A driving structure of a mine special vehicle with extended range four-wheel drive and a control method thereof

Abstract

The application relates to the technical field of mine car driving, and discloses a driving structure of a mine special car with a range-extending four-wheel drive, which comprises a vehicle frame, the bottom of the vehicle frame is provided with a driving mechanism, the driving mechanism comprises a front oil-gas shock absorber and multiple universal joints, the front oil-gas shock absorber is fixedly connected to the bottom left side of the vehicle frame, the bottom of the front oil-gas shock absorber is fixedly connected with a front axle, the output shaft of the front axle is fixedly connected with a front wheel, the inner left side of the vehicle frame is fixedly connected with a driving motor one, and the output end of the driving motor one is drivingly connected with a transmission shaft one through a universal joint. Driving motor one and driving motor two are arranged on the front and rear sides of the vehicle frame respectively, a battery pack maintains power supply to the driving motor one, the rotating power output by the driving motor one is transmitted to the front axle through the universal joint and the transmission shaft one, and the front axle bears the forward traction load of the whole vehicle, and the driving motor two is cut off from power input to complete instantaneous torque zeroing.

Description

Technical Field

[0001] This invention relates to the field of mining truck drive technology, specifically to a range-extended four-wheel drive drive structure and its control method for a mining vehicle. Background Technology

[0002] Mining vehicles are equipment used in open-pit mining and earthmoving operations. They are specifically designed for transporting large-tonnage materials under harsh working conditions. Due to the harsh environment of unpaved roads in mining areas and the continuous increase in vehicle load capacity, heavy-duty mining vehicles place extremely high demands on the chassis structure's load-bearing capacity, longitudinal traction on steep slopes, and stable attitude control.

[0003] When facing continuous steep slopes in mining areas, traditional single rear-wheel drive vehicles experience a significant shift in the vehicle's center of gravity when heavily loaded and climbing, resulting in a sharp decrease in front wheel traction. Relying solely on the rear wheels for grip is limited by physical limits and can lead to slippage and wheel spin. Therefore, mining trucks must adopt a four-wheel drive architecture. By rationally distributing power between the front and rear axles, all wheels can work together to overcome gravity, thereby improving grip and climbing traction redundancy in complex and soft road conditions.

[0004] Most existing new energy mining trucks adopt a drive structure with a rear-mounted main motor matched with a gearbox. The rotational power of the motor is transmitted to the rear axle after being adjusted by the gearbox. However, when the gearbox automatically downshifts due to increased load, the main motor power supply must be cut off to unload and disengage the gears, resulting in the vehicle losing driving force momentarily. To solve this problem, existing technologies usually apply air pressure braking during the shift gap to prevent slippage on slopes. However, forced braking relying on wheel-end friction will consume the vehicle's kinetic energy inertia when going uphill, causing the vehicle to be completely stationary after shifting. At this time, the motor needs to start again with extreme torque to overcome the huge static friction force, which can cause gearbox gear breakage and main drive shaft to break. Furthermore, under extreme conditions of heavy load and steep slopes, if the air pressure braking system has electronic control response delay or insufficient braking force distribution, the vehicle will still experience dangerous backward slippage, threatening driving and operational safety. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a range-extended four-wheel drive mining vehicle drive structure and its control method, which solves the problem of instantaneous power interruption caused by the brief disconnection of the rear main motor's power during gear shifting on a heavy-load uphill slope in existing new energy mining vehicles, and the problem that traditional pneumatic parking anti-rollover solutions will exhaust the uphill inertia and cause the vehicle to stop.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A range-extended four-wheel drive mining vehicle drive structure includes a frame, characterized in that a drive mechanism is provided at the bottom of the frame;

[0008] The drive mechanism includes a front hydropneumatic shock absorber and multiple universal joints. The front hydropneumatic shock absorber is fixedly connected to the bottom left side of the vehicle frame. The bottom of the front hydropneumatic shock absorber is fixedly connected to the front axle. The output shaft of the front axle is fixedly connected to the front wheel. A drive motor is fixedly connected to the inside left side of the vehicle frame. The output end of the drive motor is driven by a drive shaft through a universal joint. The left end of the drive shaft is driven by a universal joint to the input end of the front axle. A rear hydropneumatic shock absorber is fixedly connected to the bottom right side of the vehicle frame. A second drive motor is fixedly connected to the inside right side of the vehicle frame. The output end of the second drive motor is fixedly connected to a gearbox. The output end of the gearbox is driven by a drive shaft through a universal joint. The bottom of the rear hydropneumatic shock absorber is fixedly connected to the rear axle. The drive shaft is driven by a universal joint to the input end of the rear axle. The output end of the rear axle is fixedly connected to the rear wheel.

