CN220032044U - Steering axle assembly and agricultural unmanned vehicle - Google Patents

Abstract

The utility model discloses a steering axle assembly and an agricultural unmanned vehicle, comprising: the steering device comprises a box body, an Ackerman connecting rod mechanism, a steering gear assembly, a left steering mechanism and a right steering mechanism, wherein the Ackerman connecting rod mechanism is arranged in the box body, the left steering mechanism and the right steering mechanism are respectively and rotatably installed at two ends of the box body and are respectively connected with two ends of the Ackerman connecting rod mechanism, the steering gear assembly is detachably installed on the outer wall of the box body, a steering gear installation hole is formed in the box body, and the steering gear assembly penetrates through the steering gear installation hole and is fixedly connected with the Ackerman connecting rod mechanism. The utility model has the function of quick disassembly of the steering wheel assembly, and the steering wheel assembly can be disassembled from the box body in one direction as a whole, thereby being convenient for maintenance and being beneficial to large-scale robot maintenance work.

Description

Steering axle assembly and agricultural unmanned vehicle

Technical Field

The utility model relates to the technical field of steering axles, in particular to a steering axle assembly and an agricultural unmanned vehicle.

Background

In the existing automobile field, a prime motor, a multi-link steering axle and a steering gear are all used for steering a front axle of a vehicle. The steering principle of the vehicle is as follows: the prime mover (manual, hydraulic mechanism, etc.) inputs rotation motion into an input shaft of the steering gear, and the rotation motion of the input shaft drives a translation connecting rod of the linkage steering gear to generate unidirectional slip; the translation connecting rod is connected with a direction pull rod of the multi-connecting rod steering axle to drive the four-connecting rod mechanism to enable the flanges arranged at the two ends of the front axle to rotate in the forward direction of the vehicle, so that the tires arranged on the flanges are driven to rotate at an angle; namely, the direction of the friction force applied to the vehicle body is changed, so that the steering function is realized.

At present, a plurality of small-sized vehicles adopt the combination of the two modules, and simultaneously a steering prime motor and a connecting mechanism thereof are added to form a front axle assembly so as to realize the steering function. However, the steering wheel with the configuration is inconvenient to disassemble and difficult to maintain, and is not beneficial to maintenance operation of a large-scale robot.

Disclosure of Invention

The aim of the embodiment of the utility model is that: the steering axle assembly can solve the problems in the prior art, achieves the quick-dismantling function of the steering wheel assembly, can be detached from the box body in one direction as a whole, is convenient to maintain, and is beneficial to large-scale robot maintenance work.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

in one aspect, a steer axle assembly is provided comprising: the steering device comprises a box body, an Ackerman connecting rod mechanism, a steering gear assembly, a left steering mechanism and a right steering mechanism, wherein the Ackerman connecting rod mechanism is arranged in the box body, the left steering mechanism and the right steering mechanism are respectively and rotatably installed at two ends of the box body and are respectively connected with two ends of the Ackerman connecting rod mechanism, the steering gear assembly is detachably installed on the outer wall of the box body, a steering gear installation hole is formed in the box body, and the steering gear assembly penetrates through the steering gear installation hole and is fixedly connected with the Ackerman connecting rod mechanism.

Optionally, the direction unit assembly includes drive arrangement and drive mechanism, drive arrangement's power take off end with drive mechanism connects, drive mechanism's part gomphosis in the box, and with ackerman link mechanism fixed connection.

Optionally, dust covers are arranged at two ends of the transmission mechanism, and guide holes through which the ackerman link mechanism can penetrate are formed in the dust covers.

Optionally, a positioning groove is formed in the ackerman link mechanism, and a positioning piece matched with the positioning groove for positioning is arranged on the transmission mechanism.

Optionally, a gear is arranged at the power output end of the driving device, the transmission mechanism comprises a base, a sliding rail arranged on the base, and a connecting block slidably arranged on the sliding rail, a rack meshed with the gear is arranged on the connecting block, and the ackerman connecting rod mechanism is fixedly connected with the connecting block.

Optionally, the driving device is a steering engine.

Optionally, the ackerman link mechanism includes connecting rod, two first revolute pairs and two second revolute pairs, two first revolute pairs rotate respectively connect in the both ends of connecting rod, the one end of second revolute pair with first revolute pair rotates to be connected, the other end with the box rotates to be connected, and two the second revolute pairs respectively with left steering mechanism right steering mechanism connects.

