Steering control device and agricultural machine

Abstract

The invention discloses a steering control device and agricultural machinery, and the steering control device comprises a transmission main shaft which is rotatably installed in a main machine housing and comprises a main shaft main body and a driven gear sleeving the main shaft main body; the driving mechanism is fixedly installed in the main machine shell and comprises a driving motor and a driving gear which are connected, and the driving gear is meshed with the driven gear; the main control board is fixedly installed in the main machine shell, and the main control board and the driving motor are located on the same side of the driven gear in the axial direction of the transmission main shaft; the main control board and the driving motor are located on the two opposite sides of the main shaft body in the radial direction of the transmission main shaft. According to the scheme, all components in the host shell are arranged more compactly, and the internal space utilization rate is higher. The compact layout of the steering control device based on the scheme is beneficial to the reduction of the boundary dimension of the host shell.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control devices, and in particular to a steering control device and an agricultural machine. Background Art

[0002] With the development of social science and technology, automatic driving of agricultural machinery has become the main trend of agricultural machinery development. Automatic driving agricultural machinery is integrated with a steering control device. The housing of the steering control device is provided with a control module, a power device and a transmission device. The transmission device is connected to the steering shaft of the agricultural machinery. The operation of the power device is automatically controlled by the control module, so that the power device drives the steering shaft to rotate through the transmission device, thereby realizing the function of automatic steering control.

[0003] However, the existing steering control device structure has certain defects, and it is impossible to arrange the various components in the device in a reasonable manner, resulting in problems such as a non-compact internal structure of the device and a high space waste rate. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a steering control device and an agricultural machine, which can solve the above-mentioned problems existing in the prior art.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] In one aspect, a steering control device is provided, comprising:

[0007] A transmission main shaft is rotatably mounted in the main body housing, and comprises a main shaft body and a driven gear sleeved on the main shaft body;

[0008] A driving mechanism, fixedly installed in the main housing, comprising a connected driving motor and a driving gear, wherein the driving gear meshes with the driven gear;

[0009] A main control board is fixedly installed in the main housing. Along the axial direction of the transmission main shaft, the main control board and the drive motor are located on the same side of the driven gear; along the radial direction of the transmission main shaft, the main control board and the drive motor are located on two opposite sides of the main shaft body.

[0010] Optionally, the host housing includes a relative housing top plate and a housing bottom plate, the driving gear and the driven gear are arranged close to the housing top plate, and the driving motor and the main control board are both fixed to the housing bottom plate.

[0011] Optionally, an isolation cover is provided between the main control board and the driven gear, and the isolation cover covers the main control board.

[0012] Optionally, a spindle retaining ring is protruded upward from the bottom plate of the shell and is arranged around the circumference of the spindle body, and the side of the isolation cover close to the spindle body is in contact with the spindle retaining ring.

[0013] Optionally, the main control board includes a main control board body and functional devices arranged on the lower side of the main control board body, and the shell bottom plate is provided with a device avoidance groove corresponding to the functional device at the installation position corresponding to the main control board, and the functional device is embedded in the device avoidance groove so that each functional device can be close to or abut against the surface of the shell bottom plate.

[0014] Optionally, heat-conducting glue is provided between the functional device and the bottom plate of the shell.

[0015] Optionally, a wiring terminal is further provided on the lower side of the main control board body, and a wiring avoidance hole corresponding to the wiring terminal is provided on the bottom plate of the shell, and the wiring terminal is connected to the external circuit through the wiring avoidance hole.

[0016] Optionally, the host housing further comprises a terminal cover, and the terminal cover is located at the lower side of the housing bottom plate and covers the wiring avoidance hole.

[0017] Optionally, an upwardly recessed wiring groove is provided on the lower side of the shell bottom plate, and the wiring avoidance hole corresponds to the wiring groove; the terminal cover can just cover the wiring groove, so that the outer edge of the terminal cover is connected with the outer edge of the wiring groove.

[0018] Optionally, an electronic switch is provided on the top side of the main control board body, and a paddle is provided on one side of the host housing, the paddle extends above the electronic switch, and the electronic switch can be triggered by the paddle.

[0019] Optionally, two paddles are arranged side by side on one side of the host housing, and two electronic switches are correspondingly arranged on the main control board.