[0009] Preferably, the drive mechanism further includes multiple battery packs, which are respectively fixedly connected to the front and rear sides of the vehicle frame, and both drive motor one and drive motor two are electrically connected to the battery packs.

[0010] Preferably, the front of the vehicle is fixedly connected to the top left side of the vehicle frame.

[0011] Preferably, a control method for the drive structure of a range-extended four-wheel drive mining vehicle includes the following steps:

[0012] S1, Status parameter acquisition;

[0013] S2. When the vehicle meets the first preset driving conditions, the vehicle is driven by the output power of the second drive motor.

[0014] S3. When the vehicle meets the second preset driving condition, drive motor one and drive motor two jointly output power to drive the vehicle.

[0015] S4. In the four-wheel drive hill climbing mode, when a shift command is detected from the gearbox, the power output of drive motor 2 is cut off, while the power output of drive motor 1 is maintained to bear the traction load of the entire vehicle.

[0016] S5. After shifting gears, restore the power output of drive motor 2, and exit the four-wheel drive hill climbing mode after leaving the second preset driving condition road section.

[0017] Preferably, the operating status parameters collected in real time by the vehicle controller include: real-time vehicle speed, vehicle load capacity, road gradient, and the current gear and shift requirements of the transmission.

[0018] Preferably, the first preset driving condition is: a daily flat road driving condition in which both the road gradient and the vehicle load are lower than the preset threshold. In this case, the battery pack supplies power only to the second drive motor, and the rotational power is transmitted to the rear axle after being adjusted by the gearbox.

[0019] Preferably, the second preset driving condition is a heavy-load climbing condition where the road slope reaches a preset slope threshold and the vehicle load reaches a preset load threshold. At this time, the battery pack synchronously supplies power to the first drive motor. The vehicle controller calculates the total resistance and total traction demand required by the vehicle based on the collected road slope and vehicle load, and dynamically distributes the calculated total required torque to the first drive motor on the front side and the second drive motor on the rear side according to the axle load transfer ratio when the vehicle is climbing.

[0020] Preferably, the specific working logic of the shift power compensation control is as follows: the vehicle controller sends a torque zeroing command to the second drive motor, so that the second drive motor is instantly unloaded to complete the disengagement operation of the gear inside the gearbox. During the shift gap from disengagement to re-engagement of the gearbox, the first drive motor maintains the originally allocated target torque and continues to transmit power to the front wheels, relying on the direct drive of the front axle to fill the power gap period.

[0021] Preferably, the specific logic for restoring the power output of the second drive motor is as follows: after the gearbox completes shifting, the vehicle controller adopts a torque smooth transition strategy to linearly increase the output torque of the second drive motor to the target torque after shifting within a preset time window.

[0022] Preferably, when the vehicle controller detects that the total torque, road gradient, or load parameters required for vehicle operation have fallen back to the standard of the first preset driving condition, it automatically cuts off the power supply to the first drive motor, and the vehicle returns to the single-axle rear-wheel drive mode with the second drive motor operating.

[0023] This invention provides a range-extended four-wheel drive drive structure and control method for a mining vehicle. It offers the following advantages:

[0024] 1. This invention arranges drive motor one and drive motor two on the front and rear sides of the vehicle frame respectively. When encountering a gearbox shift command while heavily loaded uphill, the battery pack continues to supply power to drive motor one. The rotational power output by drive motor one is transmitted to the front axle through a universal joint and drive shaft one, bearing the forward traction load of the whole vehicle. Meanwhile, drive motor two cuts off the power input to complete the instantaneous torque zeroing, causing the gears inside the gearbox to be in a completely unloaded state and disengaged. The direct drive of the front axle motor fills the power gap during the rear axle shifting interval, eliminating the hidden danger of power interruption and vehicle stalling during uphill shifting of the mining truck.

