Large-load driving mechanism with compact space

Abstract

The invention belongs to the field of variable-pitch driving structures of aircraft rotor systems, and particularly relates to a large-load driving mechanism with a compact space. Comprising a driving rod assembly (100), an anti-twisting base assembly (200), a torque motor shell assembly (300), a torque motor (400), a brake and an electric control mechanism (500), the torque motor (400) is arranged in the torque motor shell assembly (300), one end of the driving rod assembly (100) is connected with a rotor of the torque motor (400), and the other end of the driving rod assembly (100) is used for being connected with a load; the inner side of the anti-twisting seat assembly (200) is in spline connection with the other end of the driving rod assembly (100), and the bottom of the anti-twisting seat assembly (200) is connected with the torque motor shell assembly (300); a brake in the brake and electric control mechanism (500) is connected with a torque motor rotor shaft (405) of the torque motor (400), and an electric control mechanism in the brake and electric control mechanism (500) is connected with a torque motor stator winding (403) of the torque motor (400).

Description

Technical Field

[0001] This invention belongs to the field of variable pitch drive structure for aircraft rotor systems, and specifically relates to a space-compact, high-load drive mechanism. Background Technology

[0002] eVTOL is an aircraft that uses electricity as its power source and has vertical takeoff and landing capabilities. It features vertical takeoff and landing, intelligent operation, rapid maneuverability, low cost, low noise, zero emissions, and ease of maintenance, and has broad application prospects in both military and civilian fields. Compared to traditional helicopter rotors, the eVTOL rotor system design eliminates the complex automatic swashplate and hub flapping / arraying hinge structures, allowing for collective pitch control of the blades. This rotor configuration significantly improves structural compactness, reliability, and maintainability, and is widely used in various eVTOL rotor systems.

[0003] Conventional eVTOL rotor systems are typically directly connected to the motor. To meet the rotor blade pitch requirements, a reciprocating servo mechanism is usually mounted at the rear of the motor. While this satisfies functional needs, as eVTOL designs increase in tonnage, higher demands are placed on the integration of the electric propulsion system. This servo-mounted design exposes several problems, such as occupying the axial dimension of the entire electric propulsion system, mutual interference between the servo and motor control space, electromagnetic interference issues with the servo, and incomplete utilization of space within the servo motor and rotor system. Furthermore, the large radial space required makes it difficult to achieve maneuvering within tight radial and axial dimensions, such as in rotor hub-based control scenarios. Summary of the Invention

[0004] Purpose of the invention: To provide a space-compact, high-load drive mechanism that meets the manipulation requirements of narrow radial and axial dimensions.

[0005] Technical solution: A compact, high-load drive mechanism includes: a drive rod assembly 100, an anti-torsion seat assembly 200, a torque motor housing assembly 300, a torque motor 400, and a brake and electronic control mechanism 500. The torque motor 400 is housed within the torque motor housing assembly 300. One end of the drive rod assembly 100 is connected to the rotor of the torque motor 400, and the other end is used to connect to the load. The inner side of the anti-torsion seat assembly 200 is splinedly connected to the other end of the drive rod assembly 100, and the bottom of the anti-torsion seat assembly 200 is connected to the torque motor housing assembly 300. The brake in the brake and electronic control mechanism 500 is connected to the torque motor rotor shaft 405 of the torque motor 400, and the electronic control mechanism in the brake and electronic control mechanism 500 is connected to the torque motor stator winding 403 of the torque motor 400.

[0006] Furthermore, the drive rod assembly 100 includes: a spherical bearing 101, a spherical bearing shank 102, an integrated drive rod 103, a lead screw support slider 104, a roller assembly 110, and a lead screw 120. The spherical bearing 101 is fixed in the mounting hole of the spherical bearing shank 102. One end of the integrated drive rod 103 is threadedly connected to the spherical bearing shank 102. The integrated drive rod 103 is hollow inside. The lead screw support slider 104 is disposed inside the integrated drive rod 103. One end of the lead screw 120 is connected to the lead screw support slider 104. The middle section of the lead screw 120 is threadedly connected to the other end of the integrated drive rod 103 through the roller assembly 110.

