A hollow motor for collaborative robots

Abstract

This application relates to a hollow motor for a collaborative robot, comprising a first wire frame, an outer rotor, an outer ring, and a coil. The first wire frame has multiple first mounting teeth spaced circumferentially along its outer wall. Each first mounting tooth has a first insertion slot for accommodating the outer rotor. The outer rotor includes multiple magnetic teeth, which respectively engage with the first insertion slots and are spaced apart on the first wire frame. A coil is wound around the magnetic teeth and the first mounting teeth. The outer ring is fitted around the outside of the first wire frame to connect the magnetic teeth and form a complete motor magnetic circuit. This hollow motor, by having multiple mounting teeth with first insertion slots spaced circumferentially along the outer wall of the first wire frame, increases the slot distance between the spaced magnetic teeth, facilitating coil winding by an automatic winding machine for the outer rotor and allowing the selection of coils with larger wire diameters, thus improving overall winding efficiency. Simultaneously, the increased slot distance improves the slot fill factor of the hollow motor, further enhancing the production efficiency of this hollow motor for the collaborative robot.

Description

Technical Field

[0001] This application relates to the field of motor technology, and in particular to a hollow motor for a collaborative robot. Background Technology

[0002] With the continuous development of artificial intelligence, collaborative robots are being used more and more widely in industry, thus placing increasingly higher demands on their speed and torque. Currently, most collaborative robots use hollow motors, also known as "frameless motors," specifically designed for applications requiring small size, light weight, low inertia, compact structure, and high power. As a new type of motor, the hollow motor has a hollow internal structure, and its rotor and stator rotate relative to each other through electromagnetic interaction.

[0003] However, because existing hollow-core motors typically employ an I-shaped (or T-shaped) stator core structure, the assembly process of the coil windings becomes extremely complex when the motor size is small, due to the structural characteristics of the individual winding teeth within the stator core. This results in low winding efficiency. Furthermore, since the coils are mostly wound with round enameled wire, the poor arrangement of the coil manufacturing process and stator core winding teeth leads to a general problem of low slot fill factor and poor electromagnetic characteristics in hollow-core motors. Summary of the Invention

[0004] Therefore, it is necessary to address the issues of low coil winding efficiency and slot fill factor in hollow motors by providing a collaborative robot hollow motor that can improve the overall winding efficiency and slot fill factor.

[0005] A hollow motor for a collaborative robot includes a first wire frame, an outer rotor, an outer ring, and a coil. The first wire frame has multiple first mounting teeth spaced circumferentially along its outer wall. Each first mounting tooth has a first insertion slot for accommodating the outer rotor. The outer rotor includes multiple magnetic teeth, which respectively engage with the first insertion slots and are spaced apart on the first wire frame. The coil is wound around the magnetic teeth and the first mounting teeth. The outer ring is fitted around the outside of the first wire frame to connect the magnetic teeth and form a complete motor magnetic circuit.

[0006] In one embodiment, the first mounting tooth includes a first tooth wall, a second tooth wall, and a third tooth wall. The first tooth wall and the second tooth wall are disposed opposite to each other, and the two sides of the third tooth wall are respectively connected to the first tooth wall and the second tooth wall to form a first insertion groove with an opening on one side.

[0007] In one embodiment, a fourth tooth wall is provided on the side of the third tooth wall opposite to the magnetic tooth, the fourth tooth wall being used to prevent the coil wound around the magnetic tooth and the first mounting tooth from coming out.

[0008] In one embodiment, the connection between the first insertion slot and the first wire frame is configured as a through structure so that the magnetic tooth can be engaged in the first insertion slot.

[0009] In one embodiment, a plurality of mating parts are circumferentially spaced along the inner side of the first wire frame away from the first mounting tooth, and the mating parts are adapted to the magnetic tooth.

[0010] In one embodiment, the magnetic tooth includes an integrally formed first tooth segment and a second tooth segment. The first tooth segment is vertically disposed on the second tooth segment and is located in the first insertion groove. The two ends of the second tooth segment are respectively provided with slopes that connect to the first tooth segment, and the slopes respectively abut against the mating part.

