Four-motor coupling wheel edge driving structure and mining loader

Abstract

A four-motor coupling wheel edge driving structure comprises a gearbox and a planet row. The gearbox is characterized by comprising a first motor, a first input shaft, a second motor, a second input shaft, a third motor, a third input shaft, a fourth motor, a fourth input shaft, a first composite constant mesh gear shaft meshed with the first input shaft and the second input shaft respectively, and a second composite constant mesh gear shaft meshed with the third input shaft and the fourth input shaft respectively. The two-gear speed change mechanism is connected with the first composite constant mesh gear shaft and the second composite constant mesh gear shaft and has a two-gear speed change function, the output assembly is meshed with the two-gear speed change mechanism, the first input shaft, the second input shaft, the third input shaft and the fourth input shaft are sequentially arranged in parallel, and a sun gear of the planet row is connected with the output assembly. The planet carrier is fixed to the gearbox shell, and the gear ring is fixed to the driving wheel. The invention adapts to the extreme heavy-load working condition of the mining loader, and achieves the optimal matching of the dynamic property and the economical efficiency of the whole loader, and the invention further provides the mining loader.

Description

Technical Field

[0001] The present invention relates to a four-motor coupled wheel-side drive structure, belonging to the technical field of wheel-side drives for mining loaders. The present invention also relates to a mining loader. Background Art

[0002] Large-tonnage mining loaders, due to their extremely large tonnage (usually exceeding 50 tons), heavy load (single-load capacity can reach 10 - 30 tons), and extremely harsh working conditions, pose almost stringent requirements on the power density, environmental adaptability, and durability of the drive system. Traditional mining loaders mostly adopt a central drive system, which transmits power through complex mechanical structures such as drive shafts and differentials. There are pain points such as a long transmission chain, large efficiency losses, high energy consumption, and high maintenance costs. Especially in extreme working conditions such as heavy-load climbing and muddy roads, problems such as uneven power distribution and tire slippage are likely to occur, seriously restricting the operation efficiency and equipment reliability. Using wheel-side drive instead of the drive axle, the wheel-side drive can give full play to its own configuration advantages and the control function of the whole-machine controller, and achieve a wide range of power torque distribution without additional energy consumption. The drive torque of each drive wheel can be individually controlled and actively adjusted according to the vehicle's operating state and road conditions to form electronic differential, which is more conducive to enhancing the potential advantages of the whole-machine traction performance and operation adaptability and improving the passing performance. However, limited by complex terrains and diverse working conditions, mining loaders still face problems such as insufficient adaptability of the transmission system and high energy consumption in scenarios such as mountain and mining areas. For example, in single-motor wheel-side drive, a single motor needs to take into account too many working conditions, and a single motor drive cannot meet the large-torque power output requirements under heavy loads. It is necessary to use a single large-torque and low-speed drive motor, combined with a fixed-ratio reduction device, which will lead to problems such as a large weight of the electric drive system, high manufacturing costs, and insufficient power performance at medium and high speeds. If a multi-motor wheel-side drive with a complex power confluence structure is used, the transmission gearbox assembly has a large volume, complex structure, low efficiency, mismatched speed ratios, high manufacturing and maintenance costs. A multi-speed gearbox has too many gears and high costs, which is not suitable for electric mining loaders. Moreover, although using a multi-speed gearbox can improve the power performance of the vehicle at medium and high speeds to some extent, it will still cause power interruption and reduced comfort due to frequent gear shifting. Summary of the Invention

[0003] The four-motor coupled wheel-side drive structure provided by the present invention improves the power density of the drive wheel torque, meets the large-torque power output requirements, adapts to the extremely heavy-load working conditions of mining loaders, realizes power redundancy and dynamic distribution to balance the power requirements of various working conditions, enhances the adaptability to complex terrains, and achieves the best matching of the vehicle's power performance and economy. The present invention also provides a mining loader.

[0004] To achieve the above object, the technical solution adopted by the present invention is: Four-motor coupled wheel-side drive structure, including a gearbox and a planetary gear set connected to the gearbox and outputting power to the drive wheels, characterized in that: the gearbox includes motor one, input shaft one connected to motor one, motor two, input shaft two connected to motor two, motor three, input shaft three connected to motor three, motor four, input shaft four connected to motor four, a compound constant-mesh gear shaft one meshing with input shaft one and input shaft two respectively, a compound constant-mesh gear shaft two meshing with input shaft three and input shaft four respectively, a two-speed shifting mechanism connecting compound constant-mesh gear shaft one and compound constant-mesh gear shaft two and having two-speed shifting function, and an output assembly meshing with the two-speed shifting mechanism. Input shaft one, input shaft two, input shaft three and input shaft four are arranged in parallel in sequence. The sun gear of the planetary gear set is connected to the output assembly, the planet carrier is fixed to the gearbox housing, and the ring gear is fixed to the drive wheel.

