Two-gear coaxial dual-motor composite electric driving device

Abstract

The invention discloses a two-gear coaxial dual-motor composite electric driving device, which belongs to the technical field of vehicle electric driving and is characterized in that a rotor shaft of a first driving motor, a rotor shaft of a second driving motor, a first output half shaft and a second output half shaft are coaxial; the first driving motor and the second driving motor are coupled through the planet row transmission mechanism to drive the first output half shaft and the second output half shaft to rotate so as to achieve power equalization of the first output half shaft and the second output half shaft when the vehicle runs straight, and power flows back from the output shaft on the low-speed side to the output half shaft on the high-speed side when the vehicle turns. Mechanical transmission recycling of steering regeneration power is achieved in dynamics, the requirement for motor power is lowered, the whole two-gear coaxial dual-motor composite electric driving device is simple and compact in structure, the vehicle size constraint condition is met, the straight driving stability and steering flexibility are improved, and application of series-connection type pure electric driving to a high-power vehicle is promoted.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle electric drive, and in particular relates to a two-speed coaxial dual-motor composite electric drive device. Background Art

[0002] The structure of the double-sided motor independent drive type is relatively simple, and the two drive motors are independently controlled. When driving in a straight line, the left and right driving wheels are driven by the left and right drive motors respectively, and the speed of the two drive motors needs to be controlled to be the same. When the load on both sides of the vehicle fluctuates greatly, in order to ensure that the speeds on both sides are the same for driving in a straight line, both drive motors need to have good load adaptability and stable speed control. When turning, it is necessary to control the left and right motors to produce a corresponding speed difference to achieve turning. Since the inner side will generate regenerative power when the vehicle turns, the inner drive motor needs to be in the power generation state at this time, and the speed needs to be controlled in the power generation state, which is somewhat difficult; at the same time, in order to fully utilize the system to realize this part of energy feedback, the outer drive motor must have a large power. Therefore, the double-sided motor independent drive type has high requirements for the motor and its drive system, and the system control is complex.

[0003] In other words, there is no mechanical connection between the output half-axles on both sides of the traditional series-type dual-side motor independent drive scheme, which makes it difficult to meet the straight-driving stability and steering requirements of high-power heavy-duty tracked vehicles. In particular, under steering conditions, the steering regeneration power on the low-speed side can only be converted into a generator state by the low-speed side motor to achieve energy recovery and utilization, resulting in a large power requirement for the high-speed side motor, an increase in the weight and volume of the motor, and it is difficult to meet the vehicle size constraints. Summary of the invention

[0004] In view of this, the present invention provides a two-speed coaxial dual-motor compound electric drive device, which dynamically realizes the mechanical transmission recovery of steering regenerative power, reduces motor power requirements, and promotes the application of series pure electric drive.

[0005] The present invention adopts the following technical solutions:

[0006] A two-speed coaxial dual-motor compound electric drive device, comprising a first drive motor, a second drive motor, a first output half shaft, a second output half shaft and a planetary gear transmission mechanism;

[0007] The rotor shaft of the first drive motor, the rotor shaft of the second drive motor, the first output half shaft, and the second output half shaft are coaxial;

[0008] The first drive motor and the second drive motor are coupled through a planetary transmission mechanism to drive the first output half shaft and the second output half shaft to rotate, so as to realize equal power distribution between the first output half shaft and the second output half shaft when the vehicle is driving straight, and power flows back from the output shaft on the low-speed side to the output half shaft on the high-speed side when the vehicle is turning.

[0009] Further, the planetary gear transmission mechanism includes a first planetary gear for speed change, a second planetary gear for speed reduction, a third planetary gear and a fourth planetary gear for power coupling, a fifth planetary gear for speed reduction, and a sixth planetary gear for speed change, which are arranged in sequence from left to right.

[0010] The rotor shaft of the first driving motor is dynamically connected to the second planetary gear;

[0011] The rotor shaft of the second driving motor is dynamically connected to the fifth planetary gear;

[0012] The first output half shaft is in power connection with the first planetary gear;

[0013] The second output half shaft is dynamically connected to the sixth planetary gear.

