Frameless torque motor and driving structure thereof

Abstract

A frameless torque motor and a driving structure thereof; the driving structure comprises a rotor and a stator; the rotor is rotatably arranged in the inner ring of the stator; a plurality of permanent magnets are distributed around the outer periphery of the rotor sleeve; the stator comprises a stator sleeve, an iron core monomer framework and a coil; a plurality of iron core monomer frameworks are installed around the inner ring of the stator sleeve, one end of the iron core monomer framework is connected to the inner wall of the stator sleeve, and the other end of the iron core monomer framework is close to the permanent magnet; part of the coil is wound around the wire slot of one of the iron core monomer frameworks or the wire slots of a plurality of adjacent distributed iron core monomer frameworks. According to the scheme, one coil can be selected to be installed in a single wire slot, or a plurality of iron core monomer frameworks can be selected to be installed in a wire slot, the driving structure of the frameless torque motor can be flexibly adjusted to a low number of turns, the resistance and copper loss are reduced, and the problem that the winding structure of the driving structure of the existing frameless torque motor is single, the debugging flexibility is low, and the filling efficiency is low is solved.

Description

Technical Field

[0001] This invention relates to the field of electric motors, and more particularly to a frameless torque motor and its drive structure. Background Technology

[0002] Existing frameless torque motors feature a frameless, hollow design that can be directly embedded into mechanical components to achieve joint operation. They are characterized by high efficiency, convenient installation, and smaller, lighter size for the same torque, meeting the miniaturization and weight reduction requirements of collaborative robots and humanoid robots. However, the stator windings of existing frameless torque motors typically have each coil wound on only one stator tooth. This results in a fixed number of stator turns, making it impossible to change the number of turns according to actual needs. This makes debugging the frameless torque motor inconvenient and lacks flexibility. Furthermore, because each coil is wound on only one stator tooth, the winding distance is extended, leading to increased resistance and copper losses. Combined with the pre-reserved gaps between coils, the actual coil filling efficiency is low. Summary of the Invention

[0003] The purpose of this invention is to propose a drive structure for a frameless torque motor, which has several iron core individual frames arranged in the stator sleeve. Each iron core individual frame is provided with a winding slot. This solution can be used to install a coil in a single winding slot or to install a coil in the winding slots of multiple iron core individual frames as needed. The drive 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 proposes a frameless torque motor that uses the above-mentioned drive structure.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A drive structure for a frameless torque motor includes: a rotor and a stator;

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

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

[0009] Multiple permanent magnets are distributed around the outer periphery of the rotor sleeve;

[0010] The stator includes: a stator sleeve, a core frame, and coils;

[0011] Several core unit frames are mounted around the inner ring of the stator sleeve. One end of each core unit frame is connected to the inner wall of the stator sleeve, and the other end of each core unit frame is close to the permanent magnet. A winding groove is provided between the two ends of each core unit frame. Some of the coils are wound around the winding groove of one of the core unit frames or the winding grooves of multiple adjacent core unit frames.

[0012] Alternatively, the stator is fitted with a plurality of sleeve components, which are sequentially connected end to end to form a ring structure;

[0013] Each of the aforementioned components is equipped with a single core frame.

[0014] Optimally, the iron core unit frame includes: a connecting part and a movable part;

[0015] The connecting part is installed on the sleeve component, and the movable part is movably installed on the connecting part. The movable part moves to be close to or away from the adjacent iron core single frame. The movable part is provided with the winding groove. A single coil is wound around the winding groove of multiple movable parts.

[0016] Optimally, some of the active parts include: a first active block and a second active block;

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

[0018] Multiple movable parts are brought together to form a combined unit, wherein one coil is wound around the first movable block and the combined unit on one side, and another coil is wound around the second movable block and the combined unit on the other side.

[0019] Alternatively, the connecting portion may be provided with a connecting groove;

[0020] Both the first movable block and the second movable block are provided with a movable block, and the movable block is movably limited to the connecting groove.

[0021] Optimally, the connecting part is provided with a centering plate; the centering plate is disposed in the middle of the connecting groove; the moving block is provided with a male mating part, and the centering plate is provided with a female mating part;

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

[0023] Alternatively, the stator may further include: a connecting seat;

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

[0025] One of the sleeve components has a connecting protrusion that can be detachably inserted into the connecting recess of the other sleeve component, and the connecting protrusion is positioned on the inner wall of the connecting recess.