[0005] Preferably, the two-speed shifting mechanism includes an intermediate shaft one coaxially aligned with the compound constant-mesh shaft one, and an intermediate shaft two coaxially aligned with the compound constant-mesh shaft two. Shifting components are respectively assembled on intermediate shaft one and intermediate shaft two. The shifting component on intermediate shaft one is connected to the compound constant-mesh shaft one, and the shifting component on intermediate shaft two is connected to the compound constant-mesh shaft two. Intermediate shaft one and intermediate shaft two respectively mesh with the output assembly.

[0006] Preferably, shifting gears are respectively fixed on intermediate shaft one and intermediate shaft two. The shifting component includes a shifting sleeve slidably assembled axially on the shifting gear, a first-gear driving gear rotatably mounted on intermediate shaft one and intermediate shaft two, a second-gear driving gear fixed on the compound constant-mesh gear shaft one and the compound constant-mesh gear shaft two, a driven gear shaft meshing with the first-gear driving gear and the second-gear driving gear respectively. The first-gear driving gear shaft and the second-gear driving gear are respectively arranged on the left and right sides of the shifting sleeve. The shifting sleeve moves to the right to engage with the first-gear driving gear and moves to the left to engage with the second-gear driving gear. The outer diameter of the first-gear driving gear is larger than that of the second-gear driving gear.

[0007] Preferably, a first-gear driven gear meshing with the first-gear driving gear and a second-gear driven gear meshing with the second-gear driving gear are fixed on the driven gear shaft.

[0008] Preferably, an output gear one is respectively fixed on intermediate shaft one and intermediate shaft two. The output shaft assembly includes an output shaft and an output gear two fixed on the output shaft and meshing with the output gear one. The outer diameter of the output gear two is larger than that of the output gear one. The output shaft is coaxially fixed with the sun gear.

[0009] Preferably, the driven gear shaft, the compound constant-mesh shaft one and the compound constant-mesh shaft two are all hollow shafts. The output shaft penetrates through the driven gear shaft, intermediate shaft one penetrates through the compound constant-mesh gear shaft one, intermediate shaft two penetrates through the compound constant-mesh gear shaft two, and intermediate shaft one and intermediate shaft two are symmetrically distributed with the output shaft as the center.

[0010] Preferably, a first planetary gear meshing with the sun gear and a second planetary gear meshing with the ring gear and having an outer diameter smaller than that of the first planetary gear are fixed on the planetary gear shaft of the planet carrier. The ring gear is supported outside the transmission housing by bearings.

[0011] A mining loader includes drive wheels and a wheel-side drive structure assembled on the drive wheels, characterized in that the wheel-side drive structure is the four-motor coupled wheel-side drive structure described above.

[0012] The beneficial effects of the invention are: In the four-motor coupled wheel-side drive structure of the invention, the power of motor one and motor two is coupled by the compound constant-mesh gear shaft one, and the power of motor three and motor four is coupled by the compound constant-mesh gear shaft two. The two-speed shifting assembly couples the power of the compound constant-mesh gear shaft one and the compound constant-mesh gear shaft two and forms two-speed power transmission output shaft assemblies with different rotational speeds and torques through shifting. The output shaft assembly transmits the power to the planetary gear set, and after the speed reduction and torque increase of the planetary gear set, it drives the drive wheels to move, realizing the drive. The power of the four motors is first coupled by the compound constant-mesh gear shaft one and the compound constant-mesh gear shaft two, and then secondarily coupled by the two-speed shifting mechanism, and decelerated by the planetary gear set, forming a low-speed high-torque drive, improving the power density of the drive wheel torque, breaking through the single-motor power density limit, meeting the large-torque power output requirements, adapting to the extremely heavy-duty working conditions of mining loaders, and can adjust the starting number of motors in the four-motor coupled wheel-side drive structure and the gear positions of the two-speed shifting mechanism according to the load and operating conditions of the mining loader, realizing power redundancy and dynamic distribution, so as to balance the power requirements of various working conditions, realize the switching between low-speed high-torque and high-speed energy-saving modes, make the motors work in the high-efficiency area, perform vector control on the torques of each drive wheel under extreme working conditions such as heavy-load climbing and muddy roads, realize electronic differential, improve the adaptability to complex terrains, and achieve the best matching of the vehicle's power performance and economy.

