Compact propeller hub motor propelling system with built-in variable pitch steering engine

Abstract

The invention belongs to the field of electric propulsion systems of electric vertical take-off and landing aircrafts, and particularly relates to a compact propeller hub motor propulsion system with a built-in variable pitch steering engine. Comprising a rotor hub subsystem (100), a variable pitch control subsystem (200) and a motor electric control subsystem (300), and the lower end of the variable pitch control subsystem (200) is fixed in a motor stator support (308) of the motor electric control subsystem (300); and the upper end of the variable-pitch control subsystem (200) is connected with a variable-pitch rocker arm of the rotor hub subsystem (100).

Description

TECHNICAL FIELD

[0001] The application belongs to the field of electric propulsion systems of electric vertical take-off and landing aircraft, and particularly relates to a compact hub motor propulsion system with built-in variable-pitch steering engine. BACKGROUND

[0002] An eVTOL is an aircraft that uses electricity as a source of flight power and has the function of vertical take-off and landing. It has the characteristics of vertical take-off and landing, intelligent operation, fast maneuvering, low cost, low noise, zero emission, easy maintenance, etc., and has broad application prospects in future military and civilian fields. Compared with the rotor of a traditional helicopter, the design of the electric propulsion system of an eVTOL no longer involves an engine and complex automatic tilting devices and hinge structures such as hub flapping and swinging, and uses an electric motor to directly drive the rotor to rotate, and contains a variable-pitch steering engine to control the pitch of the rotor blades. This configuration greatly improves the compactness, reliability and maintainability of the structure and is widely used in various eVTOL rotor systems.

[0003] The conventional electric propulsion system of an eVTOL usually uses an inner rotor motor, and the output shaft of the motor is directly connected to the rotor system. The pitch of the rotor blades is usually controlled by installing a steering engine mechanism that can reciprocate on the tail stator case of the motor. Although this can meet the functional requirements, as the design technology of eVTOLs develops, higher requirements are placed on the integration of the electric propulsion system. The installation of the steering engine at the tail of the motor also exposes more problems, such as the large size of the steering engine occupying the axial dimension of the entire electric propulsion system, the mutual influence of the steering engine and the motor control space, the problem of electromagnetic interference of the steering engine, the incomplete use of the inner space of the motor and the rotor system, the insufficient power density of the inner rotor motor relative to the outer rotor motor, the low integration of the motor and the rotor system of the electric propulsion system, the complex rotor pitch control structure, the large weight of the outer rotor motor bearing, and the high design difficulty of the crossed roller bearing. SUMMARY

[0004] The application aims to provide a compact hub motor propulsion system with a built-in variable-pitch steering engine.

[0005] Technical solution A compact hub motor propulsion system with a built-in variable-pitch steering engine, comprising: a rotor hub subsystem 100, a variable-pitch control subsystem 200, and a motor control subsystem 300, wherein the lower end of the variable-pitch control subsystem 200 is fixed inside the motor stator support 308 of the motor control subsystem 300; and the upper end of the variable-pitch control subsystem 200 is connected to the variable-pitch rocker arm of the rotor hub subsystem 100.

[0006] Furthermore, the rotor hub subsystem 100 includes: a hub cover plate 101, a cover plate anti-torsion guide cylinder 102, a hub 103, an outer support arm bearing 104, an inner support arm bearing 105, a rotor blade 106, and a pitch control rocker arm 107, wherein, The blade 106 is fixed in each support arm hole of the hub 103 via the outer support arm bearing 104 and the inner support arm bearing 105; the hub cover plate 101 is fixed to the upper end of the hub 103, and the cover plate anti-torsion guide cylinder 102 is located in the center hole of the hub and its upper end is slidably connected to the hub cover plate 101; the pitch control arm 107 is fixed to the root of the blade 106 and connected to the pitch control subsystem 200.

[0007] Furthermore, the rotor hub subsystem 100 is fixed to the motor and electronic control subsystem 300 by means of a large washer 108, a locking nut 109, and a locking bolt 110.