[0026] The sleeve components are provided with connecting holes near the connecting protrusion and connecting recess respectively. The connecting seat is provided with a pair of connecting posts. One of the connecting posts of the connecting seat extends into the connecting hole of one of the sleeve components, and the other connecting post of the connecting seat extends into the connecting hole of the other sleeve component, so that the two adjacent sleeve components are connected as one unit.

[0027] Alternatively, the winding slots of two adjacent iron core individual skeletons can be spaced apart to form a hollow opening.

[0028] Optimally, the core unit skeleton has a hollow structure inside, and the core unit skeleton has a side opening that exposes the hollow structure, with part of the side opening located in the winding groove.

[0029] A frameless torque motor is provided with a housing and the aforementioned drive structure for a frameless torque motor;

[0030] The drive 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 drive structure for a frameless torque motor, which has several iron core individual frames arranged inside the stator sleeve. Each iron core individual frame has a winding slot. This solution can choose to install one coil in a single winding slot or install one coil in the winding slots of multiple iron core individual frames as needed. It can flexibly adjust the drive structure of the frameless torque motor to a low number of turns to reduce resistance and copper loss. This solves the problem of low debugging flexibility and low filling efficiency caused by the single winding structure of the existing frameless torque motor drive structure. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the driving structure;

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

[0035] Figure 3 This is a schematic diagram of the structure of Embodiment 2 of the driving structure;

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

[0037] Figure 5 This is a structural schematic diagram of one embodiment of the iron core monoframe.

[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] Part 211; Connecting protrusion 212; Connecting recess 213;

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

[0044] Connecting column 241; Connecting hole 242;

[0045] First active block 2221, second active block 2222; move block 2223. Detailed Implementation

[0046] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0047] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," "inner side," "outer side," "inner end," "outer end," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish descriptive features, without any order or emphasis. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0048] like Figure 1-5 A drive structure for a frameless torque motor includes: a rotor 1 and a stator 2;

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

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

[0051] Multiple permanent magnets 12 are distributed around the outer periphery of the rotor sleeve 11;

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

[0053] Several core unit frames 22 are mounted around the inner ring of the stator sleeve 21. One end of each core unit frame 22 is connected to the inner wall of the stator sleeve 21, and the other end of each core unit frame 22 is close to the permanent magnet 12. A winding groove 220 is provided between the two ends of each core unit frame 22. Some of the coils 23 are wound around the winding groove 220 of one of the core unit frames 22 or the winding grooves 220 of multiple adjacent core unit frames 22.

[0054] This solution provides a drive structure for a frameless torque motor, which has several iron core individual frames 22 arranged in the stator sleeve 21. Each iron core individual frame 22 is provided with a winding slot 220. This solution can choose to install one coil 23 in a single winding slot 220 or install one coil 23 in the winding slots 220 of multiple iron core individual frames 22 as needed. It can flexibly adjust the drive structure of the frameless torque motor to a low number of turns to reduce resistance and copper loss. This solves the problem of low debugging flexibility and low filling efficiency caused by the single winding structure of the existing frameless torque motor drive structure.

[0055] Specifically, permanent magnets 12 are distributed around the outer periphery of rotor sleeve 11, which is located within the inner ring of stator sleeve 21. Rotor sleeve 11 can be confined within the inner ring of stator sleeve 21 by known methods, such as being rotatably mounted in the housing of a frameless torque motor drive structure via bearings. The inner ring of stator sleeve 21 is provided with several core frame members 22, distributed around the center of stator sleeve 21. Each core frame member 22 corresponds to a winding slot 220. In embodiment 1, one winding slot 220 can house one coil 23. In embodiment 2, two or more winding slots 220 can simultaneously house the same coil 23, i.e., a single coil 23 is wound around winding slots 220 of different core frame members 22. Compared to embodiment 1, embodiment 2 has a higher slot fill factor, such as... Figure 3 In Embodiment 2, the coil 23, besides occupying a single winding slot 220, also transitions through the gap between winding slots 220; simultaneously, in Embodiment 1, the coil 23 needs to be wound around the outer walls of multiple sides of a single winding slot 220, such as... Figure 2At point B; while in embodiment 2, the coil 23 is wound around the winding slots 220 of multiple adjacent distributed iron core single frame 22, and the coil 23 is in a ring shape. The coil 23 does not pass through the side adjacent to two winding slots 220, thus saving the path of the coil 23. With the same number of turns, the actual length of the coil 23 is reduced, which in turn reduces the resistance and copper loss with the same number of turns. This not only makes the copper wire filling rate in the winding slot 220 high, but also makes the winding simpler, thus solving the problem of low debugging flexibility and low filling efficiency caused by the simple winding structure of the drive structure of the existing frameless torque motor.