[0014] Furthermore, the first planetary gear, the second planetary gear, the third planetary gear, the fifth planetary gear and the sixth planetary gear are all double internal meshing planetary gears.

[0015] Further, the first planet row includes a first sun gear, a first planet gear, a first ring gear, and a first planet carrier; the second planet row includes a second sun gear, a second planet gear, a second ring gear, and a second planet carrier; the third planet row includes a third sun gear, a third planet gear, a third ring gear, and a third planet carrier; the fourth planet row includes a fourth sun gear, a fourth planet gear, a fourth ring gear, and a fourth planet carrier; the fifth planet row includes a fifth sun gear, a fifth planet gear, a fifth ring gear, and a fifth planet carrier; the sixth planet row includes a sixth sun gear, a sixth planet gear, a sixth ring gear, and a sixth planet carrier;

[0016] The first planetary gear is connected to the first planetary carrier, and the inner and outer teeth of the first planetary gear are respectively meshed with the first sun gear and the first ring gear; the first ring gear is connected to the first output half shaft; the first planetary carrier is connected to the third ring gear and the fourth ring gear;

[0017] The second sun gear is connected to the housing; the second planetary gear is on the second planetary carrier, and the inner and outer teeth of the second planetary gear are respectively meshed with the second sun gear and the second ring gear; the second ring gear is connected to the third planetary carrier; the second planetary carrier is connected to the rotor shaft of the first drive motor;

[0018] The third sun gear is connected to the fourth planet carrier; the third planet gear is connected to the third planet carrier, and the inner and outer teeth of the third planet gear are respectively meshed with the third sun gear and the third ring gear; the third ring gear is connected to the first planet carrier and the fourth ring gear; the third planet carrier is connected to the second ring gear;

[0019] The fourth sun gear is connected to the fifth ring gear; the fourth planet gear is connected to the fourth planet carrier, and the fourth planet gear is internally meshed with the fourth sun gear and externally meshed with the fourth ring gear; the fourth ring gear is connected to the third ring gear and the first planet carrier; the fourth planet carrier is connected to the third sun gear and the sixth planet carrier;

[0020] The fifth sun gear is connected to the housing; the fifth planetary gear is connected to the fifth planet carrier, and the inner and outer teeth of the fifth planetary gear are respectively meshed with the fifth sun gear and the fifth gear ring; the fifth gear ring is connected to the fourth sun gear; the fifth planet carrier is connected to the rotor shaft of the second drive motor;

[0021] The sixth sun gear is connected to the driven end of the second clutch and the active end of the second brake; the sixth planetary gear is connected to the sixth planetary carrier, and the internal and external teeth of the sixth planetary gear are respectively meshed with the first sun gear and the first ring gear; the sixth ring gear is connected to the second output half shaft; the sixth planetary carrier is connected to the fourth planetary carrier.

[0022] Furthermore, it also includes a first brake and a second brake;

[0023] The active end of the first brake is connected to the first sun gear, and the driven end of the first brake is connected to the housing;

[0024] The active end of the second brake is connected to the sixth sun gear, and the driven end of the second brake is connected to the casing.

[0025] Furthermore, it also includes a first clutch and a second clutch;

[0026] The active end of the first clutch is connected to the first planet carrier, the third ring gear, and the fourth ring gear, and the driven end of the first clutch is connected to the first sun gear;

[0027] The driving end of the second clutch is connected to the third sun gear, the fourth planet carrier, and the sixth planet carrier; the driven end of the second clutch is connected to the sixth sun gear.

[0028] Furthermore, the first clutch and the first brake are mutually actuated by a single oil cylinder;

[0029] The second clutch and the second brake are mutually actuated by a single oil cylinder.