[0013] Shifting components are respectively assembled on the intermediate shaft one and the intermediate shaft two. Through the shifting components, the power on the compound constant-mesh shaft one is transmitted to the intermediate shaft one, and the power on the compound constant-mesh shaft two is transmitted to the intermediate shaft two. The intermediate shaft one and the intermediate shaft two couple the power to the output shaft assembly. During the shifting process, the two shifting components shift gears successively, ensuring the connectivity of power during shifting, avoiding the risk of power interruption, and reducing the power impact caused by the synchronous shifting of the two shifting components, improving the shifting smoothness and the safety of the vehicle's continuous operation under heavy-duty working conditions.

[0014] A wheel-side drive structure coaxial with the wheel is formed, effectively reducing the axial dimension of the wheel-side drive structure, and using the compact structural characteristics of the planetary gear set to reduce the volume of the entire wheel-side drive structure and the requirements for the wheel-side installation space of the wheel-side drive structure. Description of the Drawings

[0015] Figure 1 This is a transmission schematic diagram of the four-motor coupled wheel-side drive structure of the present invention.

[0016] Figure 2 This is a transmission schematic diagram of the four-motor coupled wheel-side drive structure when forming the first-gear power output.

[0017] Figure 3 This is a transmission schematic diagram of the four-motor coupled wheel-side drive structure when forming the second-gear power output. Detailed implementation manners

[0018] The following Figures 1 to 3 will make a detailed description of the embodiments of the present invention.

[0019] The four-motor coupled wheel-side drive structure includes a gearbox and a planetary gear set connected to the gearbox and outputting power to the drive wheels. It is characterized in that: the gearbox includes motor one 1, input shaft one 5 connected to motor one 1, motor two 2, input shaft two 6 connected to motor two 2, motor three 3, input shaft three 7 connected to motor three 3, motor four 4, input shaft four 8 connected to motor four 4, compound constant-mesh gear shaft one 9 meshing with input shaft one 5 and input shaft two 6 respectively, compound constant-mesh gear shaft two 10 meshing with input shaft three 7 and input shaft four 8 respectively, two-speed transmission mechanism 11 connecting compound constant-mesh gear shaft one 9 and compound constant-mesh gear shaft two 10 and having a two-speed shifting function, and output assembly 12 meshing with two-speed transmission mechanism 11. Input shaft one 5, input shaft two 6, input shaft three 7 and input shaft four 8 are arranged in parallel in sequence. The sun gear 13 of the planetary gear set is connected to output assembly 12, the planet carrier 14 is fixed to the gearbox housing, and the ring gear 15 is fixed to the drive wheel 100.

[0020] The above-described four-motor coupled wheel-side drive structure, the compound constant-mesh gear shaft 9 couples the power of the motor 1 and the motor 2, the compound constant-mesh gear shaft 10 couples the power of the motor 3 and the motor 4, and the two-speed transmission assembly 11 couples the power of the compound constant-mesh gear shaft 9 and the compound constant-mesh gear shaft 10 and forms two-speed power transmission output shaft assemblies 12 with different speeds and torques through shifting. The output shaft assembly 12 transmits the power to the planetary gear set, and drives the driving wheel to move after the speed reduction and torque increase of the planetary gear set to achieve driving. The power of the four motors is first coupled by the compound constant-mesh gear shaft 1 and the compound constant-mesh gear shaft 2, and then coupled by the two-speed transmission mechanism, and decelerated by the planetary gear set to form a low-speed and high-torque drive, improving the power density of the driving torque, breaking through the single-motor power density limit, meeting the large-torque power output requirements, adapting to the extreme heavy-load working conditions of mining loaders, and adjusting the starting number of motors in the four-motor coupled wheel-side drive structure and the gear positions of the two-speed transmission mechanism according to the load and operating conditions of the mining loader, realizing power redundancy and dynamic distribution, so as to balance the power requirements of various working conditions, realizing the switching between the low-speed high-torque and high-speed energy-saving modes, making the motors work in the high-efficiency area, performing vector control on the torques of each driving wheel under extreme working conditions such as heavy-load climbing and muddy roads, realizing electronic differential, improving the adaptability to complex terrains, and achieving the best matching of the vehicle's power performance and economy.