[0056] Alternatively, the stator sleeve 21 may be provided with a plurality of sleeve components 211, which are connected end to end in sequence to form a ring structure;

[0057] Each of the aforementioned components 211 is equipped with one of the iron core individual skeletons 22.

[0058] The stator sleeve 21 in this solution can be either integral or separate; for a separate embodiment, such as... Figure 4 In this preferred embodiment, the stator sleeve 21 is divided into multiple sleeve components 211. The sleeve components 211 are connected end to end in sequence to form a ring structure, that is, the tail end of one sleeve component 211 is connected to the head end of another sleeve component 211, thus forming a ring-shaped stator sleeve 21. Each sleeve component 211 is equipped with a corresponding iron core single frame 22. When a problem occurs with a certain sleeve component 211 or iron core single frame 22, the sleeve component 211 can be removed and replaced, or the coil 23 of the iron core single frame 22 can be adjusted. In particular, this embodiment can select the winding slots 220 of multiple iron core single frames 22 to install the coil 23. Several sleeve components 211 can be pre-installed with iron core single frames 22, and the coil 23 can be installed on the iron core single frame 22 to assemble into a unit with 1 turn. Then, the sleeve components 211 of multiple units are connected, thereby simplifying the assembly process of the drive structure and reducing the assembly difficulty.

[0059] Optimally, the iron core single frame 22 includes: a connecting part 221 and a movable part 222;

[0060] The connecting part 221 is installed on the sleeve component 211, and the movable part 222 is movably installed on the connecting part 221. The movable part 222 moves to be close to or away from the adjacent iron core single frame 22. The movable part 222 is provided with the winding groove 220. A single coil 23 is wound around the winding groove 220 of the multiple movable parts 222.

[0061] The core frame 22 of this design has a connecting part 221 and a movable part 222. The movable part 222 is installed on the connecting part 221 in a limited position. The movable part 222 can move closer to one side of the core frame 22, that is, the movable part 222 can move away from the other side of the core frame 22. In this way, when two or more winding slots 220 are provided with the same coil 23, the winding slots 220 of the two or more movable parts 222 can move to be close together. When the coil 23 is wound around multiple winding slots 220, multiple movable parts 222 can be fastened to be close together, thereby reducing the gap between the movable parts 222 of the two core frames 22. This makes the filling rate of the coil 23 in the stator sleeve 21 higher. 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 design is lighter.

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

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

[0064] Multiple movable parts 222 are arranged together to form a combined unit, wherein one coil 23 is wrapped around the first movable block 2221 and the combined unit on one side, and another coil 23 is wrapped around 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 movable second movable block 2222. For the same split movable part 222, the first movable block 2221 can be moved to be close to the combined unit it is attached to, and the second movable block 2222 can be moved to be close to the combined unit it is attached to. One coil 23 is wrapped around the first movable block 2221 and its combined unit, and another 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 gap is the moving ends 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. This gap is equivalent to the gap between turns. It can be used to deheat the left and right coils 23, and also to make the copper wire filling rate in the winding slot 220 high, the overall structure of the stator 2 more compact, and the filling rate of the coil 23 in the stator sleeve 21 higher.

[0066] Alternatively, the connecting portion 221 may be provided with a connecting groove 223;

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

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

[0069] Alternatively, the connecting portion 221 may be provided with a centering plate 224; the centering plate 224 may be disposed in the middle of the connecting groove 223; the moving block 2223 may be provided with a mating male portion 225, and the centering plate 224 may be provided with a mating female portion 226.