[0008] Furthermore, the variable pitch control subsystem 200 includes: a variable pitch lever 201, a variable pitch lever rail 204, and a compact servo motor 210, wherein, The lower end of the pitch shift sleeve 201 is connected to the integrated drive rod 211 of the compact servo motor 210, and the outer side of the pitch shift sleeve 201 is connected to the pitch rocker arm 107 of the rotor hub subsystem 100 through the pitch shift sleeve rail 204.

[0009] Furthermore, the compact servo 210 includes: an integrated drive lever 211, a support slider 212, a lead screw 213, an anti-torsion seat 214, a planetary roller assembly 215, a servo mounting bolt 216, and a torque motor 217, wherein, The outer side of the integrated drive rod 211 is splined to the anti-torsion seat 214, and the inner side of the integrated drive rod 211 is threaded to the outer side of the planetary roller assembly 215. The upper end of the lead screw 213 is connected to the support slider 212. The lead screw 213 and the integrated drive rod 211 slide relative to each other. The outer side of the lead screw 213 is threaded to the inner side of the planetary roller assembly 215. The bottom of the lead screw 213 is fixedly connected to the torque motor 217 through the servo fixing bolt 216.

[0010] Furthermore, the upper end of the integrated drive rod 211 is connected to the lower end of the variable pitch sleeve 201 via the upper locking nut 202 and the bearing 203.

[0011] Furthermore, the motor control subsystem 300 includes: a motor cover plate 301, a bearing outer pressure plate 304, a double-row bearing 305, a transition ring 306, a motor stator support 308, a thin bearing 309, a stator winding 310, a rotor magnet 311, an outer rotor casing 312, and electrical control components 313, wherein... The outer side of the motor cover plate 301 is connected with the outer rotor case 312; the inner side of the motor cover plate 301 is connected through the bottom of the hub 103; the rotor magnet steel 311 is installed on the inner side of the outer rotor case 312; the bottom of the outer rotor case 312 is connected with the motor stator support 308 through the thin bearing 309; the outer ring of the double-row bearing 305 is fixed through the bearing outer pressing plate 304, the inner ring of the double-row bearing 305 is fixed on the retainer of the adapter ring 306 and is pressed tightly through the motor cover plate 301; the adapter ring 306 is connected with the motor cover plate 301; the stator winding 310 is fixed on the motor stator support 308, the electric control component 313 is fixed in the motor stator support 308, and the electric control component 313 is electrically connected with the stator winding 310.

[0012] Further, the motor cover plate 301 and the adapter ring 306 are connected through the locking bolt 307 and the locking nut 302.

[0013] Further, the outer bearing 104 and the inner bearing 105 of the arm are a pair of outer tapered roller bearings or thrust angular contact bearings combined with deep groove ball bearings.

[0014] Further, the bearing 203 is a double-row angular contact ball bearing.

[0015] Beneficial effects: 1. The idea of high-integration design of the outer rotor motor and the hub is borrowed from the new energy wheel hub motor, the high-power-density outer rotor motor is highly integrated with the hub rotor system and the rudder control system, the hub motor type which solves the problem of complex transmission path of the rotor system can meet the scene demand of the future high-power-density eVTOL electric propulsion system; 2. The rotor system adopts bearing support blade arm, the arm connects the variable-pitch control sleeve, which can provide a compact control space inside the hub; 3. The variable-pitch control subsystem is integrated into the rotor system by integrating the variable-pitch control sleeve containing rolling bearings and a compact large-load rudder, the bottom of the rudder is fixed on the stator support of the outer rotor motor, which effectively utilizes the small space inside the hub and meets the demand of variable-pitch control of the rotor system; 3. The high-integration hub of the rotor system inputs motor torque power through the motor cover plate, and transmits complex rotor loads to the double-row bearing through the adapter ring, and then transmits the loads to the stator support, which effectively ensures the high-precision and stable operation of the outer rotor motor while providing high-power-density power output; 4. Through the design of the motor cover plate with double-row bolt holes and the design of the complex transmission adapter ring structure, the six force elements of the rotor system are transmitted to the motor cover plate through the hub, then to the adapter ring, and then to the double-row bearing through the adapter ring, and finally to the motor stator support, which effectively ensures the rationality of the transmission design; 5. A thin bearing is installed between the stator support of the motor and the bottom of the outer rotor case, further ensuring the air gap requirement between the rotor magnet on the outer rotor case and the stator winding, and further ensuring the precision of the motor; 6. The double-row bearing design adopted by the outer rotor main transmission can stably bear the entire complex rotor load while ensuring reliable rotary motion, effectively reducing the design difficulty and the overall weight of the electric propulsion system. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. The drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0017] Figure 1 It is a three-dimensional schematic diagram of each subsystem of the compact hub motor type of the variable pitch servo mechanism; Figure 2 It is a three-dimensional schematic diagram of the rotor system of the compact hub motor type of the subsystem; Figure 3 It is a three-dimensional schematic diagram of the variable pitch control subsystem of the compact hub motor type of the subsystem; Figure 4 It is a three-dimensional schematic diagram of the servo mechanism system of the compact hub motor type of the subsystem; Figure 5 It is a schematic diagram of the motor and electric control subsystem of the compact hub motor type of the subsystem; Among them, Figure 1 In the figure: 100, rotor hub subsystem, 200, variable pitch control subsystem, 300, motor and electric control subsystem.