[0011] In one embodiment, the mating part is disposed between two adjacent first mounting teeth. The mating part is provided with a first mating surface and a second mating surface that are set at an angle. The first mating surface abuts against the slope of the adjacent magnetic tooth, and the second mating surface abuts against the slope of the other adjacent magnetic tooth.

[0012] In one embodiment, the top of the magnetic tooth is provided with a positioning boss, and a plurality of positioning grooves are provided axially at intervals along the inner wall of the outer ring. The positioning boss cooperates with the positioning grooves to make the outer ring magnetically connected to the magnetic tooth.

[0013] In one embodiment, a plurality of slot pairs are provided circumferentially at intervals along the outer edge of the first wire frame, the slot pairs being used to connect with the motor housing.

[0014] In one embodiment, the hollow motor of the collaborative robot further includes a second wire frame. The second wire frame has a plurality of second mounting teeth spaced circumferentially along its outer wall. Each of the second mounting teeth is provided with a second insertion slot for accommodating the plurality of magnetic teeth. The second insertion slot is arranged opposite to the first insertion slot on the first wire frame, so that the opposing first insertion slot and second insertion slot can cover the magnetic teeth. The outer ring is fitted around the outside of the first wire frame and the second wire frame.

[0015] The aforementioned hollow motor for the collaborative robot includes a first wire frame, an outer rotor, an outer ring, and a coil. The outer rotor includes multiple magnetic teeth. Multiple first mounting teeth are spaced circumferentially along the outer wall of the first wire frame, and each first mounting tooth has a first insertion slot for accommodating the magnetic teeth. The spaced-out first mounting teeth increase the slot distance between the multiple magnetic teeth, facilitating the winding of the coil on the first mounting teeth with the magnetic teeth using an automatic winding machine. This also allows for the selection of coils with larger wire diameters, improving overall winding efficiency. Furthermore, the increased slot distance between the multiple magnetic teeth by the spaced-out first mounting teeth simultaneously increases the slot fill factor of the hollow motor, further improving the production efficiency of the hollow motor for the collaborative robot. Attached Figure Description

[0016] Figure 1 This is a structural side view of an embodiment of a hollow motor in a collaborative robot.

[0017] Figure 2 An exploded view of the structure of an embodiment of a hollow motor in a collaborative robot.

[0018] Figure 3 This is a schematic diagram of the wire frame structure of an embodiment of a hollow motor in a collaborative robot.

[0019] Figure 4 This is a schematic diagram of the outer ring structure of an embodiment of a hollow motor in a collaborative robot.

[0020] Figure 5 A schematic diagram of the magnetic teeth in an embodiment of a hollow motor for a collaborative robot.

[0021] Figure 6 This is a schematic diagram of the coil structure of an embodiment of a hollow motor in a collaborative robot.

[0022] Reference numerals: 100, First wire frame; 110, First mounting tooth; 111, First tooth wall; 112, Second tooth wall; 113, Third tooth wall; 114, Fourth tooth wall; 120, First insertion slot; 130, Mating part; 131, First mating surface; 132, Second mating surface; 133, Limiting protrusion; 140, Alignment slot; 200, Outer rotor; 210, Magnetic guide tooth; 211, First tooth segment; 2111, Positioning boss; 212, Second tooth segment; 2121, Slope; 300, Outer ring; 310, Positioning groove; 400, Coil; 500, Second wire frame; 510, Second mounting tooth; 520, Second insertion slot. Detailed Implementation

[0023] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0024] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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 application.

[0025] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0027] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0028] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0029] See Figure 1 and Figure 2 One embodiment of this application provides a hollow motor for a collaborative robot, including a first wire frame 100, an outer rotor 200, an outer ring 300, and a coil 400. The first wire frame 100 has a plurality of first mounting teeth 110 spaced apart along the outer wall. Each of the first mounting teeth 110 has a first insertion slot 120 for accommodating the outer rotor 200. The outer rotor 200 includes a plurality of magnetic teeth 210. The plurality of magnetic teeth 210 respectively cooperate with the first insertion slots 120 and are spaced apart on the first wire frame 100. The coil 400 is wound around the magnetic teeth 210 and the first mounting teeth 110. The outer ring 300 is sleeved on the outside of the first wire frame 100 to connect the magnetic teeth 210 to form a complete motor magnetic circuit.

