Steering control steering engine structure of farming machine

Abstract

The utility model discloses a steering control steering engine structure of a farming machine. The steering control steering engine structure comprises a steering engine arranged on a driving module, the steering engine comprises a steering engine gear box, a steering engine rotor arranged at the bottom of the steering engine gear box in a swinging mode, a steering motor arranged on the steering engine gear box and used for driving the steering engine rotor to swing, and a plurality of reduction gear pairs arranged in the steering engine gear box and used for transmitting power between the steering motor and the steering engine rotor. Wherein the steering engine rotor is in contact with a left clutch module and a right clutch module which are arranged in the speed change gear box and used for controlling power output, and the steering engine rotor can drive the left clutch module and the right clutch module to control the speed change gear box to output power unilaterally or bilaterally. The steering engine is adopted to control the left clutch module and the right clutch module, so that single-side or double-side power output of the speed change gear box is achieved, steering is achieved when single-side power output is achieved, and straight driving is achieved when double-side power output is achieved at the same time.

Description

Technical Field:

[0001] The utility model relates to the field of agricultural machinery, and particularly refers to a steering control servo structure of a farming machine. Background Art:

[0002] Currently, large-scale agricultural cultivation machinery mainly consists of two parts: a locomotive and a cultivation device. The locomotive generally uses a tractor driven by a diesel internal combustion engine. The cultivation device is installed on the locomotive or towed by the locomotive to achieve operation in farmland. With the continuous development of new energy technologies, currently, small and medium-sized farming machines on the market have gradually started to use electric tractors as the power device of the farming machine. Compared with traditional tractors, electric tractors not only save energy and are environmentally friendly, but also have the advantages of smaller volume, low noise, low maintenance cost, simple operation (can be driverless), and high reliability, and are increasingly favored by the market.

[0003] Currently, farming machines using electric tractors on the market are usually in a driverless mode and work by remotely operating the farming machine. For example, a kind of agricultural rotary tiller with the Chinese patent publication number: CN 114271046 A. This patent includes: a towing locomotive 1, a rotary tilling mechanism 2, a towing mechanism 30 for connecting the towing locomotive 1 and the rotary tilling mechanism 2, a flipping driving member 6, and a supporting mechanism 8. However, in this patent solution, two traction motors 11 are respectively used to drive the left and right track driving wheels to run to achieve the driving of the locomotive main body 10. By controlling the output of the left and right traction motors 11, the forward and backward movement and steering of the entire vehicle main body 10 are controlled. This results in that whether the farming machine is moving forward or turning, the two traction motors 11 are always in a working state, which not only increases energy consumption and affects the battery life of the farming machine, but also causes the motors to overheat due to long-term continuous operation, affecting the service life of the motors. At the same time, when the farming machine needs to keep moving straight, it is necessary to ensure that the transmission mechanisms of both tracks are completely synchronized, otherwise there will be deviation.

[0004] In view of this, the inventor has proposed the following technical solutions. Content of the Utility Model:

[0005] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a steering control servo structure of a farming machine.

[0006] To solve the above technical problems, the present utility model adopts the following technical solutions: A steering control servo structure of a farming machine, comprising: a steering servo provided on a drive module, the steering servo including a servo gearbox, a servo rotor disposed at the bottom of the servo gearbox in a swingable manner, a steering motor provided on the servo gearbox and used to drive the swing of the servo rotor, and a plurality of reduction gear pairs provided in the servo gearbox and used to transmit power between the steering motor and the servo rotor. Among them, the servo rotor contacts the left clutch module and the right clutch module that control the power output in the transmission gearbox, and can toggle the left clutch module and the right clutch module to control the unilateral or bilateral power output of the transmission gearbox.

[0007] Furthermore, in the above technical solution, a servo output shaft connecting the reduction gear pair and the servo rotor is provided on the servo gearbox. One end of the servo rotor is fixed on the servo output shaft, and a steering pulley for contacting the left clutch module and the right clutch module is provided at the other end of the servo rotor.