[0030] Further, let K1 be the ratio of the product of the number of teeth of the first ring gear and the number of teeth of the first planetary gear inner teeth to the product of the number of teeth of the first sun gear and the number of teeth of the first planetary gear outer teeth;

[0031] Assume that the ratio of the product of the number of teeth of the second ring gear and the number of teeth of the second planetary gear inner teeth to the product of the number of teeth of the second sun gear and the number of teeth of the second planetary gear outer teeth is K2;

[0032] Assume that the ratio of the product of the number of teeth of the third gear ring and the number of teeth of the third planetary gear inner teeth to the product of the number of teeth of the third sun gear and the number of teeth of the third planetary gear outer teeth is K3;

[0033] Assume that the ratio of the number of teeth of the fourth gear ring to the number of teeth of the fourth sun gear is K4;

[0034] Assume that the ratio of the product of the number of teeth of the fifth gear ring and the number of teeth of the fifth planetary gear inner teeth to the product of the number of teeth of the fifth sun gear and the number of teeth of the fifth planetary gear outer teeth is;

[0035] Assume that the ratio of the product of the number of teeth of the sixth gear ring and the number of teeth of the sixth planetary gear inner teeth to the product of the number of teeth of the sixth sun gear and the number of teeth of the sixth planetary gear outer teeth is K6;

[0036] The above ratios also satisfy the following relationship:

[0037] K1=K6; K2=K5; K4=1 / (K3-1).

[0038] Furthermore, the number of the fourth planetary gears is 3 to 6.

[0039] Further, in the first gear, the first brake is engaged with the second brake, and the first clutch is disengaged with the second clutch;

[0040] In the second gear, the first clutch and the second clutch are engaged, and the first brake and the second brake are disengaged.

[0041] Beneficial effects:

[0042] 1. In the two-speed coaxial dual-motor compound electric drive device provided by the present invention, the rotor shaft of the first drive motor, the rotor shaft of the second drive motor, the first output half shaft, and the second output half shaft are coaxial; the first drive motor and the second drive motor are coupled through a planetary gear transmission mechanism to drive the first output half shaft and the second output half shaft to rotate, so as to realize power equalization of the first output half shaft and the second output half shaft when the vehicle is driving straight, and power reflux from the output half shaft on the low-speed side to the output half shaft on the high-speed side when the vehicle is turning.

[0043] In this way, compared with the traditional series-type dual-side motor independent drive solution, a planetary gear transmission mechanism is set as the mechanical connection of the output half-shafts on both sides, which realizes the mechanical transmission recovery of the steering regenerative power in terms of dynamics, reduces the demand for motor power, and the entire two-speed coaxial dual-motor compound electric drive device has a simple and compact structure, meets the vehicle size constraints, improves straight-driving stability and steering flexibility, and promotes the application of series pure electric drive in high-power vehicles.

[0044] 2. The first planetary gear, the second planetary gear, the third planetary gear, the fifth planetary gear and the sixth planetary gear are all double internal meshing planetary gears. Since the double internal meshing planetary gear transmission only transmits power through one planetary gear with internal and external teeth, the planetary gears will not have uneven load problems, and there is no need to design a special load balancing mechanism.

[0045] 3. The components of each planetary gear and their connection relationship ensure the precise control and efficient operation of the planetary gear transmission mechanism.

[0046] 4. By engaging and disengaging the brake, the rotation state of the corresponding sun gear can be controlled to achieve different transmission ratios and motion modes.

[0047] 5. Through the engagement and disengagement of the clutch, the power transmission path can be further controlled to achieve a two-speed shifting function.

[0048] 6. The hydraulic system is greatly simplified through the design of single cylinder mutual actuation. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a simplified transmission diagram of a two-speed coaxial dual-motor composite electric drive device provided by the present invention;

[0050] Among them, 1-first output half shaft, 2-first sun gear, 3-first planetary carrier, 4-first planetary gear, 5-first ring gear, 6-first brake, 7-second sun gear, 8-second ring gear, 9-second planetary gear, 10-third planetary gear, 11-third ring gear, 12-fourth planetary carrier, 13-fourth ring gear, 14-fifth ring gear, 15-fifth planetary gear, 16-fifth sun gear, 17-second brake, 18-sixth sun gear, 19-sixth ring gear, 20-sixth planetary gear, 21-sixth planetary carrier, 22-second output half shaft, 23-second clutch, 24-second drive motor, 25-fifth planetary carrier, 26-fourth planetary gear, 27-fourth sun gear, 28-third sun gear, 29-third planetary carrier, 30-second planetary carrier, 31-first drive motor, 32-first clutch. DETAILED DESCRIPTION