[0018] Figure 2 In the figure: 101, hub cover plate, 102, cover plate anti-twist guide cylinder, 103, hub, 104, outer bearing of support arm, 105, inner bearing of support arm, 106, rotor support arm, 107, variable pitch rocker arm, 108, large washer, 109, locking nut, 110, locking bolt.

[0019] Figure 3 In the figure: 201, variable pitch sleeve, 202, servo mechanism upper locking nut, 203, bearing, 204, variable pitch sleeve track, 210, compact servo mechanism.

[0020] Figure 4Middle: 211, integral driving rod, 212, support slider, 213, screw rod, 214, anti-torsion seat, 215, planetary roller group, 216, steering engine fixing bolt, 217, torque motor.

[0021] Figure 5 Middle: 301, motor cover plate, 302, locking nut, 303, locking bolt, 304, bearing outer pressing plate, 305, double-row bearing, 306, adapter ring, 307, locking bolt, 308, motor stator support, 309, thin bearing, 310, stator winding, 311, rotor magnetic steel, 312, outer rotor casing, 313, electric control components. DETAILED DESCRIPTION

[0022] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the drawings of the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, any other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0023] The features and illustrative embodiments of various aspects of the present application will be described below in detail. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without some of these specific details. The following description of embodiments is merely exemplary in nature and is provided to give a more full understanding of the present application. The present application is in no way limited to any one or more of the specific settings and methods set forth below, but covers any improvements, replacements and modifications of structures, methods and devices without departing from the spirit of the present application. In the drawings and the following description, well-known structures and techniques are not shown to avoid unnecessary obscuring of the present application.

[0024] In the description of the present application, it should be noted that the directions or position relationships belonging to "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like are described based on the directions or position relationships in the drawings, and are only for the convenience of describing the present application and simplifying the description, and cannot be understood as limiting the present application. In addition, the ordinal words (for example, "first and second", etc.) are used to distinguish objects, and are not limited to the order, and cannot be understood as indicating or implying relative importance.

[0025] In the description of the present application, it should be noted that unless otherwise expressly specified and limited, the terms of "mounting", "connecting", "connecting" should be understood in a broad sense, which can be directly connected or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0026] It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict, and each embodiment can be mutually referenced and quoted. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0027] The present application will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present application are not limited thereto.

[0028] The present application designs a hub motor type that solves the problem of complex transmission path of high power density outer rotor motor and high integration design of hub rotor system, which can meet the scene demand of future high power density eVTOL electric propulsion system. The rotor system adopts bearing support blade arm, and the arm connects the variable pitch control rotor configuration, which can provide a compact control space inside the hub; the variable pitch control subsystem is integrated inside the rotor system by integrating the variable pitch control rotor containing rolling bearings and the compact large load steering machine, and the bottom of the steering machine is fixed on the stator support of the outer rotor motor, which effectively utilizes the small space inside the hub and meets the demand of variable pitch control of the rotor system; the high integration hub of the rotor system inputs the motor torque power through the motor cover plate, and transmits the complex rotor load to the double row bearing through the adapter ring, and then transmits the load to the stator support, which provides high power density power output and effectively ensures the high precision and stable operation of the outer rotor motor. The integrated high integration design of outer rotor motor + inner control variable pitch + rotor system realizes the high power density power output of electric propulsion system in compact space.