[0008] Furthermore, in the above technical solution, the servo rotor and the steering pulley are connected by a first pin shaft, and a bowl-shaped gasket is also installed on the first pin shaft on one side of the steering pulley. The bowl-shaped gasket and the servo rotor are respectively located on both sides of the steering pulley.

[0009] Furthermore, in the above technical solution, both ends of the first pin shaft limit and fix the servo rotor, the steering pulley and the bowl-shaped gasket through a first sleeve spring and a second sleeve spring.

[0010] Furthermore, in the above technical solution, the small gear of the initial gear pair in the reduction gear pair is installed on the output shaft of the steering motor, the large gear of the terminal gear pair in the reduction gear pair is installed on the servo output shaft, and the large gears and small gears meshing with each other between the small gear of the initial gear pair and the large gear of the terminal gear pair are supported and connected in series by a second pin shaft, and are limited and fixed by a third sleeve spring and a fourth sleeve spring at both ends of the second pin shaft.

[0011] Furthermore, in the above technical solution, the steering servo includes a control circuit board, which is installed on the servo gearbox, and a cover shell covering the control circuit board is also installed on the servo gearbox.

[0012] Furthermore, in the above technical solution, the transmission gearbox includes a box body, an input main shaft, a left output shaft, a right output shaft, a transmission main shaft and a clutch main shaft. Among them, a transmission gear set for transmitting power is provided on the input main shaft and the transmission main shaft, and a clutch gear set for transmitting power is provided on the clutch main shaft, the left output shaft and the right output shaft. Among them, the left clutch module and the right clutch module are installed at both ends of the clutch main shaft and extend out of the box body on both sides to contact and press against the servo rotor.

[0013] After adopting the above technical solution, the utility model has the following beneficial effects compared with the prior art: In the utility model, a rotating servo motor is used to control the left clutch module and the right clutch module to realize the unilateral or bilateral power output of the speed change gearbox, so as to realize steering when the power is output unilaterally, and straight driving when the power is output bilaterally at the same time. Secondly, by arranging multiple sets of reduction gear pairs between the steering motor and the servo rotor, the swing force of the servo rotor is increased, and the stability of the servo rotor pushing the left clutch module and the right clutch module is improved, ensuring that the agricultural tractor can turn in time during driving. Description of the drawings:

[0014] Figure 1 is the structural diagram of an embodiment of the utility model;

[0015] Figure 2 is the structural diagram of the rotary tillage mechanism in an embodiment of the utility model;

[0016] Figure 3 is the internal structural diagram of the transmission component in an embodiment of the utility model;

[0017] Figure 4 is the structural diagram of the transmission component in an embodiment of the utility model;

[0018] Figure 5 is the structural diagram of the tractor in an embodiment of the utility model;

[0019] Figure 6 is the structural diagram of the lifting bracket mechanism in an embodiment of the utility model;

[0020] Figure 7 is the exploded view of the pull rod assembly in an embodiment of the utility model;

[0021] Figure 8 is the structural diagram of the drive module in the utility model;

[0022] Figure 9 is the internal structural diagram of the drive module in the utility model;

[0023] Figure 10 is the structural schematic of the utility model Figure 1 ;

[0024] Figure 11 is the structural schematic of the utility model Figure 2 . Detailed implementation manners:

[0025] The present utility model will be further described below in conjunction with specific embodiments and the drawings.