[0007] Furthermore, the roller assembly 110 includes: an upper retaining ring 111, an upper support plate 112, planetary rollers 113, an external spline 114, a lower retaining ring 115, and a lower support plate 116. The upper support plate 112 and the lower support plate 116 are connected by the planetary rollers 113 and fixed by the upper retaining rings 111 and 115. The lower end of the integrated drive rod 103 is provided with an external spline 114. The inner side of the planetary rollers 113 is threadedly connected to the lead screw 120, and the outer side of the planetary rollers 113 is threadedly connected to the integrated drive rod 103.

[0008] Furthermore, the lead screw 120 sequentially includes: a spherical bearing external thread 121, a lead screw thread 122, a support bearing shoulder 123, a polygonal output shaft 124, a locking thread 125, and an internal hexagonal socket 126. The lead screw 120 is connected to the spherical bearing shank 102 via the spherical bearing external thread 121, and to the roller assembly 110 via the lead screw thread 122. The lead screw 120 is connected to the rotor of the torque motor 400 via the polygonal output shaft 124.

[0009] Furthermore, the anti-torsion seat assembly 200 has an anti-torsion seat flange 203 at one end of the anti-torsion seat 201, and an inner spline 202 on the inner side for engaging with the outer spline 114 of the integrated drive rod 103. The anti-torsion seat assembly 200 is fixed to the torque motor housing assembly 300 by anti-torsion seat fixing screws 204.

[0010] Furthermore, the torque motor housing assembly 300 includes: a motor housing 302, an upper support bearing 303, and a lower support bearing 304. The motor housing 302 is fixed to the torque motor 400 by motor fixing bolts 301. The motor housing 302 has two mounting holes on the upper and lower sides of its inner side for mounting the outer rings of the upper support bearing 303 and the lower support bearing 304. The inner rings of the upper support bearing 303 and the lower support bearing 304 are mounted on the rotor shaft 405 of the torque motor 400.

[0011] Furthermore, the torque motor 400 includes: a torque motor rotor magnet support 401, a torque motor rotor magnet 402, a torque motor stator winding 403, a torque motor stator winding frame 404, a torque motor rotor shaft 405, a stator winding fixing seat 406, and a cable 407. The inner side of the torque motor rotor magnet support 401 is directly connected to the rotor shaft 405, and the torque motor rotor magnet 402 is fixed to the outer side of the torque motor rotor magnet support 401. The stator of the machine consists of a torque motor stator winding 403 and a torque motor stator winding frame 404. The torque motor stator winding 403 is evenly distributed and installed on the inner side of the torque motor stator winding frame 404. The outer side of the torque motor stator winding frame 404 is fixedly connected to the stator winding fixing seat 406. There is an air gap between the torque motor rotor magnet 402 and the torque motor stator winding 403. The cable 407 passes through the stator winding fixing seat 406 and connects the torque motor stator winding 403 to the power supply.

[0012] Furthermore, the upper support bearing 303 and the lower support bearing 304 are tapered roller bearings.

[0013] Furthermore, a flange is provided on the motor housing 302, which is fixed to the usage position by motor fixing bolts 301.

[0014] Furthermore, the lower end of the lead screw 120 is connected to the rotor shaft 405 of the torque motor via a washer 306 and a locking nut 307.

[0015] Beneficial effects: 1. The drive mechanism adopts a combination of a flat torque motor, an integrated roller screw nut, and a spline anti-torsion cylinder to achieve maximum driving force output within a compact space with high integration. 2. The power source adopts a flat, high-energy-density torque motor structure with fixed stator magnets. When current passes through the rotor windings to generate a changing magnetic field, it can generate a large torque output to drive the rotor, thereby significantly reducing the occupancy of the motor in the height direction of the drive mechanism. 3. The lead screw abuts against the outer ring of the upper support bearing through the shoulder of the support bearing, and the lower end of the lead screw is tightened by the lock nut. In this way, the lead screw can be pressed as a whole to restrict axial movement. The two bearings can respectively bear the tensile and compressive loads generated by the rotation of the lead screw. Torque is transmitted through the keyway or internal hexagonal socket, which is more reliable.