[0020] On the other hand, an agricultural machine is provided, comprising the above-mentioned steering control device.

[0021] The beneficial effects of the present application are as follows: the present invention provides a steering control device and agricultural machinery, wherein the drive motor and the main control board are respectively arranged on two opposite sides of the transmission main shaft, and the drive motor and the main control board both cover the same side of the driven gear, which not only achieves the purpose of transmission connection between the drive mechanism and the transmission main shaft, but also makes full use of the space between the driven gear and the inner wall of the main housing, making the arrangement of the components inside the main housing more compact and having a higher internal space utilization rate. The compact layout of the steering control device based on this solution is conducive to the reduction of the external dimensions of the main housing. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present application is further described in detail below based on the drawings and embodiments.

[0023] Figure 1 This is a schematic diagram of the structure of the steering control device according to an embodiment of the present application;

[0024] Figure 2 An exploded schematic diagram of the steering control device according to an embodiment of the present application;

[0025] Figure 3 is a cross-sectional view of the steering control device according to an embodiment of the present application;

[0026] Figure 4 This is a schematic diagram of the structure of the cooperation between the transmission main shaft and the driving mechanism inside the steering control device according to the embodiment of the present application;

[0027] Figure 5 This is a schematic diagram of the structure of the main control board inside the steering control device according to an embodiment of the present application;

[0028] Figure 6 An exploded schematic diagram of a partial structure of a steering control device according to an embodiment of the present application;

[0029] Figure 7 This is a schematic diagram of the inner structure of the lower shell described in the embodiment of the present application;

[0030] Figure 8 This is a schematic diagram of the outer structure of the lower shell described in the embodiment of the present application;

[0031] Fig. 9 This is a schematic diagram of the structure of the lower shell described in the embodiment of the present application;

[0032] Fig.10 This is a schematic diagram of the structure of the top side of the main control board described in the embodiment of the present application;

[0033] Fig.11 This is a schematic diagram of the structure of the bottom side of the main control board described in the embodiment of the present application.

[0034] In the figure:

[0035] 1. Mainframe housing; 11. Lower housing; 111. Housing bottom plate; 112. Spindle retaining ring; 113. Device avoidance groove; 114. Wiring avoidance hole; 115. Wiring groove; 12. Upper housing; 121. Housing top plate; 13. Housing sealing ring; 14. Terminal cover; 2. Transmission spindle; 21. Spindle body; 22. Driven gear; 3. Driving mechanism; 31. Driving motor; 32. Driving gear; 51. First bearing; 52. Second bearing; 6. Paddle; 7. Main control board; 71. Isolation cover; 72. Main control board body; 73. Functional device; 74. Wiring terminal; 75. Electronic switch. DETAILED DESCRIPTION

[0036] In order to make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0037] In the description of this application, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0039] The existing steering control device structure has certain defects. It is impossible to arrange the components in the device in a reasonable manner, resulting in problems such as a loose internal structure of the device and a high space waste rate.

[0040] For example, Chinese authorized patent CN218477550U discloses a steering control device, in which a power device, a clutch device and a transmission device are arranged in sequence from left to right in the shell, and the power device can drive the transmission device to operate through the clutch device. The shell part provides a shell top cover, a middle shell and a shell bottom cover arranged from top to bottom. The power device and the clutch device are located below the middle shell, and a certain space is planned between the middle shell and the shell top cover to accommodate the control circuit board. Since the driven gear in the transmission device has a large diameter, a large cavity area is formed between the driven gear and the shell bottom cover, resulting in a problem of space waste in the shell. Obviously, in order to accommodate the same things, the internal space utilization rate of the shell is low, and the larger the outer dimensions of the shell will be, so the device has the defect of large outer dimensions.

[0041] This embodiment provides a steering control device, which makes full use of the internal space of the main housing 1 by rationally arranging necessary components such as the drive mechanism 3 and the main control board 7 inside the main housing 1, improves the compactness of the device, and facilitates the miniaturization of the overall size of the steering control device.