[0021] Among them, the two-speed transmission mechanism includes an intermediate shaft 16 coaxially aligned with the compound constant-mesh shaft 9 and an intermediate shaft 17 coaxially aligned with the compound constant-mesh shaft 10. Shifting components 18 are respectively assembled on the intermediate shaft 16 and the intermediate shaft 17. The shifting component 15 on the intermediate shaft 16 is connected to the compound constant-mesh shaft 9, and the shifting component 18 on the intermediate shaft 17 is connected to the compound constant-mesh shaft 10. The intermediate shaft 16 and the intermediate shaft 17 are respectively meshed with the output assembly 12. The power on the compound constant-mesh shaft 9 is transmitted to the intermediate shaft 16 through the shifting component 18, and the power on the compound constant-mesh shaft 10 is transmitted to the intermediate shaft 17. The intermediate shaft 16 and the intermediate shaft 16 couple the power to the output shaft assembly 12. During the shifting process, the two shifting components 18 shift gears successively to ensure the connectivity of the power during shifting, avoid the risk of power interruption, and reduce the power impact caused by the synchronous shifting of the two shifting components, improving the shifting smoothness and the safety of the vehicle's continuous operation under heavy-load working conditions.

[0022] Among them, shifting gears 19 are respectively fixed on the first intermediate shaft 16 and the second intermediate shaft 17. The shifting assembly 18 includes a shifting sleeve 20 that is axially slidably assembled on the shifting gear 19, a first-gear driving gear 21 that is rotatably mounted on the first intermediate shaft 16 and the second intermediate shaft 17, second-gear driving gears 22 that are fixed on the first compound constant-mesh gear shaft 9 and the second compound constant-mesh gear shaft 10, a driven gear shaft 23 that meshes with the first-gear driving gear 21 and the second-gear driving gears 22 respectively. The first-gear driving gear shaft 21 and the second-gear driving gear 22 are respectively arranged on the left and right sides of the shifting sleeve 20. The shifting sleeve 20 moves to the right to engage with the first-gear driving gear 21 and moves to the left to engage with the second-gear driving gear 22. The outer diameter of the first-gear driving gear 21 is larger than that of the second-gear driving gear 22. The first compound constant-mesh shaft 9 and the second compound constant-mesh shaft 10 drive the second-gear driving gear 22 to move, and through the driven gear shaft 23, the first-gear driving gear 21 is synchronously moved. In the initial state, the shifting sleeve 20 is located at the neutral position between the first-gear driving gear 21 and the second-gear driving gear 22 and is not engaged with either of them. When the shifting sleeve 20 moves to the right to engage with the first-gear driving gear 21, the first-gear driving gear 21 will drive the first intermediate shaft 16 and the second intermediate shaft 16 to move synchronously. The first intermediate shaft 16 and the second intermediate shaft 17 drive the output shaft assembly 12 to move. The output shaft assembly 12 transmits power to the planetary gear set to drive the driving wheel 100 to move, forming a first-gear power output. When the shifting sleeve 20 moves to the left to engage with the second-gear driving gear 22, the second-gear driving gear 11 will drive the first intermediate shaft 16 and the second intermediate shaft 17 to move synchronously. The first intermediate shaft 16 and the second intermediate shaft 17 drive the output shaft assembly 12 to move. The output shaft assembly 12 transmits power to the planetary gear set to drive the driving wheel 100 to move, forming a second-gear power output. Through the shifting assembly, two gears of power with different speeds and torques are transmitted to the first intermediate shaft and the second intermediate shaft, and then the power of the first intermediate shaft 16 and the second intermediate shaft 17 is coupled by the output shaft assembly 12 and transmitted to the planetary gear set, realizing two-gear driving of the driving wheel, reducing the number of gears in the transmission and simplifying the structure of the transmission. And according to the load and operating conditions of the mining loader, the starting number of motors in the four-motor coupled wheel-side drive structure and the gears of the two-gear transmission mechanism can be adjusted to achieve power redundancy and dynamic distribution, so as to balance the power requirements of various working conditions and realize the switching between the low-speed high-torque and high-speed energy-saving modes.