[0016] 4. Regarding the anti-torsion structure, the conventional anti-torsion arm configuration is abandoned, and a spline, guide groove, or rail anti-torsion configuration is adopted. The outer diameter of the nut with internal thread that meshes with the roller assembly is directly made into an external spline configuration. The external spline and the internal spline anti-torsion sleeve are matched in the same direction, thereby playing an anti-torsion role. When the screw rotates, the nut is fixed by the outer spline, which will convert the rotational motion into axial lifting motion. This structure occupies less radial space than the conventional anti-torsion rod system structure and can be made into a limiting structure. 5. The lead screw and nut assembly can be used as a whole. When the bottom nut of the lead screw is loosened, the drive rod assembly can be pulled out as a whole in the spline groove, which facilitates disassembly and maintenance in the future. 6. Through the irregularly shaped fitting structure at the end, brakes, encoders, electronic control boards and other structures can be installed at the end, thereby achieving a compact overall large drive output while meeting the requirements of high-precision braking and servo control. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional schematic diagram of the subsystems of a compact, high-load drive mechanism. Figure 2 This is a three-dimensional schematic diagram of the drive rod assembly of the drive mechanism subsystem; Figure 3 This is a three-dimensional schematic diagram of the roller nut assembly of the drive rod component in the drive mechanism subsystem; Figure 4 This is a three-dimensional schematic diagram of the lead screw structure of the drive rod assembly of the drive mechanism subsystem; Figure 5 This is a 3D schematic diagram of the anti-torsion component of the drive mechanism subsystem; Figure 6 This is a three-dimensional schematic diagram of the torque motor housing assembly, a subsystem of the drive mechanism.

[0019] Figure 7 This is a three-dimensional schematic diagram of the torque motor assembly, a subsystem of the drive mechanism.

[0020] in, Figure 1 In the middle: 100, drive rod assembly; 200, anti-torsion seat assembly; 300, torque motor housing assembly; 400, torque motor; 500, brake and electronic control mechanism.

[0021] Figure 2In the middle: 101, spherical plain bearing; 102, spherical plain bearing shank; 103, integrated drive rod; 104, lead screw support slider; 105, lead screw; 106, roller assembly; 110, roller assembly.

[0022] Figure 3 In the middle: 111, upper retaining ring, 112, upper support plate, 113, roller, 114, external spline, 115, lower retaining ring, 116, lower support plate.

[0023] Figure 4 Chinese characters: 121, external thread of spherical bearing, 122, thread of lead screw, 123, shoulder of support bearing, 124, polygonal output shaft, 125, locking thread, 126, internal hexagon.

[0024] Figure 5 In the middle: 201, anti-torsion seat; 202, anti-torsion seat internal spline; 203, anti-torsion seat flange; 204, anti-torsion seat fixing screw.

[0025] Figure 6 In the middle: 301, motor fixing bolt, 302, motor housing, 303, upper support bearing, 304, lower support bearing, 305, bottom fixing screw, 306, washer, 307, lock nut.

[0026] Figure 7 In the middle: 401, torque motor rotor magnet support, 402, torque motor rotor magnet, 403, torque motor stator winding, 404, torque motor stator winding frame, 405, rotor shaft, 406, stator winding fixing seat, 407, cable. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setups and methods set forth below, but covers any improvements, substitutions, and modifications to structures, methods, and devices without departing from the spirit of the invention. Well-known structures and techniques are not shown in the drawings and the following description to avoid unnecessarily obscuring the invention.