[0042] like Figure 1-11 As shown, the steering control device of this embodiment includes a main body housing 1, a transmission main shaft 2, a driving mechanism 3 and a main control board 7. Among them, the transmission main shaft 2 is rotatably installed in the main body housing 1, and includes a main shaft body 21 and a driven gear 22 sleeved on the main shaft body 21; the driving mechanism 3 is fixedly installed in the main body housing 1, and includes a connected driving motor 31 and a driving gear 32, and the driving gear 32 is meshed with the driven gear 22; the main control board 7 is fixedly installed in the main body housing 1, along the axial direction of the transmission main shaft 2, the main control board 7 and the driving motor 31 are located on the same side of the driven gear 22; along the radial direction of the transmission main shaft 2, the main control board 7 and the driving motor 31 are located on two opposite sides of the main shaft body 21.

[0043] Specifically, refer to Figure 3-Figure 5 , the axial direction of the transmission main shaft 2 is set perpendicular to the ground. Since the diameter of the driven gear 22 is much larger than that of the transmission main shaft 2, a large space will be left above or below the driven gear 22 after the transmission main shaft 2 is installed. In this solution, along the axial direction of the transmission main shaft 2, the main control board 7 and the drive motor 31 are located on the same side of the driven gear 22, which means that the main control board 7 and the drive motor 31 are located on the upper side or the lower side of the driven gear 22 at the same time; along the radial direction of the transmission main shaft 2, the main control board 7 and the drive motor 31 are located on two opposite sides of the main shaft body 21, which means that the main control board 7 and the drive motor 31 are located on the left and right sides of the main shaft body 21, respectively, so that the main control board 7 and the drive motor 31 can be covered above or below the driven gear 22 side by side with the main shaft body 21, so as to make full use of the space above or below the driven gear 22 to install the main control board 7 and the drive motor 31, and improve the compactness of the internal structure of the device.

[0044] Among them, refer to Figure 4 The driving gear 32 connected to the output end of the driving motor 31 meshes with the driven gear 22, so only a portion of the driving motor 31 is allowed to overlap with the driven gear 22 in the axial direction. The main control board 7 can be arranged to overlap with the driven gear 22 in the axial direction only in part or completely in the axial direction according to the size of the main control board 7 itself.

[0045] In summary, based on the steering control device of this embodiment, the drive motor 31 and the main control board 7 are respectively arranged on two opposite sides of the transmission main shaft 2, and the drive motor 31 and the main control board 7 both cover the same side of the driven gear 22, which not only achieves the purpose of transmission connection between the drive mechanism 3 and the transmission main shaft 2, but also makes full use of the space between the driven gear 22 and the inner wall of the main housing 1, so that the components inside the main housing 1 are arranged more compactly and have a higher internal space utilization rate. The compact layout of the steering control device based on this solution is conducive to the reduction of the external dimensions of the main housing 1.

[0046] In one embodiment, the host housing 1 includes a housing top plate 121 and a housing bottom plate 111 opposite to each other, the driving gear 32 and the driven gear 22 are arranged close to the housing top plate 121 , and the driving motor 31 and the main control board 7 are both fixed on the housing bottom plate 111 .

[0047] The driven gear 22 is arranged in the main body shell 1 near the shell top plate 121, and the drive motor 31 and the main control board 7 are both arranged on the lower side of the driven gear 22, so that the drive motor 31 and the main control board 7 can be installed on the shell bottom plate 111, and the drive motor 31 and the main control board 7 are directly supported by the bottom, which can improve the stability of the installation of the two.

[0048] Specifically, the main body housing 1 includes an upper housing 12 and a lower housing 11 arranged in a vertical direction, a housing top plate 121 is located on the top side of the upper housing 12, and a housing bottom plate 111 is located on the bottom side of the lower housing 11. The upper housing 12 and the lower housing 11 enclose an installation cavity for installing components such as the transmission main shaft 2, the driving mechanism 3, and the main control board 7. To strengthen the sealing, a housing sealing ring 13 is provided between the upper housing 12 and the lower housing 11.

[0049] In one embodiment, an isolation cover 71 is provided between the main control board 7 and the driven gear 22 , and the isolation cover 71 covers the main control board 7 .

[0050] In order to improve the smoothness of the meshing process between the driven gear 22 and the driving gear 32, there is generally lubricating oil on the gear surface. In this solution, the main control board 7 is arranged below the driven gear 22. Inevitably, the lubricating oil on the driven gear 22 will drip onto the main control board 7, causing contamination to the main control board 7. For this reason, in this solution, an isolation cover 71 is arranged between the main control board 7 and the driven gear 22. The isolation cover 71 can be used to block the lubricating oil dripping from the driven gear 22, thereby avoiding the problem of contamination of the main control board 7 and ensuring the service life of the main control board 7.