[0025] 2. This invention intercepts the gearbox's shifting command during heavy-load uphill driving and cuts off the power input of the second drive motor at the moment the shifting action is triggered to achieve instantaneous torque zeroing. This causes the gears inside the gearbox to disengage in a state where mechanical stress is completely relieved. During the shifting window from disengagement to re-engagement, the first drive motor is forced to maintain the existing torque and transmit power to the front axle and front wheels via the first drive shaft. The grip traction force generated by the front motor direct drive system is used to counteract the backward gravity slip component of the vehicle body, thus avoiding the vehicle from stopping due to loss of total power during uphill shifting and the risk of axle breakage caused by overcoming static friction when restarting.

[0026] 3. This invention activates a linear torque recovery strategy after shifting gears through the internal mechanical structure of the gearbox. This controls the output power of the second drive motor to smoothly climb to the new target torque after the shift within a preset time. This flexibly establishes the power input to the second drive shaft and the rear axle, avoiding the impact of instantaneous full load on the rear drive transmission link. After the vehicle leaves the high-load section and the state parameters return to normal, the power supply to the first drive motor is cut off, causing it to exit the working state. The power flow of the whole vehicle autonomously recovers to the single-axle rear drive mode where only the second drive motor does the work, thus completing the smooth closed-loop flow of the drive logic under different operating conditions. Attached Figure Description

[0027] Figure 1 This is a perspective view of the present invention;

[0028] Figure 2 This is a partial bottom view of the structure of the present invention;

[0029] Figure 3 This is a partial structural illustration of the present invention;

[0030] Figure 4 This is a partial structural diagram of the present invention;

[0031] Figure 5 This is a partial structural schematic diagram of the drive mechanism of the present invention;

[0032] Figure 6 This is a schematic diagram of the control method architecture of the present invention;

[0033] Figure 7 This is one of the schematic diagrams of the control method of the present invention;

[0034] Figure 8 This is the second schematic diagram of the control method of the present invention.

[0035] The components are as follows: 1. Frame; 2. Drive mechanism; 21. Front hydropneumatic shock absorber; 22. Front axle; 23. Front wheel; 24. Drive motor one; 25. Drive shaft one; 26. Universal joint; 27. Rear hydropneumatic shock absorber; 28. Drive motor two; 29. ​​Gearbox; 210. Drive shaft two; 211. Rear axle; 212. Rear wheel; 213. Battery pack; 3. Front of the vehicle. Detailed Implementation

[0036] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Example 1:

[0038] Reference Figure 3 , Figure 4 and Figure 5 This invention provides a range-extended four-wheel drive mining vehicle drive structure, including a frame 1, with a drive mechanism 2 disposed at the bottom of the frame 1;

[0039] The drive mechanism 2 includes a front hydropneumatic shock absorber 21 and multiple universal joints 26. The front hydropneumatic shock absorber 21 is fixedly connected to the bottom left side of the frame 1. The bottom of the front hydropneumatic shock absorber 21 is fixedly connected to the front axle 22. The output shaft of the front axle 22 is fixedly connected to the front wheel 23. The interior left side of the frame 1 is fixedly connected to a drive motor 24. The output end of the drive motor 24 is driven by a drive shaft 25 via universal joints 26. The left end of the drive shaft 25 is driven by a drive shaft 25 via universal joints 26. The rear hydropneumatic shock absorber 27 is fixedly connected to the bottom right side of the frame 1. The interior right side of the frame 1 is fixedly connected to... The drive mechanism 2 is equipped with a second drive motor 28. The output end of the second drive motor 28 is fixedly connected to a gearbox 29. The output end of the gearbox 29 is connected to a second drive shaft 210 via a universal joint 26. The bottom of the rear air-fuel shock absorber 27 is fixedly connected to a rear axle 211. The second drive shaft 210 is connected to the input end of the rear axle 211 via a universal joint 26. The output end of the rear axle 211 is fixedly connected to a rear wheel 212. The drive mechanism 2 also includes multiple battery packs 213. The multiple battery packs 213 are fixedly connected to the front and rear sides of the frame 1 respectively. The first drive motor 24 and the second drive motor 28 are both electrically connected to the battery packs 213.