[0030] The hollow motor of this collaborative robot features multiple first mounting teeth 110 spaced circumferentially along the outer wall of the first wire frame 100. Each first mounting tooth 110 has a first insertion slot 120 for accommodating magnetically conductive teeth 210. The spaced arrangement of the first mounting teeth 110 increases the slot distance between the magnetically conductive teeth 210, facilitating the winding of the coil 400 on the first mounting teeth 110 equipped with the magnetically conductive teeth 210 by the automatic winding machine of the outer rotor 200. It also allows for the selection of coils 400 with larger wire diameters, improving overall winding efficiency. Furthermore, the increased slot distance between the magnetically conductive teeth 210 by the spaced arrangement of the first mounting teeth 110 simultaneously increases the slot fill factor of the hollow motor, further enhancing the production efficiency of the hollow motor in this collaborative robot.

[0031] In some embodiments, the first wire frame 100, the outer rotor 200, and the outer ring 300 all adopt an annular structure to form a hollow-core motor. Compared with conventional motors, the hollow-core design can significantly reduce the size and weight of the motor, while also helping to reduce the operating temperature and noise of the motor. Simultaneously, the flat annular structure of the first wire frame 100, the outer rotor 200, and the outer ring 300 has a longer aspect ratio than conventional motors, and allows for a greater number of magnetic poles in the outer rotor 200, ensuring good output performance.

[0032] See Figure 1 and 3 In some embodiments, the first mounting tooth 110 includes a first tooth wall 111, a second tooth wall 112 and a third tooth wall 113. The first tooth wall 111 and the second tooth wall 112 are disposed opposite to each other, and the two sides of the third tooth wall 113 are respectively connected to the first tooth wall 111 and the second tooth wall 112 to form a first insertion groove 120 with an opening on one side.

[0033] Furthermore, multiple first mounting teeth 110 are all disposed on the same side of the outer wall of the first wire frame 100. The first tooth wall 111, the second tooth wall 112, and the third tooth wall 113 are all disposed perpendicular to the outer wall of the first wire frame 100. The first tooth wall 111, the second tooth wall 112, and the third tooth wall 113 together form a first insertion groove 120 with an opening on one side. This first insertion groove 120 is used to install multiple magnetically conductive teeth 210 in the outer rotor 200, allowing them to be spaced apart along the outer wall of the first wire frame 100. At the same time, since the first wire frame 100 is made of a high-strength non-magnetically conductive material, it can not only protect the magnetically conductive teeth 210, but also reduce hysteresis loss and lower motor temperature rise by using non-magnetically conductive materials, such as metals and alloys other than iron, cobalt, nickel, and their alloys, for the first mounting teeth 110.

[0034] See Figure 3 and Figure 6 In some embodiments, a fourth tooth wall 114 is provided on the side of the third tooth wall 113 away from the magnetic tooth 210. The fourth tooth wall 114 is used to prevent the coil 400 wound around the magnetic tooth 210 and the first mounting tooth 110 from coming out.

[0035] Furthermore, the fourth tooth wall 114 is arranged perpendicular to the third tooth wall 113, and the fourth tooth wall 114 extends along the axial direction of the first wire frame 100, and the length of the extension does not exceed the width of the first wire frame 100. When the magnetic tooth 210 is installed in the first insertion slot 120, the wire is uniformly wound around the first tooth wall 111, the second tooth wall 112, the third tooth wall 113 and the outer wall of the magnetic tooth 210 to form a wound coil 400. By setting the fourth tooth wall 114, the wound coil 400 can be prevented from coming off the mounting tooth.

[0036] Meanwhile, by setting the first tooth wall 111, the second tooth wall 112, the third tooth wall 113 and the fourth tooth wall 114, outward slots are formed between the mounting teeth. In conjunction with the automatic winding machine of the outer rotor 200, all the mounting teeth are connected, which solves both the motor winding problem and the problem of excessive pole shoe eddy current.