[0051] In one embodiment, a spindle retaining ring 112 is protruded upward from the housing bottom plate 111 and is arranged around the circumference of the spindle body 21 . The side of the isolation cover 71 close to the spindle body 21 abuts against the spindle retaining ring 112 .

[0052] The spindle retaining ring 112 protruding from the housing bottom plate 111 is arranged around the periphery of the spindle body 21, which can provide support for the rotation installation of the transmission spindle 2. Specifically, the spindle body 21 is sleeved with a first bearing 51 and a second bearing 52, both located at the lower side of the driven gear 22, and the outer rings of the first bearing 51 and the second bearing 52 are respectively fixed in the spindle retaining ring 112, so as to realize the rotation installation of the transmission spindle 2 in the main machine housing 1.

[0053] In addition, the spindle retaining ring 112 protruding from the housing bottom plate 111 can just separate the periphery of the spindle body 21 from the main control board 7, and at the same time, the isolation cover 71 abuts against the spindle retaining ring 112, so that a space capable of accommodating the main control board 7 is formed between the housing bottom plate 111, the spindle retaining ring 112 and the isolation cover 71, thereby realizing all-round protection of the main control board 7. This structure utilizes the spindle retaining ring 112 to maintain the side of the main control board 7, which can simplify the structure of the isolation cover 71 and reduce the cost of the isolation cover 71. At the same time, with such an arrangement, the side of the main control board 7 close to the spindle retaining ring 112 can abut against the outer wall of the spindle retaining ring 112, so that the main control board 7 is arranged as close to the spindle body 21 as possible, and the radially extending dimension of the main control board 7 relative to the spindle body 21 is minimized, thereby realizing the compactness of the installation of the transmission spindle 2 and the main control board 7 to the greatest extent.

[0054] In one embodiment, referring to Figure 7 and Fig.11 The main control board 7 includes a main control board body 72 and a functional device 73 arranged on the lower side of the main control board body 72. The shell bottom plate 111 is provided with a device avoidance groove 113 corresponding to the functional device 73 at the installation position of the main control board 7. The functional device 73 is embedded in the device avoidance groove 113, so that each functional device 73 can be close to or abut against the surface of the shell bottom plate 111.

[0055] Specifically, the main control board 7 will be integrated with many functional devices 73, such as capacitors, inductors, resistors, chips, etc. During the working process, some functional devices 73 will generate more heat, causing the temperature of the main control board 7 to rise, affecting the normal operation of the main control board 7. In this solution, the main heat-generating functional device 73 is set on the lower surface of the main control board 7, so that the functional device 73 can be close to the shell bottom plate 111, so that the generated heat can be transferred to the shell bottom plate 111 more quickly, so as to achieve the purpose of accelerating heat dissipation. Moreover, on the main control board 7, different types of functional devices 73 have different shapes and sizes. In view of this, in order to further reduce the distance between the functional device 73 and the shell bottom plate 111, this solution also sets a number of device avoidance grooves 113 on the shell bottom plate 111 according to the distribution position and external dimensions of the functional device 73, so that each functional device 73 can be embedded in the corresponding device avoidance groove 113, so that the outer surface of each functional device 73 can be closer to or even contact the surface of the shell bottom plate 111, so as to further accelerate the heat conduction of the functional device 73 to the shell bottom plate 111.

[0056] Therefore, the installation structure of the main control board 7 of this solution is conducive to accelerating heat dissipation and maintaining stable operation of the main control board 7.

[0057] In one embodiment, heat conductive adhesive is disposed between the functional device 73 and the housing bottom plate 111 .

[0058] Among them, the functional device 73 is in contact with the shell bottom plate 111, which can achieve the most efficient heat transfer and obtain the best heat dissipation effect. The contact between the functional device 73 and the shell bottom plate 111 can be direct contact or indirect contact. However, when the functional device 73 directly contacts the shell bottom plate 111, the vibration of the host shell 1 is easily transmitted directly to the functional device 73, causing the functional device 73 to loosen or be damaged. A thermal conductive adhesive is arranged between the functional device 73 and the shell bottom plate 111, and the thermal conductive adhesive can be used to achieve indirect contact between the functional device 73 and the shell bottom plate 111, which improves the heat transfer efficiency and can buffer the vibration transmitted from the host shell 1 to the functional device 73, avoiding the loosening or damage of the functional device 73.