[0040] Specifically, when the range-extended four-wheel drive mining vehicle is driving primarily in rear-wheel drive mode on flat roads, the battery pack 213 outputs electrical energy to the drive motor 28 on the right side of the frame 1. The rotational power generated by the drive motor 28 enters the gearbox 29 for gear ratio adjustment. The adjusted power is then transmitted sequentially through the universal joint 26 and the drive shaft 210 to the rear axle 211. The rear axle 211 distributes the power to drive the left and right rear wheels 212, propelling the vehicle forward. When the vehicle enters a slope requiring high torque for climbing, the battery pack 213 simultaneously supplies electrical energy to the drive motor 24. The drive motor 24 then starts and transmits rotational power sequentially through the front universal joint 26 and the drive shaft 25 to the front axle 22. The front axle 22 distributes the power to the two front wheels 212. 3. The vehicle controller dynamically distributes power to the front and rear drive axles based on real-time gradient and load conditions to ensure that the mining car obtains traction force to overcome gravity. During heavy-load uphill operation, when the gearbox 29 needs to perform a shift action according to the wheel speed change, the power input of the drive motor 28 is cut off, causing its torque to be instantly reduced to zero. During the shift gap between disengaging and engaging gears in the gearbox 29, the front drive motor 24 maintains its original torque output state, using the grip of the front wheel 23 to bear the upward traction load of the entire vehicle, filling the power gap of the rear axle 211 during this period, and preventing the fully loaded mining car from stalling or rolling backward on the uphill section. When the vehicle no longer needs high power output, the power supply to the drive motor 24 is cut off, causing it to exit the drive sequence and the vehicle to return to a single rear drive mode.

[0041] Reference Figure 1 and Figure 2 The top left side of the frame 1 is fixedly connected to the front end 3;

[0042] Specifically, the vehicle can be controlled through the vehicle controller inside the front 3.

[0043] Example 2:

[0044] Reference Figure 6 , Figure 7 and Figure 8 A control method for the drive structure of a range-extended four-wheel drive mining vehicle includes the following steps:

[0045] S1. Status Parameter Acquisition; The vehicle controller collects real-time operating status parameters including: real-time vehicle speed, vehicle load capacity, road gradient, and the current gear and shift requirements of transmission 29.

[0046] Specifically, real-time perception of the vehicle's operating status is the foundation of power distribution control. The vehicle controller located inside the front of the vehicle 3 reads feedback data from the underlying sensors in real time through the vehicle's CAN bus network. The specific operating status parameters collected include the vehicle's real-time speed, the mass of materials carried in the cargo box, the road gradient obtained by the tilt sensor, and the current gear status of the transmission 29 and the shift request signal sent by the internal communication module, thereby providing data support for the subsequent judgment and switching of the drive mode.

[0047] S2. When the vehicle meets the first preset driving conditions, the vehicle is driven by the second drive motor 28 alone. The first preset driving conditions are: daily flat road driving conditions where the road slope and vehicle load are both lower than the preset threshold. At this time, the battery pack 213 supplies power to the second drive motor 28 only, and the rotational power is transmitted to the rear axle 211 after being adjusted by the gearbox 29.

[0048] Specifically, when the vehicle controller determines, based on the collected data, that the current road gradient and vehicle load are both below the preset threshold, it is classified as the first preset driving condition, i.e., the daily flat road or light load driving state. At this time, the economy-oriented single-axle rear-wheel drive control logic is adopted, and the battery pack 213 is instructed to supply power only to the rear drive motor 28. The rotational power generated by the drive motor 28 directly enters the gearbox 29 for speed ratio adjustment. The adjusted power passes through the universal joint 26 and the drive shaft 210 and is transmitted to the rear axle 211. The rear axle 211 distributes the power to the rear wheels 212 on the left and right sides to drive the vehicle forward. In this mode, the front drive motor 24 is in a power-off idle state to reduce power consumption.