[0023] Among them, a first-gear driven gear 24 meshing with a first-gear driving gear 21 and a second-gear driven gear 25 meshing with a second-gear driving gear 22 are fixed on the driven gear shaft 23. Through the meshing of the first-gear driven gear 24 and the second-gear driven gear 25 on the driven gear shaft 23 with the first-gear driving gear 21 and the second-gear driving gear 22 respectively, the first-gear driving gear 21 and the second-gear driving gear 22 are connected. The first-gear driving gear 21 and the second-gear driving gear 22 will be synchronously driven with the rotation of the first compound constant-mesh shaft 9 and the second compound constant-mesh shaft 10. The shifting sleeve 20 is combined with the first-gear driving gear 21 or the second-gear driving gear 22 to transmit the power of the first compound constant-mesh shaft 9 to the first intermediate shaft 16, and the power of the compound constant-mesh shaft 10 to the second intermediate shaft 17.

[0024] Among them, an output gear one 26 is fixed on the first intermediate shaft 16 and the second intermediate shaft 17 respectively. The output shaft assembly 12 includes an output shaft 27 and an output gear two 28 fixed on the output shaft 27 and meshing with the output gear one 26. The outer diameter of the output gear two 28 is larger than that of the output gear one 26. The output shaft 27 is coaxially fixed with the sun gear 13. Through the meshing of the output gear one 26 and the output gear two 28, the power on the first intermediate shaft 16 and the second intermediate shaft 17 is coupled to the output shaft 27 and transmitted to the sun gear 13.

[0025] Among them, the driven gear shaft 23, the first compound constant-mesh shaft 9 and the second compound constant-mesh shaft 10 are all hollow shafts. The output shaft 27 penetrates through the driven gear shaft 23, the first intermediate shaft 16 penetrates through the first compound constant-mesh gear shaft 9, the second intermediate shaft 17 penetrates through the second compound constant-mesh gear shaft 10, and the first intermediate shaft 16 and the second intermediate shaft 17 are symmetrically distributed with the output shaft 27 as the center. The output shaft 27 is arranged in the middle, the first intermediate shaft 16 and the second intermediate shaft 17 are symmetrically arranged on both sides, and the driven gear shaft 23 is coaxially arranged outside the output shaft 27, which can effectively reduce the axial connection dimension between the output shaft 27 and the shifting assembly 18, thereby shortening the axial dimension of the entire drive structure and forming a rotary symmetric structure centered on the output shaft 27, enabling the drive structure and the drive wheel to be coaxially aligned and improving the stability of the drive wheel during operation.

[0026] Among them, a first planetary gear 29 meshing with the sun gear 13 and a second planetary gear 30 meshing with the ring gear 15 and having an outer diameter smaller than that of the first planetary gear 29 are fixed on the planetary gear shaft of the planet carrier 14. The ring gear 15 is supported by bearings outside the transmission housing. By meshing the first planetary gear 29 with the sun gear 13, it rotates synchronously with the sun gear 13 to drive the planetary gear shaft on the planet carrier 14 to rotate, so that the second planetary gear 30 rotates synchronously. The second planetary gear 30 drives the ring gear 14 to rotate, thereby driving the drive wheel 100 to rotate synchronously. The arrangement of the first planetary gear 29 and the second planetary gear 30 makes the planetary gear set take the ring gear 14 as the power output end, and can effectively increase the speed ratio of the planetary gear set, improve the deceleration and torque increase characteristics, so as to meet the driving requirements of large torque under heavy load conditions. The ring gear 8 is supported by bearings outside the transmission housing, improving the support reliability and stability of the ring gear 8, forming a wheel-side drive structure coaxially aligned with the wheel, effectively reducing the axial dimension of the wheel-side drive structure, and using the compact structure characteristics of the planetary gear set to reduce the volume of the entire wheel-side drive structure and reduce the requirements for the wheel-side installation space of the wheel-side drive structure.

[0027] The present invention also protects a mining loader, including a drive wheel 100 and a wheel-side drive structure assembled on the drive wheel 1000, characterized in that: the wheel-side drive structure is the four-motor coupled wheel-side drive structure described above.

[0028] The above-mentioned mining loader takes into account the power requirements of various working conditions, realizes the switching between low-speed high-torque and high-speed energy-saving modes, enables the motor to work in the high-efficiency area, performs vector control on the torque of each drive wheel under extreme working conditions such as heavy-load climbing and muddy roads, realizes electronic differential, improves the adaptability to complex terrains, and achieves the best matching of the vehicle's power performance and economy.