[0029] In the description of this invention, it should be noted that the directions or positional relationships indicated by terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing and simplifying the invention, and should not be construed as limiting the invention. Furthermore, the use of ordinal numbers (e.g., "first and second," etc.) is for distinguishing objects and is not limited to this order, and should not be construed as indicating or implying relative importance.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly, encompassing both direct connection and indirect connection via an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0031] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0033] To meet the operational requirements of confined radial and axial dimensions, such as in rotor hub operation scenarios, the drive mechanism adopts a combination of a flat torque motor, an integrated roller screw nut, and a spline anti-torsion cylinder, achieving maximum drive force output within a compact space with high integration. The power source uses a flat, high-energy-density torque motor with fixed stator magnets. When current passes through the rotor windings, it generates a changing magnetic field, producing a large torque output to drive the rotor, significantly reducing the motor's height occupancy in the drive mechanism. The upper structure of the drive mechanism uses a planetary roller screw configuration, with an axially fixed rotating screw driving multiple mating planetary rollers to rotate, which in turn drives the internally threaded nut to rotate. Compared to conventional ball screws, this configuration offers stronger output and load-bearing capacity, higher precision, and stronger impact resistance. In terms of anti-torsion structure, the conventional anti-torsion arm configuration is abandoned, and a spline, guide groove, or rail anti-torsion configuration is adopted. The outer diameter of the nut with internal thread that meshes with the roller assembly is directly made into an external spline configuration. The external spline and the internal spline anti-torsion sleeve cooperate to play an anti-torsion role. When the lead screw rotates, the nut is fixed by the outer spline, which will convert the rotational motion into axial lifting motion. This structure occupies less radial space than the conventional anti-torsion rod system structure and can be made into a limiting structure. The lead screw and nut assembly can be integrated as a whole. When the bottom nut of the lead screw is loosened, the drive rod assembly can be pulled out as a whole in the spline groove, which is convenient for later disassembly and maintenance. Furthermore, a brake, encoder, electronic control board, and other structures can be installed at the end to achieve a compact overall large drive output while meeting the requirements of high-precision braking and servo control.

[0034] like Figures 1 to 7 A compact, high-load drive mechanism comprises: a drive rod assembly 100, an anti-torsion seat assembly 200, a torque motor housing assembly 300, a torque motor 400, a brake and electronic control mechanism 500, etc. Its working principle is as follows: The torque motor 400 serves as the power source, converting electrical energy into the mechanical energy of the rotor 405's rotation through electromagnetic induction between the stator and rotor. This mechanical energy drives the lead screw 120 of the drive rod assembly 200 to rotate. The rotation of the lead screw 120 drives the planetary rollers 113, which are in threaded contact with it, to rotate. The nut in threaded contact with the planetary rollers 113 is itself part of the integrated drive rod 103. The rotation of the planetary rollers 113 drives the integrated drive rod 103 to rotate. The integrated drive rod 103 has external spline teeth or guide grooves machined on its lower part, which connect to the anti-torsion seat assembly 200 with internal splines or guide grooves. Ultimately, the rotational motion of the integrated drive rod 103 in the drive rod assembly 100 is converted into up-and-down movement, thus achieving reciprocating linear motion, which is finally output through the top spherical bearing or other connecting structure. Installing a brake and electronic control mechanism 500 at the end allows for a compact overall large drive output while meeting the requirements for high-precision braking and servo control. The drive mechanism uses a flat torque motor 400 with a small height and space occupation, which makes it easy to install the drive mechanism in a small space. The torque motor rotor magnet support 401 is directly connected to the rotor shaft 405. The torque motor rotor magnet 402 is fixed on the torque motor rotor magnet support 401. The stator of the torque motor consists of a torque motor stator winding 403 and a torque motor stator winding frame 404. The torque motor stator winding 403 is evenly distributed and installed on the torque motor stator winding frame 404. The torque motor stator winding frame 404 is fixedly connected to the motor casing 302. The rotor shaft 405 has an irregular hole at the center, and the inner hole is a hexagonal socket or other key connection form to transmit power to the lead screw 120 that is connected to it. When power is transmitted to the stator winding 403 of the torque motor through cable 407, the rotor magnet 402 of the torque motor and the coil of the stator winding 403 of the torque motor generate electromagnetic induction, converting electrical energy into mechanical energy for the rotation of the rotor magnet 402 of the torque motor, which in turn drives the rotor shaft 405 to rotate. The rotor shaft 405 drives the lead screw 120 to rotate through the internal hexagonal socket or keyway.

[0035] The torque motor housing assembly 300 connects the anti-torsion seat assembly 200 to the torque motor 400. The torque motor housing assembly 300 fixes the motor casing 302 to the motor housing 302 by motor fixing bolts 301. The motor casing 302 has two mounting holes at the top and bottom for mounting the outer rings of the upper support bearing 303 and the lower support bearing 304 that support the rotor shaft 405. The inner rings of the upper support bearing 303 and the lower support bearing 304 are mounted on the rotor shaft 405 and limited. The outer rings of the two bearings are restricted from axial movement by the anti-torsion seats 201 and the lower end cover of the motor casing, which are in contact with each other. The lead screw 120 abuts against the outer ring of the upper support bearing 303 by the support bearing shoulder 123. The lower end of the lead screw 120 is tightened by the washer 306 and the lock nut 307. In this way, the lead screw 120 can be pressed together by the upper support bearing 303, the lower support bearing 304 and the rotor shaft 405 to restrict axial movement. The two bearings can respectively bear the tensile and compressive loads generated by the rotation of the lead screw 120.

