Electric tractor drive axle assembly and steering control method thereof

Abstract

The invention relates to the technical field of electric tractors, in particular to an electric tractor drive axle assembly and a steering control method thereof. A central speed reducer is arranged in the middle of the shell, the input end of the central speed reducer is connected with a power input shaft, and the output end of the central speed reducer is connected with left and right transmission shafts; hub reducers are arranged on the two sides of a long arm of the drive axle shell; a differential lock assembly is arranged in the drive axle shell and composed of a differential lock and an electric push rod, the differential lock is connected with a meshing sleeve of the differential mechanism through the electric push rod, and the electric push rod pushes the meshing sleeve to be meshed. Wet brakes are arranged on the left and right sides of the central speed reducer and are respectively connected with the output end of the central speed reducer to provide braking torque for the transmission shaft; an angle sensor is arranged on the inner side of the hub reduction gear and installed on a long arm of the drive axle shell. By arranging the differential lock assembly, the wet brake and the angle sensor, the tractor can get out of trouble, brake reliably and steer accurately under complex working conditions, and therefore the tractor is more suitable for various working environments.

Description

Technical Field

[0001] This invention relates to the field of electric tractor technology, and more specifically to an electric tractor drive axle assembly and its steering control method. Background Technology

[0002] The tractor steering drive axle is a key component of the tractor chassis system, combining steering and driving functions, and playing a crucial role in the tractor's operational performance, maneuverability, and safety. However, existing tractor steering drive axles have many shortcomings. For example, the differential lock system disclosed in Chinese patent CN116201868A and the drive axle used in harvesters have a gear ratio design that is too small, resulting in insufficient output torque, making it difficult to meet the tractor's forward power requirements, significantly reducing load capacity, and causing frequent gear damage, seriously affecting the reliability and service life of the equipment. Furthermore, these drive axles lack a differential lock; when one tire slips, it cannot synchronize the rotation of both tires, making it difficult to quickly get out of trouble and greatly reducing operational efficiency. In addition, the lack of brakes means that effective braking force cannot be provided during operation, posing a significant safety hazard. Moreover, the lack of an angle sensor makes it impossible to accurately obtain steering angle information, hindering precise control of the tractor and impeding the improvement of operational accuracy. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide an electric tractor drive axle assembly and its steering control method.

[0004] The technical solution adopted in this invention is as follows:

[0005] An electric tractor drive axle assembly includes a drive axle housing, a central reducer with its input end connected to a power input shaft and its output ends connected to the left and right drive shafts of the drive axle, respectively. A differential is mounted on the central reducer. Wheel-side reducers are located on both sides of the long arm of the drive axle housing. A differential lock assembly, consisting of a differential lock and an electric push rod, is located inside the drive axle housing. The differential lock is connected to the engagement sleeve of the differential via the electric push rod. The electric push rod pushes the engagement sleeve to engage, synchronizing the differential housing with the drive shaft and preventing differential operation of the wheel-side reducers. Wet brakes are located on both sides of the central reducer and are connected to the output end of the central reducer to provide braking torque to the drive shaft. An angle sensor is located inside the wheel-side reducer and mounted on the long arm of the drive axle housing to obtain the steering angle of the drive axle.

[0006] This technical solution, by incorporating a differential lock assembly, a wet brake, and an angle sensor, enables the tractor to escape from difficult situations, achieve reliable braking, and provide precise steering, thus making it more adaptable to various operating environments. Specifically, the electric push rod in the differential lock assembly pushes the differential engagement sleeve, synchronizing the differential housing with the drive shaft and ensuring that the wheel-side reducers on both sides operate without differential speed, preventing slippage; the wet brake is connected to the output end of the central reducer, providing braking torque to the drive shaft to ensure braking performance; and the angle sensor obtains the steering angle of the drive axle, achieving precise steering.

[0007] In addition, the electric tractor drive axle assembly proposed above according to the present invention may also have the following additional technical features: According to one embodiment of the present invention, the central reducer is configured with a large reduction ratio of 15:1, wherein the reduction ratio of the central reducer is 2.5:1 and the reduction ratio of the wheel-side reducer is 6:1.