[0026] See Figures 8 to 11As shown in the figure, it is a steering control servo structure of an agricultural tiller, including a steering servo D2 arranged on the driving module D. The steering servo D2 includes a servo gearbox D21, a servo rotor D22 arranged at the bottom of the servo gearbox D21 in a swingable manner, a steering motor D23 arranged on the servo gearbox D21 and used to drive the servo rotor D22 to swing, and multiple sets of reduction gear pairs D24 arranged in the servo gearbox D21 and used to transmit power between the steering motor D23 and the servo rotor D22. Among them, the servo rotor D22 contacts the left clutch module D19 and the right clutch module D100 that control the power output in the transmission gearbox D1, and can toggle the left clutch module D19 and the right clutch module D100 to control the unilateral or bilateral power output of the transmission gearbox D1. By rotating the servo D2 to control the left clutch module D19 and the right clutch module D100, the unilateral or bilateral power output of the transmission gearbox D1 is realized, so that steering is achieved when the power is output unilaterally, and straight driving is achieved when the power is output bilaterally at the same time. Secondly, by arranging multiple sets of reduction gear pairs D24 between the steering motor D23 and the servo rotor D22, the swing force of the servo rotor D22 is increased, the stability of the servo rotor D22 pushing the left clutch module D19 and the right clutch module D100 is improved, and it is ensured that the agricultural tiller can turn in time during the driving process.

[0027] A servo output shaft D25 connecting the reduction gear pair D24 and the servo rotor D22 is arranged on the servo gearbox D21. One end of the servo rotor D22 is fixed on the servo output shaft D25, and a steering pulley D221 for contacting the left clutch module D19 and the right clutch module D100 is arranged at the other end of the servo rotor D22. By arranging the steering pulley D221 at the lower end of the servo rotor D22 to contact the left clutch module D19 and the right clutch module D100 under low pressure, the impact force can be reduced when the servo rotor D22 contacts and impacts the left clutch module D19 and the right clutch module D100, the wear is reduced, and thus the service life of the steering servo D2 is improved.

[0028] The servo rotor D22 and the steering pulley D221 are connected by a first pin shaft D222, and a bowl-shaped gasket D223 located on one side of the steering pulley D221 is also installed on the first pin shaft D222. The bowl-shaped gasket D223 and the servo rotor D22 are located on both sides of the steering pulley D221 respectively. By adding the bowl-shaped gasket D223 on the servo rotor D22, when the servo rotor D22 swings away from the left clutch module D19 or the right clutch module D100, during the backswing process of the servo rotor D22, the bowl-shaped gasket D223 can be used to ensure quick re-contact with the left clutch module D19 or the right clutch module D100, so that one end of the left clutch module D19 or the right clutch module D100 can quickly return to contact with the steering pulley D221.

[0029] Both ends of the first pin shaft D222 limit and fix the steering gear rotor D22, the steering pulley D221 and the bowl-shaped gasket D223 through the first sleeve spring D224 and the second sleeve spring D225.

[0030] In the reduction gear pair D24, the pinion D241 of the initial gear pair is installed on the output shaft of the steering motor D23, and the large gear D242 of the terminal gear pair in the reduction gear pair D24 is installed on the steering gear output shaft D25. The large and small gears meshing with each other between the pinion D241 of the initial gear pair and the large gear D242 of the terminal gear pair are supported and connected in series by the second pin shaft D243, and are limited and fixed at both ends of the second pin shaft D243 through the third sleeve spring D244 and the fourth sleeve spring D245. The third sleeve spring D244 and the fourth sleeve spring D245 are used to hold both ends of the second pin shaft D243 tightly, connecting and fixing the large and small gears of the two reduction gear pairs D24 in series. The installation is simple and convenient, with good stability, a more compact structure, and is convenient to be fixed in the steering gear gearbox D21.

[0031] The steering gear D2 further includes a control circuit board D26, which is installed on the steering gear gearbox D21, and a housing D27 covering the control circuit board D26 is also installed on the steering gear gearbox D21.

[0032] The speed-changing gearbox D1 includes a box body D11, an input main shaft D12, a left output shaft D13, a right output shaft D14, a speed-changing main shaft D15 and a clutch main shaft D16. Among them, a speed-changing gear set D17 for transmitting power is arranged on the input main shaft D12 and the speed-changing main shaft D15, and a clutch gear set D18 for transmitting power is arranged on the clutch main shaft D16, the left output shaft D13 and the right output shaft D14. Among them, the left clutch module D19 and the right clutch module D100 are installed at both ends of the clutch main shaft D16 and extend out of the box body D11 on both sides to contact and press against the steering gear rotor D22.