[0051] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0052] Embodiment 1:

[0053] Reference Figure 1 A two-speed coaxial dual-motor compound electric drive device, the invention concept is: including a first drive motor 31, a second drive motor 24, a first output half shaft 1, a second output half shaft 22 and a planetary gear transmission mechanism, wherein:

[0054] The rotor shaft of the first drive motor 31, the rotor shaft of the second drive motor 24, the first output half shaft 1, and the second output half shaft 22 are coaxial; the first drive motor 31 and the second drive motor 24 are coupled through a planetary transmission mechanism to drive the first output half shaft 1 and the second output half shaft 22 to rotate, so as to realize power equalization between the first output half shaft 1 and the second output half shaft 22 when the vehicle is driving straight, and power reflux from the output half shaft on the low-speed side to the output half shaft on the high-speed side when the vehicle is turning.

[0055] In this way, compared with the traditional series-type double-sided motor independent drive scheme, a planetary gear transmission mechanism is set as the mechanical connection between the output half shafts on both sides (i.e., the first output half shaft 1 and the second output half shaft 22), which realizes the mechanical transmission recovery of the steering regenerative power in terms of dynamics, reduces the demand for motor power, and the entire two-speed coaxial dual-motor compound electric drive device has a simple and compact structure, meets the vehicle size constraints, improves straight-driving stability and steering flexibility, and promotes the application of series pure electric drive in high-power vehicles (such as high-power tracked vehicles).

[0056] Specifically, in this embodiment, the planetary gear transmission mechanism includes a first planetary gear (GCR1) for speed changing, a second planetary gear (GCR2) for deceleration, a third planetary gear (GCR3) and a fourth planetary gear (PGS4) for power coupling, a fifth planetary gear (GCR5) for deceleration, and a sixth planetary gear (GCR6) for speed changing, which are arranged in sequence from left to right; moreover, the power output shaft of the first drive motor 31 (that is, the rotor shaft of the first drive motor 31) is power-connected to the second planetary gear; the power output shaft of the second drive motor 24 (that is, the rotor shaft of the second drive motor 24) is power-connected to the fifth planetary gear; the first output half shaft 1 is power-connected to the first planetary gear; and the second output half shaft 2 is power-connected to the sixth planetary gear. In particular, in this embodiment, the first planetary row, the second planetary row, the third planetary row, the fifth planetary row and the sixth planetary row are all double internal meshing planetary rows, and the planetary gears of the double internal meshing planetary row have both internal teeth and external teeth. The internal teeth of the planetary gears mesh with the internal teeth of the sun gear, and the external teeth of the planetary gears mesh with the internal teeth of the ring gear, that is, the so-called double internal meshing. The fourth planetary row is a traditional planetary row, and the planetary gears have only external teeth, and the external teeth of the planetary gears mesh with the internal teeth of the ring gear and the external teeth of the sun gear.

[0057] In this way, the layout and connection method of the planetary gear transmission mechanism are described in detail. Through the specific planetary gear configuration, the speed change and deceleration functions, as well as the coupling and distribution of power can be realized. Moreover, the first planetary gear, the second planetary gear, the third planetary gear, the fifth planetary gear and the sixth planetary gear are all double internal meshing planetary gears. Since the double internal meshing planetary gear transmission only transmits power through a planetary gear with internal and external teeth, the planetary gear will not have an uneven load problem, and there is no need to design a special load balancing mechanism.