[0070] When the moving block 2223 moves to the middle of the connecting groove 223, the mating male part 225 engages with the mating female part 226, so that the first movable block 2221 or the second movable block 2222 is limited 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 move to the middle of the connecting groove 223, the mating male part 225 of its moving block 2223 will approach and abut against the mating female part 226 of the centering plate 224. The mating male part 225 mating with the mating female part 226 can limit the first movable block 2221 or the second movable block 2222 corresponding to the moving block 2223 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, thereby switching the first movable block 2221 and the second movable block 2222 from the separate state to the combined state. In the combined state, the movable part 222 will not deviate from the original position of the connecting part 221. Therefore, the movable parts 222 of each iron core single frame 22 can be positioned to the connecting part 221 to avoid affecting the magnetic field distribution. Similarly, when it is necessary to switch the first active block 2221 and the second active block 2222 from the combined state to the separate state.

[0072] Among them, one of the mating male part 225 and the mating female part 226 can be replaced by a known structure such as a hole structure, a groove structure, a column structure, or a locking block structure. 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] Alternatively, the stator 2 may further include: a connecting seat 24;

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

[0075] One of the sleeve components 211 has a connecting protrusion 212 that can be detachably inserted into the connecting recess 213 of the other sleeve component 211, and the connecting protrusion 212 is positioned on the inner wall of the connecting recess 213;

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

[0077] The connecting protrusion 212 is located at one end of the sleeve 211, and the connecting recess 213 is located at the other end of the sleeve 211. When the connecting protrusion 212 of the sleeve 211 extends into the connecting recess 213 of another sleeve 211, the connecting protrusion 212 abuts against the inner wall of the connecting recess 213, and the inner wall of the connecting recess 213 positions the connecting protrusion 212, allowing the connecting protrusion 212 to fit according to the inner contour of the connecting recess 213. The angle of the two sleeves 211 is fixed, thereby positioning the connecting protrusion 212 at a specific angle on the sleeve 211. When multiple sleeves 211 are connected end to end, the connecting protrusion 212 and the connecting recess 213 between the sleeves 211 can form a ring structure. Therefore, this solution addresses this by having two sleeves 211... A connecting seat 24 is added between the two sleeves 211. The connecting seat 24 has two connecting posts 241, each of which extends into the connecting hole 242 of the sleeve 211, thereby fixing two adjacent sleeves 211 together. Based on the fixed angle between the sleeves 211 by the connecting protrusion 212 and the connecting recess 213, the sleeves 211 in this solution are very convenient to assemble, and the stator sleeve 21 does not need to be fixed by screws. When it is necessary to remove the iron core single frame 22, the connecting post 241 can be pulled out to remove two sleeves 211, while the other sleeves 211 remain connected. When removing the iron core single frame 22 in a specific area, 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] Alternatively, the winding grooves 220 of two adjacent iron core individual skeletons 22 can be spaced apart to form a hollow opening 227.

[0079] The cutout 227 is located between two adjacent winding slots 220, where the coil 23 is arranged. The cutout 227 is close to the coil 23. Air can enter the cutout 227 and carry away the heat of the coil 23 in the cutout 227. In particular, 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 improve the airflow at the position where the permanent magnet 12 is close to the iron core single frame 22, thereby improving the heat exchange efficiency of the coil 23 in the cutout 227.

[0080] Alternatively, the core frame 22 may have a hollow structure 228 inside, and the core frame 22 may have a side opening 229 that exposes the hollow structure 228, with part of the side opening 229 located inside the winding groove 220.