[0008] In this technical solution, the central reducer adopts a large reduction ratio, which can convert the high speed of the power input shaft into a low speed and high torque output; the wheel-side reducers also have a large reduction ratio, further reducing speed and increasing torque, so that power can be effectively transmitted to the wheels. The two work together to form a large overall reduction ratio, which allows the engine to output more torque at a reasonable speed, meet the requirements of different working conditions and loads, and reasonably distribute the reduction ratios of each stage to avoid insufficient strength of components due to excessive reduction at any stage, thus ensuring the stable operation of the transmission system.

[0009] According to one embodiment of the present invention, a steering cylinder is mounted on the front top of the central reducer, and the steering cylinder drives the wheel-side reducer to rotate via a piston rod. A sealing ring is provided between the central reducer and the drive axle housing to prevent lubricating oil leakage and the entry of external impurities.

[0010] This technical solution involves installing a steering cylinder on the top front side of the central reducer. The hydraulic system allows the piston rod to drive the wheel-side reducer to rotate, thus achieving steering of the electric tractor. A sealing ring is installed between the central reducer and the drive axle housing. Due to its elastic sealing characteristics, it prevents lubricating oil leakage, blocks the entry of external impurities, and ensures the normal operation of the internal parts of the drive axle.

[0011] According to one embodiment of the present invention, the differential is a planetary gear differential, and its meshing sleeve is divided into an inner meshing sleeve and an outer meshing sleeve. The inner meshing sleeve is connected to the differential housing, and the outer meshing sleeve can move axially along the half shaft and is connected to an electric push rod. The electric push rod has a rotating shaft to mesh with the inner meshing sleeve, so as to realize the synchronization between the differential housing and the drive shaft.

[0012] In this technical solution, when one tire slips, the differential lock works with the inner and outer engagement sleeves to allow the two tires to rotate at the same speed, helping the vehicle get out of trouble and improving its ability to pass through complex road conditions. The rotating shaft is driven by an electric push rod to allow the inner and outer engagement sleeves and the differential lock to be easily engaged and disengaged, improving operational efficiency. During normal driving, the planetary gear differential plays a differential role, allowing the two tires to rotate at a suitable speed, reducing wear and extending their lifespan.

[0013] According to one embodiment of the present invention, the wet brake includes a brake housing, and a piston, a driven steel plate, and a friction plate disposed within the brake housing; the piston is nested in the inner cavity of the brake housing and moves axially; the piston is connected to different sealing areas of the brake housing through seal I and seal II respectively; the driven steel plate and the friction plate are mounted on the front port portion of the brake housing, and the brake piston is fixed to the brake housing by hexagonal bolts and springs.

[0014] To achieve the above objectives, the present invention also provides an electric tractor drive axle assembly and its steering control method.

[0015] A steering control method for an electric tractor drive axle assembly includes the following steps: S1. Power Transmission: During normal operation, the power input shaft transmits torque to the drive axle; the central reducer first converts high-speed rotation into low-speed, high-torque output, and then the wheel-side reducer reduces the speed and increases the torque, so that the power is effectively transmitted to the wheels to drive the electric tractor to move. S2. Differential control: During normal driving, the inner and outer meshing sleeves of the planetary gear differential are in a separated state, the differential lock is not active, and the two tires can rotate at different speeds; when one tire slips, the outer meshing sleeve moves axially along the half shaft and engages with the inner meshing sleeve under the push of the electric push rod, the differential housing and the drive shaft rotate synchronously, and the wheel-side reducers on both sides do not rotate at different speeds, helping the vehicle get out of trouble. S3, Braking Control: When the vehicle brakes, the wet brake connected to the output end of the central reducer plays a role. It uses hydraulic or mechanical pressure to make the friction pads rub against the brake disc, converting kinetic energy into heat energy and providing braking force to decelerate and brake the vehicle. S4. Steering Control: When the vehicle is turning, the steering cylinder on the front side of the top of the central reducer drives the wheel-side reducer to rotate through the piston rod to achieve the steering function. At the same time, the angle sensor collects the steering angle of the drive axle for precise steering control.