[0037] See Figure 3 In some embodiments, the connection between the first insertion slot 120 and the first wire frame 100 is provided as a through structure so that the magnetic tooth 210 can be engaged in the first insertion slot 120.

[0038] Furthermore, the connection between the first insertion slot 120 and the first wire frame 100 is designed as a through structure, that is, the bottom of the first insertion slot 120 is a through structure, forming a first insertion slot 120 with openings on three sides. One end of the magnetic guide tooth 210 is adapted to the first insertion slot 120, and the other end abuts against the inner wall of the first wire frame 100, so that each magnetic guide tooth 210 can be locked in the first insertion slot 120, that is, evenly spaced at fixed positions on the first wire frame 100. Since the wire frame is integrally injection molded, the magnetic guide tooth 210 forms an outer rotor 200 structure mode, which can simultaneously improve winding efficiency and slot fill factor. The increased slot fill factor results in a higher motor power density. To generate the same torque, the motor used is smaller in size. When applied to collaborative robots, it can save more space for robot joints and facilitate the installation of robotic arm brakes and reducers.

[0039] See Figure 3 In some embodiments, a plurality of mating parts 130 are provided circumferentially along the inner side of the first wire frame 100 away from the first mounting tooth 110, and the mating parts 130 are adapted to the magnetic tooth 210.

[0040] Furthermore, when the magnetic tooth 210 is disposed in the first insertion groove 120, the stability of the magnetic tooth 210 disposed in the first insertion groove 120 is further improved by providing multiple mating parts 130 that are adapted to the magnetic tooth 210.

[0041] See Figure 3 and Figure 5 In some embodiments, the magnetic tooth 210 includes an integrally formed first tooth segment 211 and a second tooth segment 212. The first tooth segment 211 is vertically disposed on the second tooth segment 212. The first tooth segment 211 is disposed in the first insertion groove 120. The two ends of the second tooth segment 212 are respectively provided with slope surfaces 2121 connected to the first tooth segment 211. The slope surfaces 2121 abut against the mating part 130.

[0042] Furthermore, the magnetic guide tooth 210 is made of silicon steel sheet with low core loss and high magnetic induction intensity. The first tooth segment 211 is rectangular, and the second tooth segment 212 is a trapezoidal platform with an arc-shaped bottom. The two sides of the trapezoidal platform are sloped surfaces 2121 that fit with the mating part 130. When the magnetic guide tooth 210 is installed in the first insertion slot 120, the sloped surfaces 2121 on both sides of the second tooth segment 212 can abut against the mating parts 130 on the two inner sides of the first wire frame 100, respectively, further improving the stability of the connection between the magnetic guide tooth 210 and the first wire frame 100. At the same time, since the bottom surface of the trapezoidal platform is arc-shaped, when multiple magnetic guide teeth 210 are installed in the first mounting slot of the first wire frame 100, the bottom surface of the second tooth segment 212 of the magnetic guide tooth 210 forms a hollow structure inside the hollow motor along the inner side of the first wire frame 100, which facilitates the subsequent installation of the reducer.

[0043] See Figure 3 In some embodiments, the mating part 130 is disposed between two adjacent first mounting teeth 110. The mating part 130 is provided with a first mating surface 131 and a second mating surface 132 arranged at an angle. The first mating surface 131 abuts against the slope surface 2121 of the adjacent magnetic tooth 210, and the second mating surface 132 abuts against the slope surface 2121 of the other adjacent magnetic tooth 210.

[0044] Furthermore, the mating part 130 is disposed on the inner sidewall between two adjacent first mounting teeth 110 of the first wire frame 100, and a limiting protrusion 133 parallel to the length direction of the mounting teeth is provided between the first mating surface 131 and the second mating surface 132. The limiting protrusion 133 can not only evenly and space the magnetic teeth 210 on the first wire frame 100, but also form a complete central ring structure with the bottom surface of the second tooth segment 212 of the magnetic teeth 210.

[0045] See Figure 4 and Figure 5 In some embodiments, the top of the magnetic tooth 210 is provided with a positioning boss 2111, and a plurality of positioning grooves 310 are provided axially along the inner wall of the outer ring 300. The positioning boss 2111 and the positioning grooves 310 cooperate to make the outer ring 300 magnetically connected to the magnetic tooth 210.