[0049] S3. When the vehicle meets the second preset driving condition, drive motor 1 24 and drive motor 28 jointly output power to drive the vehicle. The second preset driving condition is: a heavy-load climbing condition in which the road slope reaches the preset slope threshold and the vehicle load reaches the preset load threshold. At this time, the battery pack 213 synchronously supplies power to drive motor 1 24. The vehicle controller calculates the total resistance and total traction demand required by the vehicle based on the collected road slope and vehicle load. According to the axle load transfer ratio when the vehicle is climbing, the calculated total torque demand is dynamically distributed to drive motor 1 24 on the front side and drive motor 2 28 on the rear side.

[0050] Specifically, as the vehicle's driving environment changes, if the vehicle controller detects that the road gradient reaches a preset gradient threshold and the vehicle's load reaches a preset load threshold, it determines that the vehicle has entered a heavy-load, steep slope section under the second preset driving condition. Since single rear axle drive is prone to slippage due to the physical adhesion limit of the tires, the vehicle controller will activate the four-wheel drive climbing mode and instruct the battery pack 213 to synchronously supply power to the drive motor 24 on the front side of the frame 1. During this process, the vehicle controller needs to perform dynamic torque distribution calculations between the front axle 22 and the rear axle 211. The specific calculation process is that the vehicle controller first calculates the total torque required for the vehicle to overcome the current gradient and load based on the physical force model. The calculation formula is as follows:

[0051] ;

[0052] in, The total mass of the vehicle is the sum of its payload capacity and its own weight. It is the acceleration due to gravity. This refers to the real-time road slope obtained through sensors. This refers to the rolling resistance coefficient between the tire and the unpaved road surface in the mining area. This adds resistance due to wind resistance and internal friction during vehicle operation. The rolling radii of the front wheel 23 and the rear wheel 212 are... The formula represents the total gear ratio of the current transmission system in this gear. It includes the component of gravity downwards along the slope and the rolling resistance of the road surface, and is used to accurately calculate the total limit traction force required for the vehicle to go uphill.

[0053] After calculating the total required torque, considering the physical phenomenon that the center of gravity of a heavy-duty mining truck will inevitably shift to the rear axle when going uphill, the overall control controller will set the front axle 22 distribution coefficient based on the dynamic axle load transfer ratio fed back by the sensors. ,in Then, the target output torque of the front drive motor 24 is calculated. And the target output torque of the rear drive motor 28 The total traction load is reasonably distributed to the front axle 22 and the rear axle 211 to ensure maximum power output.

[0054] S4. In four-wheel drive hill climbing mode, when a shift command is detected in the transmission 29, the power output of drive motor 28 is cut off, while the power output of drive motor 1 24 is maintained to bear the traction load of the whole vehicle. The specific working logic of shift power compensation control is as follows: the vehicle controller sends a torque zeroing command to drive motor 28, so that drive motor 28 is unloaded instantly to complete the disengagement operation of the gear inside the transmission 29. During the shift gap from disengagement to re-engagement of the transmission 29, drive motor 1 24 maintains the originally allocated target torque to continue to transmit power to the front wheel 23, and the front axle 22 directly drives to fill the power gap.

[0055] Specifically, when the gearbox 29 needs to perform automatic downshifting or upshifting due to changes in wheel speed and issues a shift command, the vehicle controller sends a torque zeroing command to the rear drive motor 28 within milliseconds. At this time, the drive motor 28 instantly cuts off the power output to produce an unloading effect, causing the meshing gears inside the gearbox 29 to lose the mechanical stress transmitted by the motor, thus smoothly completing the gear disengagement operation. At the same time, during the shift gap between disengaging and re-engaging the gearbox 29, the rear drive transmission link is physically disconnected. At this time, the vehicle controller forcibly maintains the drive motor 24 to continue to output a constant torque according to the calculated target torque. The front motor directly drives the front axle 22, thereby generating traction on the ground through the front wheels 23 to counteract the backward gravity slip component of the vehicle. The front drive system independently undertakes the dynamic balance control of the vehicle during the short gap period, eliminating the risk of the vehicle stopping or rolling backward during the shift.