[0016] In terms of power transmission, this technical solution starts from the power input shaft, performs initial speed and torque conversion through the central reducer, and then further adjusts it through the wheel-side reducers, ultimately transmitting power precisely to the wheels to ensure the tractor has sufficient power for stable movement. Regarding differential control, the operating mode is intelligently switched according to the driving state. During normal driving, the planetary gear differential operates, ensuring differential rotation of the two tires. When one tire slips, the electric push rod pushes the engagement sleeve, synchronizing the differential housing with the drive shaft, and eliminating differential rotation of the wheel-side reducers, thus helping the vehicle get out of trouble. In the braking control section, the wet brake is connected to the output end of the central reducer. During vehicle braking, hydraulic or mechanical pressure causes the friction pads to rub against the brake disc, converting kinetic energy into heat energy for effective braking. For steering control, the steering cylinder on the front of the top of the central reducer drives the wheel-side reducers to rotate via a piston rod to complete the steering action. Simultaneously, an angle sensor collects steering angle information, achieving precise steering control and ensuring stable operation of the electric tractor under different working conditions.

[0017] According to one embodiment of the present invention, in the power transmission step S1, the central reducer and the wheel-side reducer cooperate to form a total reduction ratio of 15:1, so as to adapt to different working conditions and load requirements and ensure the stable and reliable operation of the transmission system.

[0018] According to one embodiment of the present invention, in the braking control step S3, the wet brake achieves different degrees of braking effect by adjusting the magnitude of hydraulic or mechanical pressure according to the braking command.

[0019] According to one embodiment of the present invention, in the steering control step S4, the angle sensor feeds back the acquired steering angle information to the control system in real time, and the control system adjusts the action of the steering cylinder according to the feedback information to achieve precise steering.

[0020] Compared with the prior art, the present invention has the following advantages: (1) The differential lock assembly makes the wheel-side reducers on both sides run without differential speed, avoids tire slippage, and helps the vehicle get out of trouble; the large total reduction ratio design allows the engine to output more torque at a reasonable speed, meets the load requirements of different working conditions, and improves the passability of the tractor in complex environments. (2) The wet brake is connected to the output end of the central reducer and achieves effective braking through hydraulic or mechanical pressure. It can also adjust the pressure according to the braking command to achieve different degrees of braking effect and ensure driving safety. (3) The steering cylinder drives the wheel-side reducer to rotate to achieve steering. The angle sensor provides real-time feedback of the steering angle information. The control system adjusts the steering cylinder action accordingly to ensure precise steering, reduce tire wear, and extend service life. (4) The electric push rod drives the rotating shaft to facilitate the engagement and disengagement of the inner and outer meshing sleeves and differential lock; it also rationally allocates the reduction ratios of each stage to avoid insufficient strength of the parts and ensures the stable and reliable operation of the transmission system. Attached Figure Description

[0021] Figure 1 This is the front view of the present invention.

[0022] Figure 2 This is a top view of the present invention.

[0023] Figure 3 This is a structural diagram of a wet brake.

[0024] Figure 4 This is a structural diagram of the differential lock assembly.

[0025] In the diagram: 1. Wheel-side reducer; 2. Angle sensor; 3. Wet brake; 31. Brake housing; 32. Seal I; 33. Seal II; 34. Piston; 35. Spring; 36. Hex bolt; 37. Driven steel plate; 38. Friction plate; 4. Central reducer; 5. Differential lock assembly; 51. Inner engagement sleeve; 52. Outer engagement sleeve; 53. Drive shaft; 54. Electric push rod; 55. Rotary shaft; 56. Differential housing. Detailed Implementation

[0026] 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, not all, of the embodiments of the present invention. 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.

[0027] Example 1 like Figure 1 and Figure 2 As shown, this embodiment provides an electric tractor drive axle assembly, including a drive axle housing, a central reducer 4 located in the middle of the housing, the input end of which is connected to the power input shaft, and the output end is respectively connected to the left and right drive shafts of the drive axle. A differential is mounted on the central reducer; wheel-side reducers 1 are located on both sides of the long arm of the drive axle housing; a differential lock assembly 5 is located inside the drive axle housing, consisting of a differential lock and an electric push rod. The differential lock is connected to the engagement sleeve of the differential through the electric push rod. The electric push rod pushes the engagement sleeve to engage, synchronizing the differential housing with the drive shaft, so that the wheel-side reducers 1 on both sides operate without differential speed; wet brakes 3 are located on the left and right sides of the central reducer 4, respectively connected to the output end of the central reducer 4, to provide braking torque to the drive shaft; an angle sensor 2 is located inside the wheel-side reducer 1 and is mounted on the long arm of the drive axle housing to obtain the steering angle of the drive axle.