Optionally, the left steering mechanism further comprises a rotating shaft, and the rotating shaft is connected between the box body and the second rotating pair.

Optionally, the first revolute pair comprises a main body part, wherein the main body part is connected with the second revolute pair, and a U-shaped groove connected with the connecting rod is formed in the main body part.

Optionally, a U-shaped clamping position is formed on the second rotating pair, and the main body part is rotatably installed in the U-shaped clamping position.

Optionally, the left steering mechanism includes a tire mounting flange and a flange bearing, the tire mounting flange is mounted on the end surface of the second revolute pair far away from one side of the box, and the flange bearing is arranged between the tire mounting flange and the second revolute pair.

Optionally, a limiting groove is formed in the ackerman link mechanism, and a limiting piece which is matched with the limiting groove for limiting is arranged in the box body.

Optionally, the spacing groove includes first spacing groove and second spacing groove, first spacing groove with second spacing groove symmetry install in on the ackerman link mechanism, first spacing groove with all correspond on the second spacing groove and be provided with the locating part, first spacing groove with the locating part cooperation is limited the travel that ackerman link mechanism moved left, the second spacing groove with the locating part cooperation is limited the travel that ackerman link mechanism moved right.

Optionally, an installation cavity is formed in the box body, the ackerman link mechanism is installed in the installation cavity, and the left steering mechanism and the right steering mechanism are respectively installed at two ends of the installation cavity and partially extend out of the installation cavity.

An agricultural unmanned vehicle comprising a vehicle body and tires, and further comprising a steering axle assembly as claimed in any one of the preceding claims, the steering axle assembly being mounted at the front or rear end of the vehicle body, the tires being mounted on the left steering mechanism and the right steering mechanism respectively.

The beneficial effects of the utility model are as follows: the left steering mechanism and the right steering mechanism can be driven by the steering mechanism assembly to rotate relative to the box body, the arrangement mode among the left steering mechanism and the right steering mechanism accords with the Ackerman configuration, the full rolling friction is realized, the energy loss and the tire abrasion in steering are reduced, meanwhile, the steering mechanism assembly can be taken as a whole to be detached in one direction relative to the box body, the convenient assembly and disassembly are realized, the maintenance of the internal parts of the steering mechanism assembly is facilitated, and the steering mechanism assembly is quite beneficial to the maintenance work of a large-scale robot.

Drawings

The utility model is described in further detail below with reference to the drawings and examples.

FIG. 1 is a schematic view of the overall structure of a steering axle assembly according to an embodiment of the present utility model;

FIG. 2 is an exploded view of a steer axle assembly according to an embodiment of the present utility model;

FIG. 3 is a schematic view illustrating an internal structure of a steering axle assembly according to an embodiment of the present utility model;

FIG. 4 is a schematic view of an assembly of a housing and a steering wheel assembly according to an embodiment of the present utility model;

FIG. 5 is a schematic diagram of an assembly of a steering wheel assembly and an Ackerman linkage according to an embodiment of the present utility model;

FIG. 6 is a schematic illustration of an steering axle assembly in an untwisted state according to an embodiment of the present utility model;

FIG. 7 is a schematic view of a steering axle assembly according to an embodiment of the present utility model;

FIG. 8 is a schematic view of a steering assembly according to an embodiment of the present utility model;

fig. 9 is an exploded view of a steering assembly according to an embodiment of the present utility model.

In the figure: 1. a case; 101. steering wheel mounting holes; 2. an ackerman link mechanism; 201. a limit groove; 202. a positioning groove; 3. a steering wheel assembly; 301. a driving device; 3011. an output shaft; 302. a transmission mechanism; 3021. a base; 3022. a slide rail; 3023. a slide block; 3024. a connecting block; 303. a dust cover; 304. a gear; 305. a rotating bearing; 306. a positioning piece; 4. a left steering mechanism; 5. a right steering mechanism; 6. a first revolute pair; 7. a second revolute pair; 8. a flange bearing; 9. a tire mounting flange; 10. a rotation shaft; 11. a rotating shaft; 12. a limiting piece; 13. a tire; 14. and a connecting rod.