[0058] Embodiment 2:

[0059] Based on the first embodiment, this embodiment provides a specific two-speed coaxial dual-motor compound electric drive device, referring to Figure 1 :

[0060] The first planetary row includes a first sun gear 2, a first planetary gear 4, a first ring gear 5, and a first planetary carrier 3; the second planetary row includes a second sun gear 7, a second planetary gear 9, a second ring gear 8, and a second planetary carrier 30; the third planetary row includes a third sun gear 28, a third planetary gear 10, a third ring gear 11, and a third planetary carrier 29; the fourth planetary row includes a fourth sun gear 27, a fourth planetary gear 26, a fourth ring gear 13, and a fourth planetary carrier 12; the fifth planetary row includes a fifth sun gear 16, a fifth planetary gear 15, a fifth ring gear 14, and a fifth planetary carrier 25; the sixth planetary row includes a sixth sun gear 18, a sixth planetary gear 20, a sixth ring gear 19, and a sixth planetary carrier 21;

[0061] The first planetary gear 4 is connected to the first planetary carrier 3, and the inner and outer teeth of the first planetary gear 4 are respectively meshed with the first sun gear 2 and the first ring gear 5; the first ring gear 5 is connected to the first output half shaft 1; the first planetary carrier 3 is connected to the third ring gear 11 and the fourth ring gear 13;

[0062] The second sun gear 7 is connected to the housing; the second planetary gear 9 is connected to the second planetary carrier 30, and the inner and outer teeth of the second planetary gear 9 are respectively meshed with the second sun gear 7 and the second ring gear 8; the second ring gear 8 is connected to the third planetary carrier 29; the second planetary carrier 30 is connected to the power output shaft of the first drive motor 31 (that is, the rotor shaft of the first drive motor 31);

[0063] The third sun gear 28 is connected to the fourth planet carrier 12; the third planet gear 10 is connected to the third planet carrier 29, and the inner and outer teeth of the third planet gear 10 are respectively meshed with the third sun gear 28 and the third ring gear 11; the third ring gear 11 is connected to the first planet carrier 3 and the fourth ring gear 13; the third planet carrier 29 is connected to the second ring gear 8;

[0064] The fourth sun gear 27 is connected to the fifth ring gear 14; the fourth planetary gear 26 is connected to the fourth planet carrier 12, and the fourth planetary gear 26 is internally meshed with the fourth sun gear 27 and externally meshed with the fourth ring gear 13; the fourth ring gear 13 is connected to the third ring gear 11 and the first planet carrier 3; the fourth planet carrier 12 is connected to the third sun gear 28 and the sixth planet carrier 21; in this embodiment, the number of fourth planetary gears 26 is generally 3 to 6.

[0065] The fifth sun gear 16 is connected to the housing; the fifth planetary gear 15 is connected to the fifth planetary carrier 25, and the inner teeth and outer teeth of the fifth planetary gear 15 are respectively meshed with the fifth sun gear 16 and the fifth ring gear 14; the fifth ring gear 14 is connected to the fourth sun gear 27; the fifth planetary carrier 25 is connected to the power output shaft of the second drive motor 24 (that is, the rotor shaft of the second drive motor 24);

[0066] The sixth sun gear 18 is connected to the driven end of the second clutch 23 and the active end of the second brake 17; the sixth planetary gear 20 is connected to the sixth planetary carrier 21, and the internal teeth and external teeth of the sixth planetary gear 20 are respectively meshed with the sixth sun gear 18 and the sixth ring gear 19; the sixth ring gear 19 is connected to the second output half shaft 22; the sixth planetary carrier 21 is connected to the fourth planetary carrier 12.

[0067] In this way, the components of each planetary gear and their connection relationship are further described in detail, ensuring the precise control and efficient operation of the planetary gear transmission mechanism.

[0068] Specifically, in this embodiment, refer to Figure 1 , a first brake 6 and a second brake 17 are also provided; the active end of the first brake 6 is connected to the first sun gear 2, and the driven end of the first brake 6 is connected to the housing; the active end of the second brake 17 is connected to the sixth sun gear 18, and the driven end of the second brake 17 is connected to the housing. In this way, a brake assembly is introduced, and the rotation state of the corresponding sun gear can be controlled by the engagement and separation of the brake to achieve different transmission ratios and motion modes. More specifically, in this embodiment, referring to Figure 1 , a first clutch 32 and a second clutch 23 are also provided; the active end of the first clutch 32 is connected to the first planetary carrier 3, the third gear ring 11, and the fourth gear ring 13, and the driven end of the first clutch 32 is connected to the first sun gear 2; the active end of the second clutch 23 is connected to the third sun gear 28, the fourth planetary carrier 12, and the sixth planetary carrier 21; the driven end of the second clutch 23 is connected to the sixth sun gear 18. In this way, through the engagement and disengagement of the clutch, the power transmission path can be further controlled to achieve the two-speed shifting function.