[0059] In one embodiment, a wiring terminal 74 is further provided on the lower side of the main control board body 72 , and a wiring avoidance hole 114 corresponding to the wiring terminal 74 is provided on the shell bottom plate 111 , and the wiring terminal 74 is connected to the external circuit through the wiring avoidance hole 114 .

[0060] Specifically, the main control board 7 needs to be connected to an external power line or signal line to realize power supply or signal transmission. In this solution, a wiring terminal 74 is arranged on the lower side of the main control board body 72, and a wiring avoidance hole 114 is arranged on the housing bottom plate 111 at a position corresponding to the wiring terminal 74. The power line and the signal line can be connected to the wiring terminal 74 from bottom to top through the wiring avoidance hole 114. The wiring on the bottom side has the advantages of good concealment and good waterproofness.

[0061] In one embodiment, referring to Figure 6 and Figure 8 The host housing 1 further includes a terminal cover 14 , which is located at the lower side of the housing bottom plate 111 and covers the wiring avoidance hole 114 .

[0062] The terminal cover 14 is provided to cover the wiring avoidance hole 114, which can provide covering protection for the wiring terminal 74 and the ends of the power line and the signal line, and beautify the appearance of the product. For the convenience of wiring, a wire hole can be opened on the terminal cover 14 to allow the power line and the signal line to pass through.

[0063] In one embodiment, referring to Figure 8 and Fig. 9 The lower side of the shell bottom plate 111 is provided with an upwardly recessed wiring groove 115, and the wiring avoidance hole 114 corresponds to the wiring groove 115; the terminal cover 14 can just cover the wiring groove 115, so that the outer edge of the terminal cover 14 is connected with the outer edge of the wiring groove 115.

[0064] The wiring groove 115 can be used to accommodate the wiring terminals 74 and the ends of the power line and the signal line, and can also accommodate the terminal cover 14, so that the terminal cover 14 can be snapped into the wiring groove 115, and the outer surface of the terminal cover 14 after installation can be smoothly connected with the outer surface of the main housing 1 to optimize the flatness of the appearance of the device.

[0065] In addition, in the conventional steering control device structure, since the control circuit board and the paddle are installed on different sides of the housing, specifically, the control circuit board cannot extend to the right side of the transmission device, so the electronic switch board can only be set on the right side of the transmission device corresponding to the installation position of the paddle, and then the electronic switch board is connected to the control circuit board using a wire. Therefore, the existing steering control device needs to disperse the electronic control components, which has the disadvantages of a large number of parts and complicated assembly steps.

[0066] To this end, in this solution, an electronic switch 75 is provided on the top side of the main control board body 72, and a paddle 6 is provided on one side of the host housing 1. The paddle 6 extends above the electronic switch 75, and the electronic switch 75 can be triggered by the paddle 6.

[0067] That is, compared with the structure of the traditional solution in which the circuit boards are arranged in a dispersed manner, in this solution, the main control board 7 is installed on the side of the transmission main shaft 2 away from the driving mechanism 3, and the main control board 7 can be placed just below the paddle 6. Therefore, in this solution, the electronic switch 75 that cooperates with the paddle 6 is integrated into the main control board 7, thereby realizing the centralization of the electronic control components in the device, reducing the number of parts of the electronic control components, and simplifying the assembly work.

[0068] In one embodiment, two paddles 6 are arranged side by side on one side of the host housing 1 , and two electronic switches 75 are correspondingly arranged on the main control board body 72 .

[0069] Two paddles 6 are arranged side by side to control two electronic switches 75, so that more control functions can be realized by one hand. For example, two control functions can be realized by turning any one of the paddles 6 alone; another control function can be realized by turning both paddles 6 at the same time. In other words, the structure of this solution is more convenient for manual control by the user. For example, it can be set to turn on and off the machine when the two paddles 6 are turned at the same time, so the traditional on and off button can be omitted, simplifying the device structure.

[0070] On the other hand, an agricultural machine is provided, comprising the above-mentioned steering control device.