[0036] The drive rod assembly 200 is the main drive output mechanism. The torque motor rotor shaft 405 drives the lead screw 120 to rotate via an internal hexagon or keyway. The axially fixed, rotatable lead screw 120 drives multiple planetary rollers 113 that mesh with it to rotate via the lead screw thread 122, thereby driving the integrated drive rod 103 with an internally threaded nut underneath to rotate. The roller nut assembly is secured to the rollers 113 by an upper retaining ring 111 and a lower retaining ring 115, which fixes them to the upper support plate 112 and the lower support plate 116 respectively, and then they are all mounted in the internal thread area of ​​the integrated drive rod 103.

[0037] In terms of anti-torsion structure, the conventional anti-torsion arm configuration is abandoned. The drive rod assembly 200 engages with the inner spline 202 grooved track of the anti-torsion seat 201 via the outer spline 114 or grooved track below the integrated drive rod 103. The anti-torsion seat 201 fixes the anti-torsion seat flange 203 to the motor housing 302 via anti-torsion seat fixing screws 204, thereby achieving the anti-torsion function. When the lead screw rotates, the nut is used for outer spline fixation, which converts the rotational motion of the integrated drive rod 103 into the axial lifting motion of the integrated drive rod 103. The drive is connected to the external load via the joint bearing shank 102 connected by the top thread and the joint bearing 101. This structure occupies less radial space than the conventional anti-torsion rod system structure and can be made into a limiting structure.

[0038] This structure has the following characteristics: 1. The drive mechanism adopts a combination of a flat torque motor, an integrated roller screw nut, and a spline anti-torsion cylinder to achieve high integration and large driving force output in a compact space; 2. The power source adopts a flat torque motor 400 as the power source. Through electromagnetic induction between the stator and the rotor, electrical energy is converted into mechanical energy for the rotor 405 to rotate, thereby driving the lead screw 120 of the drive rod assembly 200 to rotate. The integrated drive rod 103 has an external spline tooth or guide groove machined below it, which is connected to the anti-torsion seat assembly 200 with an internal spline or guide groove. Ultimately, the rotational motion of the integrated drive rod 103 of the drive rod assembly 100 is converted into up and down movement, thereby realizing reciprocating linear motion. 4) The lead screw 120 abuts against the outer ring of the upper support bearing 303 through the support bearing shoulder 123. The lower end of the lead screw 120 is tightened by the washer 306 and the locking nut 307. In this way, the lead screw 120 can be pressed as a whole to restrict axial movement. The two bearings can respectively bear the tensile and compressive loads generated by the rotation of the lead screw 120.

[0039] 5) The axially fixed, rotatable lead screw 120 drives multiple planetary rollers 113 that are in sync with it to rotate through the lead screw thread 122, which in turn drives the integrated drive rod 103 with an internally threaded nut below to rotate. Using a roller lead screw can enable the drive mechanism to have a greater output capacity.

[0040] 7. Regarding the anti-torsion structure, the conventional anti-torsion arm configuration is abandoned. The drive rod assembly 200 engages with the inner spline 202 grooved track of the anti-torsion seat 201 via the outer spline 114 or grooved track below the integrated drive rod 103. The anti-torsion seat 201 fixes the anti-torsion seat flange 203 to the motor housing 302 via the anti-torsion seat fixing screw 204, thereby achieving the anti-torsion function. When the lead screw rotates, the nut is used for outer spline fixing, which converts the rotational motion of the integrated drive rod 103 into the axial lifting motion of the integrated drive rod 103. The lead screw and nut assembly can be used as a whole. When the bottom nut of the lead screw is loosened, the drive rod assembly can be pulled out as a whole in the spline groove, which is convenient for disassembly and maintenance. Furthermore, a brake, encoder, electronic control board and other structures can be installed at the end to achieve a compact overall large drive output while meeting the requirements of high-precision braking and servo control.