[0069] In particular, in this embodiment, the first clutch 32 and the first brake 6 are mutually actuated by a single cylinder, that is, when the first clutch 32 is engaged, the first brake 6 is disengaged, and when the first clutch 32 is disengaged, the first brake 6 is engaged; the second clutch 23 and the second brake 17 are mutually actuated by a single cylinder, that is, when the second clutch 23 is engaged, the second brake 17 is disengaged, and when the second clutch 23 is disengaged, the second brake 17 is engaged. In this way, the hydraulic system is greatly simplified by the design of the mutual actuation of the single cylinder.

[0070] In particular, in this embodiment, the ratio of the product of the number of teeth of the first gear ring 5 and the number of teeth of the inner teeth of the first planetary gear 4 to the product of the number of teeth of the first sun gear 2 and the number of teeth of the outer teeth of the first planetary gear 4 is set to K1; the ratio of the product of the number of teeth of the second gear ring 8 and the number of teeth of the inner teeth of the second planetary gear 9 to the product of the number of teeth of the second sun gear 7 and the number of teeth of the outer teeth of the second planetary gear 9 is set to K2; the ratio of the product of the number of teeth of the third gear ring 11 and the number of teeth of the inner teeth of the third planetary gear 10 to the product of the number of teeth of the third sun gear 28 and the number of teeth of the outer teeth of the third planetary gear 10 is set to K3; The ratio of the number of teeth of the ring gear 13 to the number of teeth of the fourth sun gear 27 is K4; the ratio of the product of the number of teeth of the fifth ring gear 14 and the number of teeth of the inner teeth of the fifth planetary gear 15 to the product of the number of teeth of the fifth sun gear 16 and the number of teeth of the outer teeth of the fifth planetary gear 15 is K5; the ratio of the product of the number of teeth of the sixth ring gear 19 and the number of teeth of the inner teeth of the sixth planetary gear 20 to the product of the number of teeth of the sixth sun gear 18 and the number of teeth of the outer teeth of the sixth planetary gear 20 is K6; the above ratios simultaneously satisfy the following relationships: K1=K6; K2=K5; K4=1 / (K3-1).

[0071] More specifically, in this embodiment, the basic parameters of each gear are shown in the following table:

[0072]

[0073]

[0074] The two-speed coaxial dual-motor compound electric drive device meets the vehicle's straight driving and steering functions in terms of kinematics. When the motors on both sides (i.e., the first drive motor 31 and the second drive motor 24) have the same speed, straight driving can be achieved; when there is a speed difference between the motors on both sides, controllable stepless steering and center steering can be achieved. The entire two-speed coaxial dual-motor compound electric drive device has a simple and compact structure. More specifically, in the first gear, the first brake 6 is engaged with the second brake 17, and the first clutch 32 is separated from the second clutch 23; in the second gear, the first clutch 32 is engaged with the second clutch 23, and the first brake 6 is separated from the second brake 17.