[0046] Furthermore, the positioning boss 2111 extends along the length direction of the top of the first tooth segment 211 of the magnetic tooth 210, and the positioning groove 310 extends axially along the inner wall of the outer ring 300. The positioning groove 310, which is evenly spaced on the inner wall of the outer ring 300, mates with the positioning boss 2111 on the multiple magnetic teeth 210 of the first wire frame 100, so that the outer ring 300 and the magnetic teeth 210 are magnetically connected.

[0047] Meanwhile, since the outer ring 300 is designed as an annular outer ring 300 adapted to the first wire frame 100 which has the outer rotor 200 and coil 400, it does not need to be re-circled. The separate design of the outer ring 300 adapted to the first wire frame 100 can improve the accuracy of the motor's outer diameter, which facilitates subsequent assembly with the motor housing, thus ensuring accurate assembly of the hollow motor. In addition, the motor housing is fitted over the outer ring 300. When the hollow motor is installed in the robotic arm of the collaborative robot, the high-precision outer diameter of the outer ring 300 greatly reduces the gap between the motor housing and the robotic arm housing. That is, by setting the motor housing and the robotic arm housing to an interference fit, the heat generated by the hollow motor can be directly dissipated through the motor housing, further improving the heat dissipation efficiency of the hollow motor.

[0048] See Figure 1 and Figure 3 In some embodiments, a plurality of slots 140 are provided circumferentially along the outer edge of the first wire frame 100, and the slots 140 are used to connect with the motor housing.

[0049] Furthermore, since the outer ring 300 is set as an annular outer ring 300 that is adapted to the first wire frame 100 with the outer rotor 200 and the coil 400, it is not necessary to re-round it. By setting the slot 140 to match the robotic arm housing, the two can be quickly installed, improving assembly efficiency.

[0050] See Figure 2 In some embodiments, the hollow motor of the collaborative robot also includes a second wire frame 500. The second wire frame 500 is provided with a plurality of second mounting teeth 510 spaced circumferentially along its outer wall. Each of the second mounting teeth 510 is provided with a second insertion slot 520 for accommodating a plurality of magnetic teeth 210. The second insertion slot 520 is arranged facing the first insertion slot 120 on the first wire frame 100, so that the opposing first insertion slot 120 and second insertion slot 520 can cover the magnetic teeth 210. The outer ring 300 is sleeved on the outside of the first wire frame 100 and the second wire frame 500.

[0051] Furthermore, the second wire frame 500 has the same structure as the first wire frame 100. Similarly, the second wire frame 500 is provided with a plurality of second mounting teeth 510 spaced apart along the outer wall. Each of the second mounting teeth 510 is provided with a second insertion slot 520 for accommodating a plurality of magnetic teeth 210.

[0052] Specifically, the second mounting teeth 510 are all disposed on the outer wall of the second wire frame 500 near the first wire frame 100, and the second mounting teeth 510 also include a first tooth wall 111, a second tooth wall 112, a third tooth wall 113 and a fourth tooth wall 114. The second insertion slot 520 is arranged facing the first insertion slot 120 on the first wire frame 100, so that the first tooth wall 111, the second tooth wall 112 and the third tooth wall 113 of the first insertion slot 120 can completely cover the magnetic tooth 210 in conjunction with the first tooth wall 111, the second tooth wall 112 and the third tooth wall 113 of the second insertion slot 520. Multiple mating parts 130 are circumferentially spaced along the inner side of the second wire frame 500 away from the second mounting tooth 510. The mating parts 130 are adapted to the magnetic guide teeth 210. That is, the magnetic guide teeth 210, which are covered in the first insertion groove 120 and the second insertion groove 520, have a part in the first wire frame 100 and another part in the second wire frame 500 in the length direction. Then, the outer ring 300 is fitted on the outside of the first wire frame 100 and the second wire frame 500 to complete the assembly of the hollow motor.