[0071] Based on the above steering control device, the agricultural machine of this embodiment has the advantage of compact structure.

[0072] In the description of this article, it should be understood that the terms "upper", "lower", "left", "right", etc., and other directions or positional relationships are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of this application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0073] In the description of this specification, the description with reference to the terms "an embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0074] In addition, it should be understood that although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0075] The technical principles of the present application are described above in conjunction with specific embodiments. These descriptions are only for explaining the principles of the present application and cannot be interpreted as limiting the scope of protection of the present application in any way. Based on the explanations herein, those skilled in the art can think of other specific implementation methods of the present application without creative work, and these methods will fall within the scope of protection of the present application.

Claims

1. A steering control device, characterized in that: include: A transmission main shaft (2) is rotatably mounted in the main machine housing (1), and comprises a main shaft body (21) and a driven gear (22) sleeved on the main shaft body (21); A driving mechanism (3) is fixedly installed in the main body housing (1), and comprises a driving motor (31) and a driving gear (32) connected to each other, wherein the driving gear (32) is meshed with the driven gear (22); A main control board (7) is fixedly installed in the main machine housing (1); along the axial direction of the transmission main shaft (2), the main control board (7) and the drive motor (31) are located on the same side of the driven gear (22); along the radial direction of the transmission main shaft (2), the main control board (7) and the drive motor (31) are located on two opposite sides of the main shaft body (21).

2. The steering control device according to claim 1, characterized in that: The main machine housing (1) comprises a housing top plate (121) and a housing bottom plate (111) which are opposite to each other; the driving gear (32) and the driven gear (22) are arranged close to the housing top plate (121); and the driving motor (31) and the main control board (7) are both fixed on the housing bottom plate (111).

3. The steering control device according to claim 2, characterized in that: An isolation cover (71) is provided between the main control board (7) and the driven gear (22), and the isolation cover (71) covers the main control board (7).

4. The steering control device according to claim 3, characterized in that: The housing bottom plate (111) protrudes upwards to form a spindle retaining ring (112) arranged around the periphery of the spindle body (21), and the isolation cover (71) is in contact with the spindle retaining ring (112) on one side close to the spindle body (21).

5. The steering control device according to any one of claims 2 to 4, characterized in that: The main control board (7) comprises a main control board body (72) and a functional device (73) arranged on the lower side of the main control board body (72); the shell bottom plate (111) is provided with a device avoidance groove (113) corresponding to the functional device (73) at the installation position of the main control board (7); the functional device (73) is embedded in the device avoidance groove (113), so that each functional device (73) can be close to or abut against the surface of the shell bottom plate (111).

6. The steering control device according to claim 5, characterized in that: Heat-conducting glue is provided between the functional device (73) and the housing bottom plate (111).

7. The steering control device according to claim 5, characterized in that: A wiring terminal (74) is also provided on the lower side of the main control board body (72), and a wiring avoidance hole (114) corresponding to the wiring terminal (74) is provided on the shell bottom plate (111), and the wiring terminal (74) is connected to an external circuit through the wiring avoidance hole (114).

8. The steering control device according to claim 7, characterized in that: The host housing (1) further comprises a terminal cover (14), wherein the terminal cover (14) is located on the lower side of the housing bottom plate (111) and covers the wiring avoidance hole (114).

9. The steering control device according to claim 8, characterized in that: The lower side of the housing bottom plate (111) is provided with an upwardly recessed wiring groove (115), and the wiring avoidance hole (114) corresponds to the wiring groove (115); the terminal cover (14) can just cover the wiring groove (115), so that the outer edge of the terminal cover (14) is connected with the outer edge of the wiring groove (115).

10. The steering control device according to claim 5, characterized in that: An electronic switch (75) is provided on the top side of the main control board body (72), and a paddle (6) is provided on one side of the host housing (1), wherein the paddle (6) extends above the electronic switch (75), and the electronic switch (75) can be triggered by the paddle (6).

11. The steering control device according to claim 10, characterized in that: Two paddles (6) are arranged side by side on one side of the host housing (1), and two electronic switches (75) are correspondingly arranged on the main control board body (72).

12. An agricultural machine, characterized in that: The invention comprises a steering control device as described in any one of claims 1 to 11.

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