The invention relates to a temperature control torque output drive device, as well as an assembly method and a shape memory alloy coil spring preparation method thereof. The drive device comprises a base, a shape memory alloy coil spring, a reversion coil spring, a first switching shaft sleeve, a second switching shaft sleeve, a rotating shaft, a support, a bearing and a shape-maintaining outer frame, wherein the shape memory alloy coil spring and the reversion coil spring are coaxially arranged. The invention further discloses the preparation method of the shape memory alloy coil spring, and the method comprises a thermal treatment training process and a cold working process. The invention further provides the assembly method of the drive device, and the method comprises the steps of determining assembly sequence of components and pre-tensioning coil spring. The temperature control torque output drive device provided by the invention can output bidirectional running torque to directly produce torque force to be output according to the change of the temperature, and has the characteristics of compact appearance and larger angle stroke.