[0033] See Figures 1 to 10As shown, in one embodiment, there is a small multi-functional electric farming machine, which includes a tractor 1, a rotary tillage mechanism 2, and a lifting bracket mechanism 3 disposed at the rear end of the tractor 1 and used for lifting the rotary tillage mechanism 2. A snap-fastening frame 4 for disassembling and assembling the rotary tillage mechanism 2 is provided on the lifting bracket mechanism 3; the rotary tillage mechanism 2 includes a support connection frame 21 for snap-fastening on the snap-fastening frame 4, a rotary cutter motor 22 disposed on the support connection frame 21, a transmission component 23 disposed in the middle of the support connection frame 21 and connecting the rotary cutter motor 22 to transmit power, and a left rotary cutter 24 and a right rotary cutter 25 installed on both sides of the lower end of the transmission component 23. The snap-fastening frame 4 is provided between the lifting bracket mechanism 3 and the rotary tillage mechanism 2 to achieve quick disassembly and assembly, so as to facilitate the replacement and maintenance of the rotary tillage mechanism 2, and can realize the quick replacement of agricultural mechanisms with different functions, such as: lawn mowers, etc. Secondly, the rotary tillage mechanism 2 uses the transmission component 23 in the middle to transmit the power of the rotary cutter motor 22 to the left rotary cutter 24 and the right rotary cutter 25 at the same time, to ensure the synchronization of the left rotary cutter 24 and the right rotary cutter 25, and avoid the generation of internal stress resulting in fracture.

[0034] The snap-fastening frame 4 includes an upper support rod 41 and a lower support rod 42 for the support connection frame 21 to snap-fasten, and left connecting plates 43 and right connecting plates 44 sleeved on both ends of the upper support rod 41 and the lower support rod 42 and used for pivoting connection with the lifting bracket mechanism 3. Upper snap-fastening grooves 211 and lower snap-fastening grooves 212 that can be snap-fastened to the upper support rod 41 and the lower support rod 42 are respectively provided at the upper and lower ends of both sides of the support connection frame 21, and are locked and fixed by passing a bolt group or a pin through the support connection frame 21 and the left connecting plates 43 and the right connecting plates 44. The upper support rod 41 and the lower support rod 42 are provided on the snap-fastening frame 4 to achieve quick snap-fastening with the support connection frame 21 of the rotary tillage mechanism 2, and the support connection frame 21, the left connecting plates 43 and the right connecting plates 44 are threaded together through a bolt group or a pin to realize the locking and fixing of the rotary tillage mechanism 2 and the snap-fastening frame 4.

[0035] Left support plates 213 and right support plates 214 for snap-fastening to the upper support rod 41 and the lower support rod 42 are provided on both sides of the support connection frame 21, and the upper snap-fastening grooves 211 and the lower snap-fastening grooves 212 are respectively located at the upper and lower ends of the left support plates 213 and the right support plates 214. First limit mounting holes 215 and second limit mounting holes 216 for the bolt group or the pin to pass through are respectively provided on the left support plates 213 and the right support plates 214, and both the first limit mounting holes 215 and the second limit mounting holes 216 are located between the upper snap-fastening grooves 211 and the lower snap-fastening grooves 212.

[0036] The transmission assembly 23 includes a drive shaft 231 for mounting the left rotary cutter 24 and the right rotary cutter 25, an output bevel gear set 232 sleeved on the drive shaft 231, a bevel gear shaft 233 vertically arranged on one side of the drive shaft 231 and located between the rotary cutter motor 22 and the output bevel gear set 232, and a housing 234 covering the bevel gear shaft 233 and the output bevel gear set 232. One end of the bevel gear shaft 233 meshes with the output bevel gear set 232, and the other end of the bevel gear shaft 233 is connected to the output shaft of the rotary cutter motor 22.