[0056] S5. After the gear shift is completed, the power output of drive motor 28 is restored, and the four-wheel drive climbing mode is exited after leaving the second preset driving condition road section. The specific logic for restoring the power output of drive motor 28 is as follows: after the gearbox 29 completes the shift, the vehicle controller adopts a torque smooth transition strategy to linearly increase the output torque of drive motor 28 to the target torque after the shift within a preset time window. When the vehicle controller detects that the total torque required for vehicle driving, road slope, or load parameters have fallen back to the standard of the first preset driving condition, the power supply of drive motor 24 is automatically cut off, and the vehicle returns to the single-axle rear-wheel drive mode with only drive motor 28 working.

[0057] Specifically, after the internal mechanical structure of the gearbox 29 has completely completed the gear shifting action, in order to prevent the transmission shaft from breaking or the gears from grinding due to the instantaneous loading of power, the vehicle controller controls the drive motor 28 to adopt a torque smooth transition strategy. That is, within a preset time window, the output command of the drive motor 28 is linearly increased from zero to the new target torque after the gear shift, so as to achieve a flexible recovery of the rear drive force. Subsequently, when the vehicle successfully leaves the high-load road section, the vehicle controller detects that the total torque required for the vehicle to drive, the real-time road slope, and the load parameters have fallen back to the standard range of the first preset driving condition. It then determines that the dual-axle drive demand has ended and automatically cuts off the power supply circuit of the front drive motor 24 to smoothly exit the drive sequence, so that the power flow of the vehicle is restored to the single-axle rear-drive mode with the single drive motor 28 working.

[0058] Working principle:

[0059] When this range-extended four-wheel drive mining vehicle is in normal driving, it mainly operates in rear-wheel drive mode. At this time, the battery pack 213 supplies power to the second drive motor 28. The power output of the second drive motor 28 is regulated by the gearbox 29 and then transmitted to the rear axle 211 through the universal joint 26 and the second drive shaft 210, thereby driving the rear wheels 212. When the vehicle controller detects that the vehicle needs high torque for climbing, the battery pack 213 simultaneously supplies power to the first drive motor 24. The first drive motor 24 transmits power to the front wheels 23 through the front universal joint 26, the first drive shaft 25, and the front axle 22. By distributing power between the front and rear drive systems, sufficient traction is provided for climbing. When the vehicle is heavily loaded and the transmission 29 needs to perform automatic gear shifting, the torque of the rear drive motor 28 is instantly reduced to zero so that the transmission 29 can complete the gear shift. During this gear shift interval, the front drive motor 24 continuously outputs power to maintain uninterrupted power output for the entire vehicle, thereby preventing the vehicle from stalling or rolling backward. When the vehicle passes through a high-load section and does not require a large power output, the front drive motor 24 will automatically disengage and return to a single rear-wheel drive mode.

[0060] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A range-extended four-wheel drive drive structure for mining vehicles, comprising a frame (1), characterized in that, The bottom of the frame (1) is provided with a drive mechanism (2); The drive mechanism (2) includes a front hydropneumatic shock absorber (21) and multiple universal joints (26). The front hydropneumatic shock absorber (21) is fixedly connected to the bottom left side of the frame (1). The bottom of the front hydropneumatic shock absorber (21) is fixedly connected to the front axle (22). The output shaft of the front axle (22) is fixedly connected to the front wheel (23). The inside left side of the frame (1) is fixedly connected to a drive motor (24). The output end of the drive motor (24) is driven by a drive shaft (25) through a universal joint (26). The left end of the drive shaft (25) is driven by the input end of the front axle (22) through a universal joint (26). Next, a rear hydropneumatic shock absorber (27) is fixedly connected to the bottom right side of the frame (1), a second drive motor (28) is fixedly connected to the inside right side of the frame (1), a gearbox (29) is fixedly connected to the output end of the second drive motor (28), a second drive shaft (210) is driven to the output end of the gearbox (29) through a universal joint (26), a rear axle (211) is fixedly connected to the bottom of the rear hydropneumatic shock absorber (27), the second drive shaft (210) is driven to the input end of the rear axle (211) through a universal joint (26), and a rear wheel (212) is fixedly connected to the output end of the rear axle (211).