[0041] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A space-compact, high-load drive mechanism, characterized in that, include: Drive rod assembly, anti-torsion seat assembly, torque motor housing assembly, torque motor, brake and electronic control mechanism, among which... The torque motor is housed inside the torque motor housing assembly. One end of the drive rod assembly is connected to the rotor of the torque motor, and the other end of the drive rod assembly is used to connect to the load. The inner side of the anti-torsion seat assembly is splined to the other end of the drive rod assembly, and the bottom of the anti-torsion seat assembly is connected to the torque motor housing assembly. The brake in the brake and the electronic control mechanism is connected to the rotor shaft of the torque motor, and the electronic control mechanism in the brake and the stator winding of the torque motor is connected to the stator winding of the torque motor.

2. The space-compact, high-load drive mechanism according to claim 1, characterized in that, The drive rod assembly includes: a spherical plain bearing, a spherical plain bearing shank, an integrated drive rod, a lead screw support slider, a roller assembly, and a lead screw. The spherical plain bearing is fixed in the mounting hole of the spherical plain bearing shank. One end of the integrated drive rod is threaded to the spherical plain bearing shank. The integrated drive rod is hollow inside. The lead screw support slider is located inside the integrated drive rod. One end of the lead screw is connected to the lead screw support slider. The middle section of the lead screw is threaded to the other end of the integrated drive rod through the roller assembly.

3. The space-compact, high-load drive mechanism according to claim 2, characterized in that, The roller assembly includes: an upper retaining ring, an upper support plate, planetary rollers, an external spline, a lower retaining ring, and a lower support plate. The upper and lower support plates are connected by planetary rollers and fixed by the upper and lower retaining rings. An external spline is provided at the lower end of the integrated drive rod. The inner side of the planetary rollers is threaded to the lead screw, and the outer side of the planetary rollers is threaded to the integrated drive rod.

4. The space-compact, high-load drive mechanism according to claim 3, characterized in that, The lead screw includes, in sequence: a spherical plain bearing external thread, a lead screw thread, a support bearing shoulder, a polygonal output shaft, a locking thread, and an internal hexagonal socket. The lead screw is connected to the spherical plain bearing shank via the spherical plain bearing external thread, and to the roller assembly via the lead screw thread. The lead screw is connected to the torque motor rotor via the polygonal output shaft.

5. The space-compact, high-load drive mechanism according to claim 4, characterized in that, The anti-torsion seat assembly has an anti-torsion seat flange at one end and an internal spline on the inside for engaging with the external spline of the integrated drive rod. The anti-torsion seat assembly is fixed to the torque motor housing assembly by anti-torsion seat fixing screws.

6. The space-compact, high-load drive mechanism according to claim 5, characterized in that, The torque motor housing assembly includes a motor casing, an upper support bearing, and a lower support bearing. The motor casing is fixed to the torque motor by motor fixing bolts. There are two mounting holes on the upper and lower sides of the inner side of the motor casing for mounting the outer rings of the upper and lower support bearings. The inner rings of the upper and lower support bearings are mounted on the rotor shaft of the torque motor.

7. The space-compact, high-load drive mechanism according to claim 6, characterized in that, The torque motor includes: a rotor magnet support, rotor magnets, stator windings, stator winding frame, rotor shaft, stator winding mounting base, and cables. The inner side of the rotor magnet support is directly connected to the rotor shaft, and the rotor magnets are fixed to the outer side of the support. The stator consists of stator windings and a stator winding frame. The stator windings are evenly distributed and installed on the inner side of the frame, and the outer side of the frame is fixedly connected to the stator winding mounting base. An air gap exists between the rotor magnets and the stator windings. The cables pass through the stator winding mounting base and connect the stator windings to the power supply.

8. The space-compact, high-load drive mechanism according to claim 7, characterized in that, The upper and lower support bearings are tapered roller bearings.

9. The space-compact, high-load drive mechanism according to claim 8, characterized in that, The motor housing is equipped with a flange and is fixed to the operating position by motor mounting bolts.

10. The space-compact, high-load drive mechanism according to claim 9, characterized in that, The lower end of the lead screw is connected to the rotor shaft of the torque motor via a washer and a lock nut.

Images