Detailed Description

In order to make the technical problems solved by the present utility model, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present utility model are described in further detail below, and it is obvious that the described embodiments are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The ackerman configuration is a mechanism design commonly used for controlling the steering of a vehicle and is used for solving the problem of angle difference generated when the traditional vehicle steers. The ackerman configuration can enable the tire to simultaneously keep the same center point and the same radius arc during steering, and can improve the stability and the operability of the vehicle, so that the ackerman tire is widely applied to various motor vehicles, particularly automobiles and vehicles with higher running speeds.

In the existing steering axle assembly, the common installation mode is that the steering engine module is fixedly installed on the steering axle module, and the steering engine module needs to be manually detached during detachment, so that the disassembly and assembly efficiency is low, and the steering axle assembly cannot adapt to large-scale production and maintenance. The existing steering axle assembly has the defects of large volume and low steering angle control precision, and cannot well meet the requirements of high integration level, small volume, precise mechanical fit and small corner error required by an automatic driving small-sized vehicle.

The utility model provides a steering axle component for solving the technical problem of inconvenient disassembly and assembly of a steering wheel module, as shown in figures 1-9, comprising: the steering device comprises a box body 1, an Ackerman connecting rod mechanism 2, a steering mechanism assembly 3, a left steering mechanism 4 and a right steering mechanism 5, wherein the Ackerman connecting rod mechanism 2 is installed on the box body 1, the left steering mechanism 4 and the right steering mechanism 5 are respectively and rotatably installed at two ends of the box body 1 and are respectively connected with two ends of the Ackerman connecting rod mechanism 2, the steering mechanism assembly 3 is detachably installed on the box body 1, a steering mechanism installation hole 101 for installing the steering mechanism assembly 3 is formed in the box body 1, the steering mechanism assembly 3 penetrates through the steering mechanism installation hole 101 and is fixedly connected with the Ackerman connecting rod mechanism 2, the Ackerman connecting rod mechanism 2 can move left and right relative to the box body 1 under the driving of the steering mechanism assembly 3, and the left steering mechanism 4 and the right steering mechanism 5 can rotate relative to the box body 1 under the driving of the Ackerman connecting rod mechanism 2 so as to realize steering of a tire 13.

Based on the above scheme, the ackerman link mechanism 2, the steering gear assembly 3, the left steering mechanism 4 and the right steering mechanism 5 are integrated on the box 1, the left steering mechanism 4 and the right steering mechanism 5 are respectively provided with the tire 13, the ackerman link mechanism 2 is driven to move left and right by the steering gear assembly 3, and then the left steering mechanism 4 and the right steering mechanism 5 are respectively driven to rotate relatively by the ackerman link mechanism 2, so that the steering of the tire 13 is realized, and the arrangement mode among the ackerman link mechanism 2, the left steering mechanism 4 and the right steering mechanism 5 accords with the ackerman configuration, so that the steering of the tire 13 can realize complete rolling friction, and the energy loss and the tire 13 abrasion in the steering are effectively reduced. In addition, the steering wheel assembly 3 is detachably mounted on the box body 1 through the steering wheel mounting hole 101, that is to say, the assembly and the disassembly of the steering wheel assembly 3 can be simplified and facilitated, the steering wheel assembly 3 can be assembled and disassembled in a single direction relative to the box body 1, the disassembly is not needed by manpower, the disassembly can be performed through the robot, and the maintenance and overhaul are performed on the internal parts of the steering wheel assembly 3, so that the steering wheel assembly has a significant effect on the maintenance work of a large-scale robot, and the overhaul efficiency can be greatly improved.

In addition, in the scheme, based on the box body 1, a series of parts such as the Ackerman link mechanism 2, the steering gear assembly 3, the left steering mechanism 4 and the right steering mechanism 5 are arranged on the box body, and compared with the traditional combined scheme, the stacked nested design is combined, so that the waste of space and materials is avoided, the size of the assembly is reduced, the defects of large size and low control precision of the existing steering axle are overcome, and the assembly requirement of a small unmanned vehicle can be met.

As shown in fig. 7 and 8, the steering wheel assembly 3 includes a driving device 301 and a transmission mechanism 302, wherein a power output end of the driving device 301 is connected with the transmission mechanism 302, and a part of the transmission mechanism 302 is embedded in the box 1 and is fixedly connected with the ackerman link mechanism 2. The driving device 301 mainly provides power transmission for the transmission mechanism 302, and the transmission mechanism 302 transmits power to the ackermann linkage mechanism 2, so as to drive the ackermann linkage mechanism 2 to move. In this solution, since the ackerman link mechanism 2 is installed in the case 1, the transmission mechanism 302 needs to be partially embedded in the case 1 and connected with the ackerman link mechanism 2 in a transmission manner, and the rest is exposed outside the case 1 and connected with the driving device 301, so that the connection manner ensures the installation stability of the steering wheel assembly 3 on one hand, and also facilitates the disassembly of the steering wheel assembly 3 on the other hand.