[0075] In this embodiment, the two-speed coaxial dual-motor compound electric drive device is used, and the vehicle does not need the inner drive motor to be in a power generation state within a certain turning radius, and the power is transmitted to the outer motor after the power is generated. Specifically, the corresponding control logic and transmission ratio relationship of each gear of the two-speed coaxial dual-motor compound electric drive device under the three working conditions of straight driving, relative turning radius ρ>0.5 turning, and ρ=0 center turning are shown in the following table:

[0076]

[0077]

[0078] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A two-speed coaxial dual-motor compound electric drive device, characterized in that: It comprises a first drive motor (31), a second drive motor (24), a first output half shaft (1), a second output half shaft (22) and a planetary gear transmission mechanism; The rotor shaft of the first drive motor (31), the rotor shaft of the second drive motor (24), the first output half shaft (1), and the second output half shaft (22) are coaxial; The first drive motor (31) and the second drive motor (24) are coupled via a planetary gear transmission mechanism to drive the first output half shaft (1) and the second output half shaft (22) to rotate, so as to achieve power equalization between the first output half shaft (1) and the second output half shaft (22) when the vehicle is driving straight, and power reflux from the output shaft on the low-speed side to the output half shaft on the high-speed side when the vehicle is turning.

2. A two-speed coaxial dual-motor compound electric drive device according to claim 1, characterized in that: The planetary gear transmission mechanism comprises a first planetary gear for speed change, a second planetary gear for speed reduction, a third planetary gear and a fourth planetary gear for power coupling, a fifth planetary gear for speed reduction, and a sixth planetary gear for speed change, which are arranged in sequence from left to right. The rotor shaft of the first drive motor (31) is power-connected to the second planetary gear; The rotor shaft of the second drive motor (24) is power-connected to the fifth planetary gear; The first output half shaft (1) is dynamically connected to the first planetary gear; The second output half shaft (2) is power-connected to the sixth planetary gear.

3. A two-speed coaxial dual-motor compound electric drive device according to claim 2, characterized in that: The first planetary gear, the second planetary gear, the third planetary gear, the fifth planetary gear and the sixth planetary gear are all double internal meshing planetary gears.

4. The two-speed coaxial dual-motor compound electric drive device according to claim 3, characterized in that: The first planet row comprises a first sun gear (2), a first planet gear (4), a first ring gear (5), and a first planet carrier (3); the second planet row comprises a second sun gear (7), a second planet gear (9), a second ring gear (8), and a second planet carrier (30); the third planet row comprises a third sun gear (28), a third planet gear (10), a third ring gear (11), and a third planet carrier (29); the fourth planet row comprises a fourth sun gear (27), a fourth planet gear (26), a fourth ring gear (13), and a fourth planet carrier (12); the fifth planet row comprises a fifth sun gear (16), a fifth planet gear (15), a fifth ring gear (14), and a fifth planet carrier (25); the sixth planet row comprises a sixth sun gear (18), a sixth planet gear (20), a sixth ring gear (19), and a sixth planet carrier (21); The first planetary gear (4) is connected to the first planetary carrier (3), and the internal and external teeth of the first planetary gear (4) are respectively meshed with the first sun gear (2) and the first ring gear (5); the first ring gear (5) is connected to the first output half shaft (1); the first planetary carrier (3) is connected to the third ring gear (11) and the fourth ring gear (13); The second sun gear (7) is connected to the housing; the second planetary gear (9) is connected to the second planetary carrier (30), and the internal and external teeth of the second planetary gear (9) are respectively meshed with the second sun gear (7) and the second ring gear (8); the second ring gear (8) is connected to the third planetary carrier (29); and the second planetary carrier (30) is connected to the rotor shaft of the first drive motor (31); The third sun gear (28) is connected to the fourth planet carrier (12); the third planet gear (10) is connected to the third planet carrier (29), and the inner and outer teeth of the third planet gear (10) are respectively meshed with the third sun gear (28) and the third ring gear (11); the third ring gear (11) is connected to the first planet carrier (3) and the fourth ring gear (13); the third planet carrier (29) is connected to the second ring gear (8); The fourth sun gear (27) is connected to the fifth ring gear (14); the fourth planet gear (26) is connected to the fourth planet carrier (12), and the fourth planet gear (26) is internally meshed with the fourth sun gear (27), and the fourth planet gear (26) is externally meshed with the fourth ring gear (13); the fourth ring gear (13) is connected to the third ring gear (11) and the first planet carrier (3); the fourth planet carrier (12) is connected to the third sun gear (28) and the sixth planet carrier (21); The fifth sun gear (16) is connected to the housing; the fifth planetary gear (15) is connected to the fifth planet carrier (25), and the inner teeth and outer teeth of the fifth planetary gear (15) are respectively meshed with the fifth sun gear (16) and the fifth gear ring (14); the fifth gear ring (14) is connected to the fourth sun gear (27); the fifth planet carrier (25) is connected to the rotor shaft of the second drive motor (24); The sixth sun gear (18) is connected to the driven end of the second clutch (23) and the active end of the second brake (17); the sixth planetary gear (20) is connected to the sixth planetary carrier (21), and the internal teeth and external teeth of the sixth planetary gear (20) are respectively meshed with the sixth sun gear (18) and the sixth ring gear (19); the sixth ring gear (19) is connected to the second output half shaft (22); and the sixth planetary carrier (21) is connected to the fourth planetary carrier (12).