[0029] As Figures 1-5 , the compact hub motor propulsion system with built-in variable pitch steering machine of the present application mainly consists of three system parts, including rotor hub subsystem 100, variable pitch control subsystem 200 and motor electric control subsystem 300. The working principle is as follows: The motor electric control subsystem 300 of the outer rotor configuration serves as a power source, which converts electrical energy into mechanical energy of the outer rotor casing 312 of the outer rotor motor 300 through electromagnetic induction of the stator and the rotor. The outer rotor casing 312 transmits torque to the motor cover plate 301 through a circle of flange bolts on the top, the motor cover plate 301 contains a circle of bolt holes in the center, which can be locked by locking bolt 110 to lock the motor cover plate 301 and the hub 103 base of the rotor system 100, and then transmit the motor torque power to the rotor system to make the rotor system rotate and provide lift. The pitch control function of the rotor system blade 106 is mainly realized by the pitch control subsystem 200. The compact steering gear 201 is fixed on the inner hole flange bolt hole of the motor stator support 308 of the motor control subsystem 300. The torque motor 217 of the compact steering gear 201 rotates, drives the screw rod 213 to rotate, and further drives the roller nut set 215 to rotate. Through the anti-torsion seat 214, the rotation of the integrated driving rod 211 is converted into up and down movement. The top of the integrated driving rod 211 is directly connected with a bearing 203, and is locked by the upper locking nut 202 of the steering gear, so as to connect the compact steering gear 210 with the pitch control sleeve 201, so that the steering gear 210 can pull the pitch control sleeve 201 to move up and down, and the pitch control sleeve 201 can rotate around the non-rotating steering gear 210. The top of the pitch control sleeve 201 contains multiple flat keys or other guide structures, which can cooperate with the cover anti-torsion guide cylinder 102 of the rotor system 100. When the rotor system 100 rotates, it can drive the pitch control sleeve 201 to rotate synchronously. The pitch control sleeve track 204 on the outside of the pitch control sleeve 201 can clamp the cylindrical pin of the pitch control rocker arm 107 of the rotor system 100. In this way, the steering gear 210 can pull the pitch control sleeve 201, which rotates synchronously with the rotor system 100, to move up and down, and further drive the pitch control rocker arm 107 to rotate around its own axis, so as to realize the pitch control of the blade. The rotor system itself provides lift while also bearing complex rotor six-force element load, which needs to be transmitted to the motor stator support 308 of the motor control subsystem 300, otherwise it will cause the load to be transmitted to the outer rotor of the outer rotor motor, damaging the air gap requirement between the rotor magnet steel 311 and the stator winding 310 on the outer rotor motor case 312. The hub 103 of the rotor system 100 is locked by the locking bolt 110 and the upper circle of bolt holes in the center of the motor cover plate 301. The second row of bolt holes of the motor cover plate 301 is connected with the adapter ring 306 through the locking bolt 307 and the locking nut 302. The adapter ring 306 supports the inner hole of the bearing 305, and the bottom clamps the inner ring of the bearing. The motor cover plate 301 presses the upper side of the bearing inner ring to limit the axial displacement of the bearing inner ring. The lower side of the bearing outer ring is clamped by the motor stator support 308, and the upper side is pressed by the bearing outer pressing plate 304 and is pressed by a circle of locking bolts 303. The six-force element load of the rotor system 100 can be transmitted to the motor cover plate 301 through the hub 103, and then transmitted to the adapter ring 306, and then transmitted to the double-row bearing 305, and finally transmitted to the motor stator support 308 through the double-row bearing 305. In order to further ensure the air gap requirement between the rotor magnet steel 311 and the stator winding 310 on the outer rotor motor case 312, a thin bearing 309 can be installed between the motor stator support 309 and the bottom of the outer rotor motor case 312 according to the precision requirement, which can ensure the motor running precision.