In order to ensure stable transmission between the transmission mechanism 302 and the ackerman link mechanism 2, dust covers 303 are arranged at two ends of a transmission part, connected with the transmission mechanism 302 and the ackerman link mechanism 2, of the dust covers 303, dust is mainly prevented from entering, guide holes through which the ackerman link mechanism 2 can penetrate are formed in the dust covers 303, dust prevention is ensured, influence on movement of the ackerman link mechanism 2 is avoided, and meanwhile, a guiding effect can be provided for movement of the ackerman link mechanism 2.

Specifically, the power output end of the driving device 301 is an output shaft 3011, a rotating bearing 305 is sleeved on the output shaft 3011, a gear 304 is arranged at the front end of the output shaft 3011, the driving device 301 comprises a base 3021, the driving device 301 is mounted on the base 3021, a bearing hole for mounting the output bearing 3011 is further formed in the base 3021, the driving device 302 further comprises a sliding rail 3022 mounted on the base 3021, a sliding block 3023 is mounted on the sliding rail 3022 in a sliding manner, a connecting block 3024 is fixedly connected to the sliding block 3023, a rack 3025 meshed with the gear 304 is arranged on the connecting block 3024, and the ackerman link mechanism 2 is fixedly connected with the connecting block 3024. The working principle in the scheme is as follows: the output shaft 3011 rotates to drive the gear 304 to rotate, the gear 304 is meshed with the rack 3025 to convert the rotation into linear movement of the rack 3025, the connecting block 3024 generates linear displacement through cooperation of the sliding block 3023 and the sliding rail 3022, and the ackerman link mechanism 2 on the connecting block 3024 is driven to move left and right.

Alternatively, the driving device 301 is a steering engine, or a stepper motor. Different types of driving devices 301 may be selected according to different driving requirements.

Preferably, the ackerman link mechanism comprises a link 14, two first revolute pairs 6 and two second revolute pairs 7, wherein the two first revolute pairs 6 are respectively and rotatably connected to two ends of the link 14, one end of each second revolute pair 7 is rotatably connected with the corresponding first revolute pair 6, the other end of each second revolute pair 7 is rotatably connected with the corresponding box body 1 through a rotating shaft 11, and the two second revolute pairs 7 are respectively connected with the left steering mechanism 4 and the right steering mechanism 5. In this scheme, the connecting rod 14, the two first revolute pairs 6 and the two second revolute pairs 7 form a five-segment connecting rod set, so the driving device 301 can drive the connecting rod 14 to perform translational motion through rotation, and further drive the five-segment connecting rod set to perform motion, so that the pointing angle of the tire 13 mounted on the driving device is changed, and the driving direction of the vehicle is changed.

As shown in fig. 4 and 5, in order to avoid the problem of inaccurate installation and positioning during the connection process of the ackerman link mechanism 2 and the connection block 3024, the ackerman link mechanism 2 is provided with a positioning groove 202, specifically, the connection block 14 is provided with the positioning groove 202, the connection block 3024 is provided with a positioning piece 306 that is positioned in cooperation with the positioning groove 202, and after the connection block 3024 and the connection block 14 are positioned, the connection block 3024 and the connection block 3024 are locked by a screw, thereby ensuring stability during the operation process.

Optionally, the first revolute pair 6 includes a main body portion, the main body portion with the second revolute pair 7 is connected, set up on the main body portion with the U type groove that connecting rod 14 is connected, set up the U type clamping position on the second revolute pair 7, the main body portion rotate install in the U type clamping position. The main body part is rotationally connected with the U-shaped clamping position through a rotating shaft 10, and the first rotating pair 6 and the second rotating pair 7 generate relative rotation through the rotating shaft 10.