5. The two-speed coaxial dual-motor compound electric drive device according to claim 4, characterized in that: It also includes a first brake (6) and a second brake (17); The active end of the first brake (6) is connected to the first sun gear (2), and the driven end of the first brake (6) is connected to the housing; The active end of the second brake (17) is connected to the sixth sun gear (18), and the driven end of the second brake (17) is connected to the casing.

6. A two-speed coaxial dual-motor compound electric drive device according to claim 5, characterized in that: Also includes a first clutch (32) and a second clutch (23); The active end of the first clutch (32) is connected to the first planet carrier (3), the third ring gear (11), and the fourth ring gear (13), and the driven end of the first clutch (32) is connected to the first sun gear (2); The active end of the second clutch (23) is connected to the third sun gear (28), the fourth planet carrier (12), and the sixth planet carrier (21); the driven end of the second clutch (23) is connected to the sixth sun gear (18).

7. The two-speed coaxial dual-motor compound electric drive device according to claim 6, characterized in that: The first clutch (32) and the first brake (6) are mutually actuated by a single oil cylinder; The second clutch (23) and the second brake (17) are mutually actuated by a single oil cylinder.

8. A two-speed coaxial dual-motor compound electric drive device according to any one of claims 4 to 7, characterized in that: The ratio of the number of teeth of the first gear ring (5) and the number of teeth of the inner teeth of the first planetary gear (4) to the number of teeth of the first sun gear (2) and the number of teeth of the outer teeth of the first planetary gear (4) is K1; Assume that the ratio of the product of the number of teeth of the second gear ring (8) and the number of teeth of the second planetary gear (9) to the product of the number of teeth of the second sun gear (7) and the number of teeth of the second planetary gear (9) is K2; Assuming that the ratio of the number of teeth of the third gear ring (11) and the number of teeth of the inner teeth of the third planetary gear (10) to the number of teeth of the third sun gear (28) and the number of teeth of the outer teeth of the third planetary gear (10) is K3; Assuming that the ratio of the number of teeth of the fourth gear ring (13) to the number of teeth of the fourth sun gear (27) is K4; Assume that the ratio of the number of teeth of the fifth gear ring (14) and the number of teeth of the inner teeth of the fifth planetary gear (15) to the number of teeth of the fifth sun gear (16) and the number of teeth of the outer teeth of the fifth planetary gear (15) is K5; Assume that the ratio of the number of teeth of the sixth gear ring (19) and the number of teeth of the inner teeth of the sixth planetary gear (20) to the number of teeth of the sixth sun gear (18) and the number of teeth of the outer teeth of the sixth planetary gear (20) is K6; The above ratios also satisfy the following relationship: K1=K6; K2=K5; K4=1 / (K3-1).

9. The two-speed coaxial dual-motor compound electric drive device according to claim 8, characterized in that: The number of the fourth planetary gears (26) is 3 to 6.

10. The two-speed coaxial dual-motor compound electric drive device according to claim 8, characterized in that: In the first gear, the first brake (6) and the second brake (17) are engaged, and the first clutch (32) and the second clutch (23) are disengaged; In the second gear, the first clutch (32) and the second clutch (23) are engaged, and the first brake (6) and the second brake (17) are disengaged.

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