[0081] The hollow structure 228 of the iron core frame 22 can be exposed through the outer side opening 229. The side opening 229 is located inside the winding groove 220, and because the winding grooves 220 of the iron core frame 22 are separated to form a hollow opening 227, the hollow structures 228, side openings 229, and winding grooves 220 of two iron core frames 22 are connected at the hollow opening 227. Since a coil 23 is installed in the winding grooves 220 of multiple iron core frames 22, and the coil 23 has multiple turns, the coil 23 at the deepest part of the conventional winding groove 220 is difficult to dissipate heat. However, the hollow structure 228 of the iron core frame 22 in this embodiment allows air to pass through the hollow structure 228, side opening 229, and winding groove 220 in sequence. 29. The winding slot 220 and the hollow opening 227 allow the coil 23 at the bottom of the winding slot 220 on the non-hollow opening 227 side to dissipate heat through the hollow opening 227. In particular, this solution uses a single coil 23 wrapped around the winding slot 220 of multiple adjacent iron core single frame 22. The coil 23 does not pass through the side adjacent to two adjacent winding slots 220, so air can more easily enter the hollow structure 228 from the side opening 229 adjacent to the winding slots 220, and then come into contact with the side opening 229 with the coil 23 to carry away heat and avoid excessive local heating of the iron core single frame 22. In this way, this solution can avoid heat dissipation for the coil 23 while keeping the stator 2 structure compact.

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

[0083] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A drive structure for a frameless torque motor, characterized in that, include: Rotor and stator; The rotor is rotatably disposed on the inner ring of the stator; The rotor includes: a rotor sleeve and a permanent magnet; Multiple permanent magnets are distributed around the outer periphery of the rotor sleeve; The stator includes: a stator sleeve, a core frame, and coils; Several core unit frames are mounted around the inner ring of the stator sleeve. One end of each core unit frame is connected to the inner wall of the stator sleeve, and the other end of each core unit frame is close to the permanent magnet. A winding groove is provided between the two ends of each core unit frame. Some of the coils may be wound around the winding groove of one of the core unit frames or the winding grooves of multiple adjacent core unit frames. The stator is fitted with multiple sleeve components, which are connected end to end in sequence to form a ring structure; each sleeve component is fitted with a single core frame. The iron core frame includes: a connecting part and a movable part; The connecting part is installed on the sleeve component, and the movable part is movably installed on the connecting part. The movable part can move closer to or further away from the adjacent iron core individual frame. The movable part is provided with the winding groove. A single coil can be wound around the winding groove of multiple adjacent movable parts.

2. The drive structure of a frameless torque motor according to claim 1, characterized in that, The movable part described herein 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 part in a limited movement; Multiple adjacent movable parts can be brought close together to form a combined unit, wherein one coil can be wrapped around the first movable block of one movable part and the combined unit on one side of the movable part, and another coil can be wrapped around the second movable block of the movable part and the combined unit on the other side of the movable part.

3. The drive structure of a frameless torque motor according to claim 2, characterized in that, The connecting part is provided with a connecting groove; Both the first movable block and the second movable block are provided with a movable block, and the movable block is movably limited to the connecting groove.

4. The drive structure of a frameless torque motor according to claim 3, characterized in that, The connecting part is provided with a centering plate; the centering plate is disposed in the middle of the connecting groove; the moving block is provided with a male fitting part, and the centering plate is provided with a female fitting part; When the movable block moves to the middle of the connecting groove, the mating male part engages with the mating female part, so that the first movable block or the second movable block is limited to the middle of the connecting groove.

5. The drive structure of a frameless torque motor according to claim 1, characterized in that, The stator further includes: a connecting seat; One end of the sleeve is provided with a connecting protrusion, and the other end of the sleeve is provided with a connecting recess; One of the sleeve components has a connecting protrusion that can be detachably inserted into the connecting recess of the other sleeve component, and the connecting protrusion is positioned on the inner wall of the connecting recess. The sleeve components are provided with connecting holes near the connecting protrusion and connecting recess, respectively. The connecting seat is provided with a pair of connecting posts. One of the connecting posts of the connecting seat extends into the connecting hole of one of the sleeve components, and the other connecting post of the connecting seat extends into the connecting hole of the other sleeve component, so that the two adjacent sleeve components are connected as one unit.

6. The drive structure of a frameless torque motor according to claim 1, characterized in that, The winding slots of two adjacent iron core individual skeletons are spaced apart to form a hollow opening.

7. The drive structure of a frameless torque motor according to claim 6, characterized in that, The core frame has a hollow structure inside, and the core frame has a side opening that exposes the hollow structure, with part of the side opening located in the winding groove.

8. A frameless torque motor, characterized in that, The device includes a housing and a drive structure for a frameless torque motor as described in any one of claims 1-7. The drive structure is mounted on the housing.

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