In some embodiments, the left steering mechanism 4 includes a tire mounting flange 9 and a flange bearing 8, the tire mounting flange 9 is mounted on an end surface of the second rotating pair 7 away from the side of the case 1, and the flange bearing 8 is disposed between the tire mounting flange 9 and the second rotating pair 7, and it should be noted that the left steering mechanism 4 and the right steering mechanism 5 are structurally identical. The tire mounting flange 9 is used for fixedly mounting the tire 13, and the tire mounting flange 9 is connected with the second rotating pair 7 through the flange bearing 8, namely, the tire mounting flange 9 can rotate relative to the second rotating pair 7, so that the requirement of tire 13 rotation is met. Through steering engine control gear 304 rotation, turn into the removal of rack 3025, drive connecting rod 14 and remove, and then drive first revolute pair 6 and second revolute pair 7 through ackerman principle and rotate, drive tire 13 on left steering mechanism 4 and the right steering mechanism 5 again and change the orientation, combined steering engine corner precision high with the high advantage of gear 304 cooperation rack 3025 transmission precision, realized the accurate steering function of vehicle.

Compared with the existing installation mode of the steering axle assembly, the steering axle assembly adopts an integrated installation mode, specifically, an installation cavity is formed in the box body 1, the ackerman link mechanism 2 is installed in the installation cavity, and the left steering mechanism 4 and the right steering mechanism 5 are respectively installed at two ends of the installation cavity and partially extend out of the installation cavity. The integrated mounting mode can reduce errors caused in the processing and assembling processes, further improve the corner accuracy of the steering axle assembly and realize more accurate vehicle control.

In order to avoid that the left and right travel of the connecting rod 14 exceeds a preset travel range, a limit groove 201 is formed in the connecting rod 14, a limit piece 12 which is matched with the limit groove 201 to limit is arranged in the mounting cavity, specifically, the limit groove 201 comprises a first limit groove and a second limit groove, the first limit groove and the second limit groove are symmetrically arranged on the connecting rod 14, the limit piece 12 is correspondingly arranged on each of the first limit groove and the second limit groove, the first limit groove and the limit piece 12 are matched to limit the travel of the connecting rod 14 moving leftwards, and the second limit groove and the limit piece 12 are matched to limit the travel of the connecting rod 14 moving rightwards.

It should be noted that before the ackerman link mechanism 2 and the connecting block 3024 are assembled, the steering wheel assembly 3 needs to be accurately installed in the installation cavity of the box body 1 through the steering wheel installation hole 101, the steering wheel assembly 3 and the outer wall of the box body 1 are cooperatively positioned and fixed through the screws and the screw holes, and when the steering wheel assembly 3 is accurately installed on the box body 1, the connecting block 3024 is embedded into the installation cavity to be cooperatively positioned and installed with the ackerman link mechanism 2, so that the accurate and rapid positioning and installation functions of the steering wheel assembly 3 are realized.

Embodiment two: an agricultural unmanned vehicle.

The present embodiment provides an agricultural unmanned vehicle, which comprises a vehicle body and tires 13, and further comprises a steering axle assembly according to the first embodiment, wherein the steering axle assembly is mounted at the front end or the rear end of the vehicle body, and the tires 13 are respectively mounted on the left steering mechanism 4 and the right steering mechanism 5.

As shown in fig. 6, the tire 13 is in an unrotated state, and the vehicle can keep running straight; as shown in fig. 7, the tire 13 is steered by the ackerman link mechanism 2 and the left steering mechanism 4 and the right steering mechanism 5; and when the steering axle assembly rotates by a proper angle, the respective speed normal ray intersection points of the left and right tires 13 are overlapped with the speed normal rays of the other group of tires, so that complete rolling friction is realized, and the energy loss and the abrasion of the tires 13 in steering are reduced.

In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and the like are merely for convenience of description and to simplify the operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for providing a special meaning.

In the description herein, reference to the term "one embodiment," "an example," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in the foregoing embodiments, and that the embodiments described in the foregoing embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.

The technical principle of the present utility model is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the utility model and should not be taken in any way as limiting the scope of the utility model. Other embodiments of the utility model will be apparent to those skilled in the art from consideration of this specification without undue burden.

Claims (15)

1. A steer axle assembly comprising: the novel steering device comprises a box body (1), an Ackerman connecting rod mechanism (2), a steering mechanism component (3), a left steering mechanism (4) and a right steering mechanism (5), wherein the Ackerman connecting rod mechanism (2) is arranged in the box body (1), the left steering mechanism (4) and the right steering mechanism (5) are respectively and rotatably installed at two ends of the box body (1) and are respectively connected with two ends of the Ackerman connecting rod mechanism (2), the steering mechanism component (3) is detachably installed on the outer wall of the box body (1), a steering mechanism installation hole (101) is formed in the box body (1), and the steering mechanism component (3) penetrates through the steering mechanism installation hole (101) and is fixedly connected with the Ackerman connecting rod mechanism (2).