[0030] The servo motor employs a compact, high-load drive mechanism. A compact torque motor 217 serves as the power source, converting electrical energy into mechanical energy through electromagnetic induction between the stator and rotor, thereby driving the lead screw 213 to rotate. The rotation of the lead screw 213 drives the planetary roller assembly 215, which is in threaded contact with it. The nut in threaded contact with the planetary rollers 215 is itself part of the integrated drive rod 211. The rotation of the planetary roller assembly 215 drives the integrated drive rod 211 to rotate. The integrated drive rod 211 has external spline teeth or guide grooves machined on its lower surface, connecting to an anti-torsion seat assembly 214 with internal splines or guide grooves. This ultimately converts the rotational motion of the integrated drive rod 211 into vertical movement, achieving reciprocating linear motion, which is output through other connecting structures at the top. The servo motor 210's end-effector is equipped with a brake and electronic control mechanism, enabling both compact, high-drive output and high-precision braking and servo control. This structure has the following characteristics: 1. The compact servo motor 201 is fixed on the inner flange bolt hole of the motor stator support 308 of the motor control subsystem 300. The torque motor 217 of the compact servo motor 201 rotates, which drives the lead screw 213 to rotate, and then drives the roller nut assembly 215 to rotate. Through the anti-torsion seat 214, the rotational motion of the integrated drive rod 211 is converted into up and down movement. A bearing 203 is directly connected to the top of the integrated drive rod 211 and locked by the locking nut 202 on the servo motor, connecting the compact servo motor 210 to the variable pitch sleeve 201, so that the servo motor 210 can pull the variable pitch sleeve 201 to move up and down. 3. The pitch shift sleeve 201 can rotate around the non-rotating servo motor 210. The top of the pitch shift sleeve 201 contains multiple flat keys or other guide structures, which can cooperate with the anti-torsion guide tube 102 of the cover plate of the rotor system 100. When the rotor system 100 rotates, it can drive the pitch shift sleeve 201 to rotate synchronously. The top of the 4-pitch shift sleeve 201 contains multiple flat keys or other guide structures, which can cooperate with the anti-torsion guide cylinder 102 of the rotor system 100 cover plate. When the rotor system 100 rotates, it can drive the pitch shift sleeve 201 to rotate synchronously. The outer pitch shifter track 204 of the 5 pitch shifter 201 can lock the cylindrical pin of the pitch rocker arm 107 that cooperates with the rotor system 100. In this way, the servo motor 210 can pull the pitch shifter 201, which rotates synchronously with the rotor system 100, to move up and down, thereby driving the pitch rocker arm 107 to rotate around its own axis. 7. Lock the rotor hub 103 of the rotor system 100 to the upper ring of bolt holes at the center of the motor cover plate 301 using locking bolts 110. Then connect the second row of bolt holes of the motor cover plate 301 to the adapter ring 306 using locking bolts 307 and locking nuts 302. 8The adapter ring 306 supports the inner hole of the bearing 305, and the bottom clamps the lower side of the inner ring of the bearing. The motor cover plate 301 presses the upper side of the inner ring of the bearing, limiting the axial displacement of the inner ring of the bearing. The lower side of the outer ring of the bearing is clamped by the motor stator support 308, and the upper side of the outer ring is pressed by the bearing outer pressing plate 304, and is pressed by a ring of locking bolts 303. 9The six force element loads of the rotor system 100 can be transmitted to the motor cover plate 301 through the hub 103, and then transmitted to the adapter ring 306, and then transmitted to the double-row bearing 305, and finally transmitted to the motor stator support 308 through the double-row bearing 305; 10The air gap required between the rotor magnet 311 on the outer rotor case 312 and the stator winding 310 can be installed with a thin bearing 309 between the motor stator support 309 and the bottom of the outer rotor case 312 according to the accuracy requirement, which can ensure the accuracy of the motor operation.