[0053] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A hollow motor for a collaborative robot, characterized in that, The hollow motor of the collaborative robot includes a first wire frame (100), an outer rotor (200), an outer ring (300), and a coil (400). The first wire frame (100) has a plurality of first mounting teeth (110) spaced apart along the outer wall. Each of the first mounting teeth (110) is provided with a first insertion slot (120) for accommodating the outer rotor (200). The outer rotor (200) includes a plurality of magnetic teeth (210). The plurality of magnetic teeth (210) respectively cooperate with the first insertion slot (120) and are spaced apart on the first wire frame (100). The magnetic teeth (210) and the first mounting teeth (110) are wound around the coil (400). The outer ring (300) is sleeved on the outside of the first wire frame (100) to connect the magnetic teeth (210) to form a complete motor magnetic circuit. The first mounting tooth (110) includes a first tooth wall (111), a second tooth wall (112) and a third tooth wall (113). The first tooth wall (111) and the second tooth wall (112) are arranged opposite to each other. The two sides of the third tooth wall (113) are connected to the first tooth wall (111) and the second tooth wall (112) respectively to form the first insertion groove (120) with an opening on one side. The connection between the first insertion slot (120) and the first wire frame (100) is designed as a through structure so that the magnetic tooth (210) can be engaged in the first insertion slot (120); a plurality of mating parts (130) are arranged circumferentially along the inner side of the first wire frame (100) away from the first mounting tooth (110), and the mating parts (130) are adapted to the magnetic tooth (210); the mating parts (130) are provided with a first mating surface (131) and a second mating surface (132) arranged at an angle, the first mating surface (131) and the second mating surface (132) being arranged at an angle. The mating surface (131) abuts against the slope (2121) of the adjacent magnetic tooth (210), and the second mating surface (132) abuts against the slope (2121) of the other adjacent magnetic tooth (210); a limiting protrusion (133) parallel to the length direction of the mounting tooth is provided between the first mating surface (131) and the second mating surface (132) to evenly space the plurality of magnetic teeth (210) on the first wire frame (100) and to form a complete central ring structure with the bottom surface of the magnetic tooth (210).

2. The hollow motor of the collaborative robot according to claim 1, characterized in that, The third tooth wall (113) is provided with a fourth tooth wall (114) on the side opposite to the magnetic tooth (210). The fourth tooth wall (114) is used to prevent the coil (400) wound around the magnetic tooth (210) and the first mounting tooth (110) from coming out.

3. The hollow motor of the collaborative robot according to claim 1, characterized in that, The magnetic guide tooth (210) includes an integrally formed first tooth segment (211) and a second tooth segment (212). The first tooth segment (211) is vertically disposed on the second tooth segment (212). The first tooth segment (211) is disposed in the first insertion groove (120). The two ends of the second tooth segment (212) are respectively provided with slope surfaces (2121) connected to the first tooth segment (211). The slope surfaces (2121) respectively abut against the mating part (130).

4. The hollow motor of the collaborative robot according to claim 1, characterized in that, The mating part (130) is disposed between two adjacent first mounting teeth (110).

5. The hollow motor of the collaborative robot according to claim 1, characterized in that, The top of the magnetic tooth (210) is provided with a positioning boss (2111), and a plurality of positioning grooves (310) are provided axially along the inner wall of the outer ring (300). The positioning boss (2111) cooperates with the positioning grooves (310) so that the outer ring (300) is magnetically connected to the magnetic tooth (210).

6. The hollow motor of the collaborative robot according to claim 1, characterized in that, A plurality of slots (140) are provided at circumferential intervals along the outer edge of the first wire frame (100), and the slots (140) are used to connect with the motor housing.

7. The hollow motor of the collaborative robot according to claim 1, characterized in that, The hollow motor of the collaborative robot also includes a second wire frame (500). The second wire frame (500) has a plurality of second mounting teeth (510) spaced circumferentially along its outer wall. Each of the second mounting teeth (510) is provided with a second insertion slot (520) for accommodating a plurality of magnetic guide teeth (210). The second insertion slot (520) is arranged opposite to the first insertion slot (120) on the first wire frame (100) so that the opposing first insertion slot (120) and second insertion slot (520) can cover the magnetic guide teeth (210). The outer ring (300) is sleeved on the outside of the first wire frame (100) and the second wire frame (500).

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