[0029] The above combines the accompanying drawings to completely describe the technical solutions of the embodiments of the present invention. It should be noted that the described embodiments are only a part of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

Claims

1. Four-motor coupled wheel-side drive structure, comprising a gearbox and a planetary gear set connected to the gearbox and outputting power to the drive wheels, characterized in that: The described transmission includes a first motor, an input shaft one connected to the first motor, a second motor, an input shaft two connected to the second motor, a third motor, an input shaft three connected to the third motor, a fourth motor, an input shaft four connected to the fourth motor, a compound constant-mesh gear shaft one meshing with the input shaft one and the input shaft two respectively, a compound constant-mesh gear shaft two meshing with the input shaft three and the input shaft four respectively, a two-speed transmission mechanism connecting the compound constant-mesh gear shaft one and the compound constant-mesh gear shaft two and having a two-speed function, and an output assembly meshing with the two-speed transmission mechanism. The input shaft one, the input shaft two, the input shaft three, and the input shaft four are arranged parallel to each other in sequence. The sun gear of the planetary gear set is connected to the output assembly, the planet carrier is fixed to the transmission housing, and the ring gear is fixed to the drive wheel.

2. The four-motor coupled wheel-side drive structure according to claim 1, wherein: The described two-speed transmission mechanism includes an intermediate shaft one coaxially aligned with the compound constant-mesh shaft one and an intermediate shaft two coaxially aligned with the compound constant-mesh shaft two. Shifting components are respectively assembled on the intermediate shaft one and the intermediate shaft two. The shifting component on the intermediate shaft one is connected to the compound constant-mesh shaft one, and the shifting component on the intermediate shaft two is connected to the compound constant-mesh shaft two. The intermediate shaft one and the intermediate shaft two respectively mesh with the output assembly.

3. The four-motor coupled wheel-side drive structure according to claim 2, wherein: Shifting gears are respectively fixed on the intermediate shaft one and the intermediate shaft two. The shifting component includes a shifting sleeve slidably assembled axially on the shifting gear, a first-gear driving gear rotatably mounted on the intermediate shaft one and the intermediate shaft two, a second-gear driving gear fixed on the compound constant-mesh gear shaft one and the compound constant-mesh gear shaft two, and a driven gear shaft meshing with the first-gear driving gear and the second-gear driving gear respectively. The first-gear driving gear shaft and the second-gear driving gear are respectively arranged on the left and right sides of the shifting sleeve. The shifting sleeve moves to the right to engage with the first-gear driving gear and moves to the left to engage with the second-gear driving gear. The outer diameter of the first-gear driving gear is larger than that of the second-gear driving gear.

4. The four-motor coupled wheel-side drive structure according to claim 3, characterized in that: A first-gear driven gear meshing with the first-gear driving gear and a second-gear driven gear meshing with the second-gear driving gear are fixed on the driven gear shaft.

5. The four-motor coupled wheel-side drive structure according to claim 3, characterized in that: Output gears one are respectively fixed on the intermediate shaft one and the intermediate shaft two. The output shaft assembly includes an output shaft and an output gear two fixed on the output shaft and meshing with the output gear one. The outer diameter of the output gear two is larger than that of the output gear one. The output shaft is coaxially fixed with the sun gear.

6. The four-motor coupled wheel-side drive structure according to claim 5, characterized in that: The driven gear shaft, the compound constant-mesh shaft one, and the compound constant-mesh shaft two are all hollow shafts. The output shaft penetrates through the driven gear shaft, the intermediate shaft one penetrates through the compound constant-mesh gear shaft one, the intermediate shaft two penetrates through the compound constant-mesh gear shaft two, and the intermediate shaft one and the intermediate shaft two are symmetrically distributed with the output shaft as the center.

7. The four-motor coupled wheel-side drive structure according to claim 1, characterized in that: A first planetary gear meshing with the sun gear and a second planetary gear meshing with the ring gear and having an outer diameter smaller than that of the first planetary gear are fixed on the planetary gear shaft of the planet carrier. The ring gear is supported outside the transmission housing by bearings.

8. Mine loader, comprising driving wheels and a wheel-side drive structure assembled on the driving wheels, characterized in that: The described wheel-side drive structure is the four-motor coupled wheel-side drive structure according to any one of claims 1 to 7.

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