In order to analyze the inherent features of the planet gear driving device in the gearbox of the heavy scraper conveyor,a horizontal shift-turned round coupling dynamics model of the driving device was established.The model had considered the bearing rigidity of the central structure parts,the instant gearing rigidity of the gear,the comprehensive gearing error of gear and other influence factors.The Lagrange equation was applied to infer the motion differential equation of the system in order to resolve t...