[0037] The lifting bracket mechanism 3 includes four tie rod assemblies 31 arranged between the snap-fastening frame 4 and the tractor 1, a lifting lower connecting rod 32 hingedly installed on the snap-fastening frame 4, a lifting upper connecting rod 33 hingedly installed on the tractor 1 and movably hinged to the lifting lower connecting rod 32, and a driving ejector rod 34 hingedly installed on the tractor 1 and hinged to the lifting upper connecting rod 33 to push its swing. The four tie rod assemblies 31 are respectively hinged at the four corners of the snap-fastening frame 4, and movable joints are provided at both ends of the tie rod assemblies 31. The four tie rod assemblies 31 connect the snap-fastening frame 4 and the tractor 4 together, and the tractor 1 and the snap-fastening frame 4 are pulled by the lifting lower connecting rod 32 and the lifting upper connecting rod 33. The driving ejector rod 34 jacks up or lowers the lifting upper connecting rod 33, so that the snap-fastening frame 4 is lifted or lowered, thereby driving the rotary tillage mechanism 2 to flip, and the rotary tillage mechanism 2 is stably supported by the four tie rod assemblies 31. After the rotary tillage mechanism 2 is lifted, the distance between the rotary tillage mechanism 2 and the tractor 4 can be shortened, and the torque during swinging can be reduced, thereby effectively avoiding vehicle overturning.

[0038] The pull rod assembly 31 includes a support sleeve 31A, a first fish-eye ball head 31B and a second fish-eye ball head 31C telescopically arranged at both ends of the support sleeve 31A, a first fixing bolt rod 31H for fixing the first fish-eye ball head 31B and the snap-fastening mounting bracket 4, a first fish-eye mounting sleeve 31D and a second fish-eye mounting sleeve 31E sleeved on the first fixing bolt rod 31H and pressing against both sides of the first fish-eye ball head 31B, a first fish-eye ball 31I arranged inside the end of the first fish-eye ball head 31B and used for mating and docking with the first fish-eye mounting sleeve 31D and the second fish-eye mounting sleeve 31E, a second fixing screw 31J for fixing the second fish-eye ball head 31C and the tractor 1, a third fish-eye mounting sleeve 31F and a fourth fish-eye mounting sleeve 31G sleeved on the second fixing screw 31J and pressing against both sides of the second fish-eye ball head 31C, and a second fish-eye ball 31K arranged inside the end of the second fish-eye ball head 31C and used for mating and docking with the third fish-eye mounting sleeve 31F and the fourth fish-eye mounting sleeve 31G. Among them, one end of the first fish-eye ball head 31B is set as a screw part 31B1 extending into the support sleeve 31A, and a first adjusting nut 31B2 for adjusting the telescopic length of the first fish-eye ball head 31B is installed on the screw part 31B1. The other end of the first fish-eye ball head 31B is set as a sleeve part 31B3 for installing the first fish-eye ball 31I and allowing the first fixing bolt rod 31H to pass through. The second fish-eye ball head 31C has the same structure as the first fish-eye ball head 31B. By arranging fish-eye ball head structures at both ends of the pull rod assembly 31 for connection, through the cooperation of the fish-eye ball and the fish-eye mounting sleeve, the connection at the end of the pull rod assembly 31 can be deflected within a certain angle range, and the elongation and shortening of the pull rod assembly 31 are realized through the telescopable first fish-eye ball head 31B and second fish-eye ball head 31C, so as to realize the position adjustment of the rotary tillage mechanism 2, so that the rotary tillage mechanism 2 can keep working in a straight line and the tillage depth at each place is kept consistent.

[0039] The driving ejector rod 34 and the lifting upper connecting rod 33 are connected through a third fish-eye ball head 351, a third fixing bolt rod 352, a fifth fish-eye mounting sleeve 353 and a sixth fish-eye mounting sleeve 354. And a third fish-eye ball for allowing the third fixing bolt rod 352 to pass through and mating and docking with the fifth fish-eye mounting sleeve 353 and the sixth fish-eye mounting sleeve 354 is also arranged inside the third fish-eye ball head 3351; The lifting lower connecting rod 32 and the lifting upper connecting rod 33 are connected through a first pin shaft 36, and a first strip-shaped groove 321 for allowing the first pin shaft 36 to slide is arranged on the lifting lower connecting rod 32.