2. The drive structure for a range-extended four-wheel drive mining vehicle according to claim 1, characterized in that, The drive mechanism (2) also includes multiple battery packs (213), which are fixedly connected to the front and rear sides of the frame (1). The first drive motor (24) and the second drive motor (28) are both electrically connected to the battery packs (213).

3. The drive structure for a range-extended four-wheel drive mining vehicle according to claim 1, characterized in that, The top left side of the frame (1) is fixedly connected to the head (3).

4. A control method for the drive structure of a range-extended four-wheel drive mining vehicle, characterized in that, A range-extended four-wheel drive drive structure for mining vehicles according to any one of claims 1-3 includes the following steps: S1, Status parameter acquisition; S2. When the vehicle meets the first preset driving conditions, the vehicle is driven by the output power of the second drive motor (28). S3. When the vehicle meets the second preset driving conditions, drive motor one (24) and drive motor two (28) jointly output power to drive the vehicle. S4. In the four-wheel drive hill climbing mode, when a shift command is detected in the gearbox (29), the power output of the second drive motor (28) is cut off, and the power output of the first drive motor (24) is maintained to bear the traction load of the whole vehicle. S5. After shifting gears, restore the power output of drive motor 2 (28) and exit the four-wheel drive hill climbing mode after leaving the second preset driving condition road section.

5. The control method for the drive structure of a range-extended four-wheel drive mining vehicle according to claim 4, characterized in that, The real-time operating status parameters collected by the vehicle controller include: real-time vehicle speed, vehicle load capacity, road gradient, and the current gear and shifting requirements of the transmission (29).

6. The control method for the drive structure of a range-extended four-wheel drive mining vehicle according to claim 4, characterized in that, The first preset driving condition is: daily flat road driving condition where the road slope and vehicle load are both lower than the preset threshold. At this time, the battery pack (213) supplies power to the second drive motor (28), and the rotational power is transmitted to the rear axle (211) after being adjusted by the gearbox (29).

7. The control method for the drive structure of a range-extended four-wheel drive mining vehicle according to claim 4, characterized in that, The second preset driving condition is: a heavy-load climbing condition in which the road slope reaches the preset slope threshold and the vehicle load reaches the preset load threshold. At this time, the battery pack (213) supplies power to the first drive motor (24) synchronously. The vehicle controller calculates the total resistance and total traction demand required by the vehicle based on the collected road slope and vehicle load. According to the axle load transfer ratio when the vehicle goes uphill, the calculated total demand torque is dynamically allocated to the first drive motor (24) on the front side and the second drive motor (28) on the rear side.

8. The control method for the drive structure of a range-extended four-wheel drive mining vehicle according to claim 4, characterized in that, The specific working logic of the shift power compensation control is as follows: The vehicle controller sends a torque zeroing command to the second drive motor (28), so that the second drive motor (28) is unloaded instantly to complete the disengagement operation of the gear inside the gearbox (29). During the shift gap from disengagement to re-engagement of the gearbox (29), the first drive motor (24) maintains the original allocated target torque and continues to transmit power to the front wheel (23), relying on the direct drive of the front axle (22) to fill the power gap period.

9. The control method for the drive structure of a range-extended four-wheel drive mining vehicle according to claim 4, characterized in that, The specific logic for restoring the power output of the second drive motor (28) is as follows: after the gearbox (29) completes shifting, the output torque of the second drive motor (28) is linearly increased to the target torque after shifting within a preset time window by adopting a torque smooth transition strategy through the vehicle controller.

10. The control method for the drive structure of a range-extended four-wheel drive mining vehicle according to claim 9, characterized in that, When the vehicle controller detects that the total torque, road gradient or load parameters required for vehicle driving have fallen back to the standard of the first preset driving condition, it automatically cuts off the power supply to drive motor one (24), and the vehicle returns to the single-axle rear-drive mode with only drive motor two (28) working.

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