mounted on the housing.

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