[0040] The tractor 1 includes a frame main body A, a left crawler wheel B and a right crawler wheel C arranged on both sides of the frame main body A, a drive module D arranged inside the frame main body A and used to drive the left crawler wheel B and the right crawler wheel C to work, and a battery unit E arranged inside the frame main body A and used to supply electric energy to the drive module D. Among them, the drive module D is located at the front end of the frame main body A, the lifting bracket mechanism 3 is hinged and installed at the rear end of the frame main body A, and the battery unit E is located in the middle of the frame main body A.

[0041] The drive module D includes a speed change gearbox D1, a steering servo D2 arranged on the speed change gearbox D1 and used to control the steering of the tractor 1, a shift servo D3 arranged on the speed change gearbox D1 and used to control the forward and backward movement of the tractor 1, a traveling motor D4 arranged on the speed change gearbox D1, and a transmission pulley group D5 arranged between the traveling motor D4 and the speed change gearbox D1.

[0042] An installation bracket D6 for supporting the traveling motor D4 and the transmission pulley group D5 is arranged on the speed change gearbox D1. The installation bracket D6 includes a support vertical plate D61 fixed on the speed change gearbox D1 and a sliding block D62 slidably arranged on the support vertical plate D61 and used to fix the traveling motor D4. One end of the support vertical plate D61 is provided with an installation groove D63 for the sliding block D62 to move, and a plurality of second strip-shaped grooves D64 for installing and adjusting the position of the sliding block D62 are arranged in the installation groove D63.

[0043] The steering servo D2 includes a servo gearbox D21, a servo rotor D22 arranged at the bottom of the servo gearbox D21 in a swingable manner, a steering motor D23 arranged on the servo gearbox D21 and used to drive the servo rotor D22 to swing, and a plurality of reduction gear pairs D24 arranged inside the servo gearbox D21 and used to transmit power between the steering motor D23 and the servo rotor D22.

[0044] The speed change gearbox D1 includes a box body, an input main shaft D12, a left output shaft D13, a right output shaft D14, a speed change main shaft D15 and a clutch main shaft D16. Among them, a speed change gear group D17 for transmitting power is arranged on the input main shaft D12 and the speed change main shaft D15, a clutch gear group D18 for transmitting power is arranged on the clutch main shaft D16 and the left output shaft D13 and the right output shaft D14, and left and right clutch modules D19 and D100 capable of contacting and pressing against the servo rotor D22 are respectively arranged at both ends of the clutch main shaft D16.

[0045] In summary, when the utility model works, the tractor 1 drives the rotary tillage mechanism 2 to move. When tilling is required, the rotary tillage mechanism 2 is lowered through the lifting bracket mechanism 3, so that the left rotary cutter group 24 and the right rotary cutter group 25 of the rotary tillage mechanism 2 are inserted into the soil. Driven by the rotary cutter motor 22, the left rotary cutter group 24 and the right rotary cutter group 25 start to work, and at the same time, the tractor 1 pulls the rotary tillage mechanism 2 forward, thus realizing tilling. Further, when it is necessary to replace the agricultural mechanism, for example, a weeding machine, it is necessary to first lift the rotary tillage mechanism 2 through the lifting bracket mechanism 3, loosen the bolts or pins between the rotary tillage mechanism 2 and the snap-fastening mounting frame 4, and then manually or with the help of a crane lift the rotary tillage mechanism 2 upward and remove it from the snap-fastening mounting frame 4. Of course, in order to facilitate the removal of the rotary tillage mechanism 2, the rotary tillage mechanism 2 can also be pulled out of the soil and placed on the ground. After removing the locking bolts or pins, the lifting bracket mechanism 3 swings downward to disengage from the rotary tillage mechanism 2, and finally the weeding machine is installed on the snap-fastening mounting frame 4 to complete the replacement of the agricultural mechanism.