[0028] This technical solution, by incorporating a differential lock assembly 5, a wet brake 3, and an angle sensor 2, enables the tractor to escape from difficult situations, achieve reliable braking, and provide precise steering, thus making it more adaptable to various operating environments. Specifically, the electric push rod in the differential lock assembly 5 pushes the differential engagement sleeve, synchronizing the differential housing with the drive shaft, allowing the wheel-side reducers 1 on both sides to operate without differential speed and preventing slippage; the wet brake 3 is connected to the output end of the central reducer 4, providing braking torque to the drive shaft to ensure braking performance; and the angle sensor 2 obtains the steering angle of the drive axle, achieving precise steering.

[0029] In addition, the electric tractor drive axle assembly proposed above according to the present invention may also have the following additional technical features: According to one embodiment of the present invention, the central reducer 4 is configured with a large reduction ratio of 15:1, wherein the reduction ratio of the central reducer is 2.5:1 and the reduction ratio of the wheel-side reducer 1 is 6:1.

[0030] In this technical solution, the central reducer 4 adopts a large reduction ratio, which can convert the high speed of the power input shaft into a low speed and high torque output; the wheel-side reducer 1 also has a large reduction ratio, further reducing speed and increasing torque, so that the power can be effectively transmitted to the wheels. The two work together to form a large overall reduction ratio, which allows the engine to output more torque at a reasonable speed, meet the requirements of different working conditions and loads, and reasonably distribute the reduction ratios of each stage to avoid insufficient strength of the components due to excessive reduction at a certain stage, thus ensuring the stable operation of the transmission system.

[0031] According to one embodiment of the present invention, a steering cylinder is mounted on the top front side of the central reducer 4, and the steering cylinder drives the wheel-side reducer 1 to rotate via a piston rod. A sealing ring is provided between the central reducer 4 and the drive axle housing to prevent lubricating oil leakage and the entry of external impurities.

[0032] This technical solution involves installing a steering cylinder on the top front side of the central reducer 4, using a hydraulic system to drive the piston rod to rotate the wheel-side reducer 1, thus achieving steering of the electric tractor; a sealing ring is installed between the central reducer 4 and the drive axle housing, which, with its elastic sealing characteristics, prevents lubricating oil leakage, blocks the entry of external impurities, and ensures the normal operation of the internal parts of the drive axle.

[0033] According to one embodiment of the present invention, the differential is a planetary gear differential, and its meshing sleeve is divided into an inner meshing sleeve and an outer meshing sleeve. The inner meshing sleeve is connected to the differential housing, and the outer meshing sleeve can move axially along the half shaft and is connected to an electric push rod. The electric push rod has a rotating shaft to mesh with the inner meshing sleeve, so as to realize the synchronization between the differential housing and the drive shaft.

[0034] In this technical solution, when one tire slips, the differential lock works with the inner and outer engagement sleeves to allow the two tires to rotate at the same speed, helping the vehicle get out of trouble and improving its ability to pass through complex road conditions. The rotating shaft is driven by an electric push rod to allow the inner and outer engagement sleeves and the differential lock to be easily engaged and disengaged, improving operational efficiency. During normal driving, the planetary gear differential plays a differential role, allowing the two tires to rotate at a suitable speed, reducing wear and extending their lifespan.

[0035] According to one embodiment of the present invention, the wet brake 3 includes a brake housing 31, and a piston 34, a driven steel plate 37, and a friction plate 38 disposed within the brake housing 31; the piston 34 is nested in the inner cavity of the brake housing 31 and moves axially; the piston 34 is connected to different sealing areas of the brake housing 31 through a seal I 32 and a seal II 33 respectively; the driven steel plate 37 and the friction plate 38 are mounted on the front port portion of the brake housing 31, and the brake piston 34 is fixed to the brake housing 31 by a spring 35 and a hexagonal bolt 36.