2. Steering axle assembly according to claim 1, characterized in that the steering wheel assembly (3) comprises a driving device (301) and a transmission mechanism (302), wherein the power output end of the driving device (301) is connected with the transmission mechanism (302), and a part of the transmission mechanism (302) extends into the box body (1) and is fixedly connected with the ackerman link mechanism (2).

3. The steering axle assembly according to claim 1, wherein the ackerman link mechanism (2) is provided with a positioning groove (202), and the steering mechanism assembly (3) is provided with a positioning piece (306) which is matched with the positioning groove (202) for positioning.

4. The steering axle assembly according to claim 1, wherein the ackerman link mechanism (2) is provided with a limiting groove (201), and a limiting piece (12) which is in fit limit with the limiting groove (201) is arranged in the box body (1).

5. The steering axle assembly according to claim 2, wherein dust covers (303) are arranged at two ends of the transmission mechanism (302), and guide holes through which the ackermann link mechanism (2) can penetrate are formed in the dust covers (303).

6. The steering axle assembly according to claim 2, wherein a gear (304) is provided on a power output end of the driving device (301), the transmission mechanism (302) comprises a base (3021), a sliding rail (3022) mounted on the base (3021), and a connecting block (3024) slidably mounted on the sliding rail (3022), a rack (3025) meshed with the gear (304) is provided on the connecting block (3024), and the ackerman link mechanism (2) is fixedly connected with the connecting block (3024).

7. Steering axle assembly according to claim 2, characterized in that the driving means (301) is a steering engine.

8. Steering axle assembly according to claim 1, characterized in that the ackerman linkage (2) comprises a connecting rod (14), two first revolute pairs (6) and two second revolute pairs (7), wherein the two first revolute pairs (6) are respectively and rotatably connected to two ends of the connecting rod (14), one end of the second revolute pair (7) is rotatably connected to the first revolute pair (6), the other end is rotatably connected to the box (1), and the two second revolute pairs (7) are respectively connected to the left steering mechanism (4) and the right steering mechanism (5).

9. Steering axle assembly according to claim 8, characterized in that a rotation shaft (11) is also arranged between the box (1) and the second revolute pair (7).

10. The steering axle assembly according to claim 8, wherein the first revolute pair (6) comprises a main body portion connected to the second revolute pair (7), and a U-shaped groove connected to the connecting rod (14) is formed in the main body portion.

11. The steering axle assembly of claim 10, wherein the second pair of rotation (7) has a U-shaped clamping location formed thereon, and the main body portion is rotatably mounted in the U-shaped clamping location.

12. The steering axle assembly according to claim 8, wherein the left steering mechanism (4) includes a tire mounting flange (9) and a flange bearing (8), the tire mounting flange (9) is mounted on an end surface of the second revolute pair (7) on a side away from the case (1), and the flange bearing (8) is disposed between the tire mounting flange (9) and the second revolute pair (7).

13. The steering axle assembly according to claim 4, wherein the limit groove (201) comprises a first limit groove and a second limit groove, the first limit groove and the second limit groove are symmetrically arranged on the ackerman link mechanism (2), the first limit groove and the second limit groove are respectively provided with a limit piece (12) correspondingly, the first limit groove and the limit piece (12) cooperate to limit the left moving stroke of the ackerman link mechanism (2), and the second limit groove and the limit piece (12) cooperate to limit the right moving stroke of the ackerman link mechanism (2).

14. The steering axle assembly according to claim 1, wherein a mounting cavity is formed in the box body (1), the ackerman link mechanism (2) is mounted in the mounting cavity, and the left steering mechanism (4) and the right steering mechanism (5) are respectively mounted at two ends of the mounting cavity and partially extend out of the mounting cavity.

15. An agricultural unmanned vehicle comprising a vehicle body and a tyre (13), further comprising a steering axle assembly as claimed in any one of claims 1 to 14, said steering axle assembly being mounted at the front or rear end of said vehicle body, said tyre (13) being mounted on said left steering mechanism (4) and said right steering mechanism (5), respectively.