[0046] Certainly, the above are only specific embodiments of the utility model and do not limit the scope of implementation of the utility model. Any equivalent changes or modifications made according to the structure, characteristics and principles described in the scope of the patent application of the utility model shall be included in the scope of the patent application of the utility model.

Claims

1. A steering control servo structure for an agricultural machine, comprising a steering servo (D2) arranged on a driving module (D), characterized in that: The steering servo (D2) comprises a servo gearbox (D21), a servo rotor (D22) arranged at the bottom of the servo gearbox (D21) in a swingable manner, a steering motor (D23) arranged on the servo gearbox (D21) and used to drive the servo rotor (D22) to swing, and a plurality of reduction gear pairs (D24) arranged in the servo gearbox (D21) and used to transmit power between the steering motor (D23) and the servo rotor (D22), wherein the servo rotor (D22) contacts with a left clutch module (D19) and a right clutch module (D100) in the speed change gearbox (D1) for controlling power output, and can control the unilateral or bilateral power output of the speed change gearbox (D1) by moving the left clutch module (D19) and the right clutch module (D100).

2. The steering control servo structure of an agricultural machine according to claim 1, characterized in that: The steering gear box (D21) is provided with a steering gear output shaft (D25) connecting the reduction gear pair (D24) and the steering gear rotor (D22); one end of the steering gear rotor (D22) is fixed on the steering gear output shaft (D25); and the other end of the steering gear rotor (D22) is provided with a steering pulley (D221) for contacting the left clutch module (D19) and the right clutch module (D100).

3. The steering control servo structure of an agricultural machine according to claim 2, characterized in that: The steering gear rotor (D22) is connected to the steering pulley (D221) via a first pin shaft (D222), and a bowl-shaped gasket (D223) located on one side of the steering pulley (D221) is also installed on the first pin shaft (D222), and the bowl-shaped gasket (D223) and the steering gear rotor (D22) are respectively located on both sides of the steering pulley (D221).

4. The steering control servo structure of an agricultural machine according to claim 3, characterized in that: The two ends of the first pin shaft (D222) limit and fix the steering gear rotor (D22), the steering pulley (D221) and the bowl-shaped gasket (D223) through a first sleeve spring (D224) and a second sleeve spring (D225).

5. The steering control servo structure of an agricultural machine according to claim 2, characterized in that: The pinion (D241) of the initial gear pair in the reduction gear pair (D24) is mounted on the output shaft of the steering motor (D23), the large gear (D242) of the terminal gear pair in the reduction gear pair (D24) is mounted on the steering gear output shaft (D25), and the large gear and the pinion that are meshed with each other between the pinion (D241) of the initial gear pair and the large gear (D242) of the terminal gear pair are supported in series by the second pin shaft (D243), and are limited and fixed at both ends of the second pin shaft (D243) by the third sleeve spring (D244) and the fourth sleeve spring (D245).

6. The steering control servo structure of an agricultural machine according to claim 2, characterized in that: The steering servo (D2) comprises a control circuit board (D26), the control circuit board (D26) is mounted on a servo gear box (D21), and a cover (D27) covering the control circuit board (D26) is also mounted on the servo gear box (D21).

7. A steering control servo structure for an agricultural machine according to any one of claims 1 to 6, characterized in that: The speed change gearbox (D1) comprises a box body (D11), an input main shaft (D12), a left output shaft (D13), a right output shaft (D14), a speed change main shaft (D15) and a clutch main shaft (D16), wherein a speed change gear set (D17) for transmitting power is arranged on the input main shaft (D12) and the speed change main shaft (D15), and a clutch gear set (D18) for transmitting power is arranged on the clutch main shaft (D16) and the left output shaft (D13) and the right output shaft (D14), wherein a left clutch module (D19) and a right clutch module (D100) are installed at both ends of the clutch main shaft (D16) and extend out of the box body (D11) at both sides to contact and press against a steering gear rotor (D22).

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