[0036] Example 2 Based on Example 1, such as Figures 1 to 4 As shown, this embodiment provides a steering control method for an electric tractor drive axle assembly, including the following steps: S1. Power transmission: During normal operation, the power input shaft transmits torque to the drive axle; the central reducer 4 first converts high-speed rotation into low-speed, high-torque output, and then the wheel-side reducer 1 reduces the speed and increases the torque, so that the power is effectively transmitted to the wheels to drive the electric tractor to move. S2. Differential control: During normal driving, the inner and outer meshing sleeves of the planetary gear differential are in a separated state, the differential lock is not active, and the two tires can rotate differentially; when one tire slips, the outer meshing sleeve moves axially along the half shaft and engages with the inner meshing sleeve under the push of the electric push rod, the differential housing and the drive shaft rotate synchronously, and the wheel-side reducers 1 on both sides do not operate differentially, helping the vehicle get out of trouble; S3, Braking Control: When the vehicle is braking, the wet brake 3 connected to the output end of the central reducer 4 plays a role. It uses hydraulic or mechanical pressure to make the friction pads rub against the brake disc, converting kinetic energy into heat energy and providing braking force to decelerate and brake the vehicle. S4. Steering control: When the vehicle is turning, the steering cylinder on the front side of the top of the central reducer 4 drives the wheel-side reducer 1 to rotate through the piston rod to realize the steering function. At the same time, the angle sensor 2 collects the steering angle of the drive axle for precise steering control.

[0037] In terms of power transmission, this technical solution starts from the power input shaft, performs initial speed and torque conversion through the central reducer 4, and then further adjusts it through the wheel-side reducers 1, ultimately transmitting power precisely to the wheels to ensure the tractor has sufficient power for stable movement. Regarding differential control, the working mode is intelligently switched according to the driving state. During normal driving, the planetary gear differential functions to ensure differential rotation of the two tires. When one tire slips, the electric push rod pushes the engagement sleeve to synchronize the differential housing with the drive shaft, and the wheel-side reducers 1 on both sides operate without differential rotation, helping the vehicle to get out of trouble. In the braking control stage, the wet brake 3 is connected to the output end of the central reducer 4. During vehicle braking, hydraulic or mechanical pressure causes the friction pads to rub against the brake disc, converting kinetic energy into heat energy for effective braking. For steering control, the steering cylinder on the top front side of the central reducer 4 drives the wheel-side reducers 1 to rotate via the piston rod to complete the steering action. At the same time, the angle sensor 2 collects steering angle information to achieve precise steering control, ensuring stable operation of the electric tractor under different working conditions.

[0038] According to one embodiment of the present invention, in the power transmission step S1, the central reducer 4 and the wheel-side reducer 1 cooperate to form a total reduction ratio of 15:1, so as to adapt to different working conditions and load requirements and ensure the stable and reliable operation of the transmission system.

[0039] According to one embodiment of the present invention, in the braking control step S3, the wet brake 3 achieves different degrees of braking effect by adjusting the magnitude of hydraulic or mechanical pressure according to the braking command.

[0040] According to one embodiment of the present invention, in the steering control step S4, the angle sensor 2 feeds back the acquired steering angle information to the control system in real time, and the control system adjusts the action of the steering cylinder according to the feedback information to achieve precise steering.

[0041] Although the present invention has been described in detail with reference to the accompanying drawings and preferred embodiments, the invention is not limited thereto. Various equivalent modifications or substitutions can be made to the embodiments of the invention by those skilled in the art without departing from the spirit and essence of the invention, and such modifications or substitutions should all be within the scope of the invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the invention should also be covered within the protection scope of the invention. Therefore, the protection scope of the invention should be determined by the scope of the claims.

Claims

1. An electric tractor drive axle assembly, characterized in that, The drive axle housing includes a central reducer (4) in the middle of the housing. Its input end is connected to the power input shaft, and its output end is connected to the left and right drive shafts of the drive axle. A differential is mounted on the central reducer (4). Wheel-side reducers (1) are provided on both sides of the long arm of the drive axle housing. A differential lock assembly (5) is provided inside the drive axle housing, consisting of a differential lock and an electric push rod. The differential lock is connected to the engagement sleeve of the differential through the electric push rod. The electric push rod pushes the engagement sleeve to engage, so that the differential housing and the drive shaft are synchronized, and the wheel-side reducers (1) on both sides operate without differential speed. Wet brakes (3) are provided on the left and right sides of the central reducer (4), which are connected to the output end of the central reducer (4) to provide braking torque to the drive shaft. An angle sensor (2) is provided inside the wheel-side reducer (1) and is installed on the long arm of the drive axle housing to obtain the steering angle of the drive axle.