[0031] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any changes or replacements that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A compact propeller hub motor propulsion system with built-in variable pitch actuator, characterized by, Comprise: The rotor hub subsystem, the pitch control subsystem, the motor electronic control subsystem, wherein, The lower end of the pitch control subsystem is fixed inside the motor stator support of the motor electronic control subsystem; The upper end of the pitch control subsystem is connected with the pitch control rocker of the rotor hub subsystem.

2. The compact hub motor propulsion system with built-in variable pitch actuator according to claim 1, wherein, The rotor hub subsystem comprises: a hub cover plate, a cover plate anti-twist guide cylinder, a hub, a support arm outer bearing, a support arm inner bearing, a blade, and a pitch control rocker, wherein, The blade is fixed in each support arm hole of the hub through the support arm outer bearing and the support arm inner bearing; the hub cover plate is fixed on the upper end of the hub; the cover plate anti-twist guide cylinder is located in the central hole of the hub and is slidably connected with the hub cover plate at the upper end; the pitch control rocker is fixed on the root of the blade and is connected with the pitch control subsystem.

3. The compact hub motor propulsion system with built-in variable pitch actuator according to claim 2, wherein, The rotor hub subsystem is fixed with the motor electronic control subsystem through a large gasket, a locking nut, and a locking bolt.

4. The compact hub motor propulsion system with built-in variable pitch actuator according to claim 3, wherein, The pitch control subsystem comprises: a pitch control sleeve, a pitch control sleeve track, and a compact steering engine, wherein, The lower end of the pitch control sleeve is connected with the integrated drive rod of the compact steering engine, and the outer side of the pitch control sleeve is connected with the pitch control rocker of the rotor hub subsystem through the pitch control sleeve track.

5. The compact hub motor propulsion system with built-in variable pitch actuator according to claim 4, wherein, The compact steering engine comprises: an integrated drive rod, a support sliding block, a lead screw, an anti-twist seat, a planetary roller group, a steering engine fixing bolt, and a torque motor, wherein, The outer side of the integrated drive rod is connected with the anti-twist seat through spline fitting, the inner side of the integrated drive rod is connected with the outer side of the planetary roller group through threads, the upper end of the lead screw is connected with the support sliding block, the lead screw slides up and down relative to the integrated drive rod, the outer side of the lead screw is screw-connected with the inner side of the planetary roller group, and the bottom of the lead screw is fixedly connected with the torque motor through the steering engine fixing bolt.

6. The compact hub motor propulsion system with built-in variable pitch actuator according to claim 5, wherein, The upper end of the integrated drive rod is connected with the lower end of the pitch control sleeve through an upper locking nut and a bearing.

7. The compact hub motor propulsion system with built-in variable pitch actuator according to claim 6, wherein, The motor electronic control subsystem comprises: a motor cover plate, a bearing outer pressure plate, a double-row bearing, an adapter ring, a motor stator support, a thin bearing, a stator winding, a rotor magnet, an outer rotor case, and electronic control components, wherein, The outer side of the motor cover plate is connected with the outer rotor case; the inner side of the motor cover plate is connected through the bottom of the hub; the rotor magnet is installed on the inner side of the outer rotor case; the bottom of the outer rotor case is connected with the motor stator support through the thin bearing; the outer ring of the double-row bearing is fixed through the bearing outer pressure plate, the inner ring of the double-row bearing is fixed on the retainer of the adapter ring and is pressed tightly through the motor cover plate; the adapter ring is connected with the motor cover plate; the stator winding is fixed on the motor stator support, the electronic control components are fixed in the motor stator support, and the electronic control components are electrically connected with the stator winding.

8. The compact hub motor propulsion system with built-in variable pitch actuator according to claim 7, wherein, The motor cover plate and the adapter ring are connected through a locking bolt and a locking nut.

9. The compact hub motor propulsion system with built-in variable pitch actuator according to claim 8, wherein, The support arm outer bearing and the support arm inner bearing are a pair of outer tapered roller bearings or a combination of a thrust angular contact bearing and a deep groove ball bearing.

10. The compact hub motor propulsion system with built-in variable pitch actuator of claim 1, wherein, The bearing is a double-row angular contact ball bearing.

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