2. The electric tractor drive axle assembly according to claim 1, characterized in that, The central reducer (4) is set with a large reduction ratio, with a total reduction ratio of 15:1, of which the reduction ratio of the central reducer is 2.5:1 and the reduction ratio of the wheel-side reducer (1) is 6:

1.

3. The electric tractor drive axle assembly according to claim 1 or 2, characterized in that, The central reducer (4) is equipped with a steering cylinder on the front top side, and the steering cylinder drives the wheel-side reducer (1) to rotate through the piston rod.

4. The electric tractor drive axle assembly according to claim 3, characterized in that, A sealing ring is provided between the central reducer (4) and the drive axle housing to prevent lubricating oil leakage and the entry of external impurities.

5. The electric tractor drive axle assembly according to claim 1, characterized in that, The differential is a planetary gear differential, and its meshing sleeve is divided into an inner meshing sleeve and an outer meshing sleeve. The inner meshing sleeve is connected to the differential housing, and the outer meshing sleeve can move axially along the half shaft and is connected to an electric push rod. The electric push rod has a rotating shaft to make it mesh with the inner meshing sleeve, so as to realize the synchronization between the differential housing and the drive shaft.

6. The electric tractor drive axle assembly according to claim 1, characterized in that, The wet brake (3) includes a brake housing (31), and a piston (34), a driven steel plate (37), and a friction plate (38) disposed in the brake housing (31); the piston (34) is nested in the inner cavity of the brake housing (31) and moves axially; the piston (34) is connected to different sealing areas of the brake housing (31) through sealing member I (32) and sealing member II (33) respectively; the driven steel plate (37) and the friction plate (38) are mounted on the front port of the brake housing (31), and the brake housing (31) is fixed to the side of the central reducer (4) by hexagonal bolts with springs (35).

7. A steering control method for an electric tractor drive axle assembly, employing the electric tractor drive axle assembly as described in any one of claims 1-6, characterized in that, Includes the following steps: S1, Power Transmission: During normal operation, the power input shaft transmits torque to the drive axle; The central reducer (4) first converts high-speed rotation into low-speed, high-torque output, and then the wheel-side reducer (1) reduces the speed and increases the torque, so that the power is effectively transmitted to the wheels and drives the electric tractor to move. S2, Differential control: During normal driving, the inner and outer meshing sleeves of the planetary gear differential are in a separated state, the differential lock does not work, and the tires on both sides can rotate differentially; when one tire slips, under the push of the electric push rod, the outer meshing sleeve moves axially along the half shaft and meshes with the inner meshing sleeve, the differential housing and the drive shaft rotate synchronously, and the wheel-side reducers (1) on both sides do not operate differentially, helping the vehicle to get out of trouble; S3, Braking Control: When the vehicle brakes, the wet brake (3) connected to the output end of the central reducer (4) plays a role, using hydraulic or mechanical pressure to make the friction pads rub against the brake disc, converting kinetic energy into heat energy, and providing braking force to decelerate and brake the vehicle. S4. Steering control: When the vehicle is turning, the steering cylinder on the front side of the top of the central reducer (4) drives the wheel-side reducer (1) to rotate through the piston rod to realize the steering function. At the same time, the angle sensor (2) collects the steering angle of the drive axle and performs precise steering control.

8. The steering control method for the electric tractor drive axle assembly according to claim 7, characterized in that, In the power transmission step of S1, the central reducer (4) and the wheel-side reducer (1) cooperate to form a total reduction ratio of 15:1, so as to adapt to different working conditions and load requirements and ensure the stable and reliable operation of the transmission system.

9. The steering control method for the electric tractor drive axle assembly according to claim 7, characterized in that, In the braking control step of S3, the wet brake (3) adjusts the hydraulic or mechanical pressure according to the braking command to achieve different degrees of braking effect.

10. The steering control method for the electric tractor drive axle assembly according to claim 7, characterized in that, In the steering control step of S4, the angle sensor (2) feeds back the acquired steering angle information to the control system in real time. The control system adjusts the action of the steering cylinder according to the feedback information to achieve precise steering.

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