Main trailer multi-shaft cooperative control system for towing carrying platform

Abstract

The invention relates to the technical field of machinery, in particular to a main trailer multi-axis cooperative control system of a trailer carrying platform. A main trailer multi-axis cooperative control system of a trailer carrying platform is used for regulating and controlling a main trailer, and the main trailer comprises a controller, a front vehicle, a cargo platform and a rear vehicle. The power mechanism of the front vehicle and the power mechanism of the rear vehicle at least have a full-displacement mode and a half-displacement mode; in the boosting first-gear mode, all the driving wheel sets are kept in a half-displacement mode to output power; in the boosting second-gear mode, the controller regulates and controls part of driving wheel sets of the front vehicle to output power in a half-displacement mode, and the rest driving wheel sets of the front vehicle to output power in a full-displacement mode; and in the boosting three-gear mode, all the driving wheel sets are kept in a full-displacement mode to output power. Therefore, more power combinations can be provided according to road conditions so as to solve the problem of insufficient adhesive force of wheel sets in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of mechanical technology, and in particular to a multi-axle collaborative control system of a main trailer towing a loading platform. Background Art

[0002] At present, mature trailer or semi-trailer transport vehicles are based on good roads such as highways. They generally do not have the ability to travel on steep slopes (more than 25% longitudinal slope) and cannot carry heavy equipment in muddy fields. However, existing trailer vehicles generally have low climbing ability and cannot adapt to complex terrain. The specific problems are as follows:

[0003] (1) When towing heavy equipment through a steep slope, the tractor may lack adhesion.

[0004] (2) When the front and rear vehicles are driving and carrying heavy equipment through muddy roads, some wheels may have insufficient adhesion. Summary of the invention

[0005] The objectives of the present invention include, for example, providing a multi-axle coordinated control system for a main trailer towing a loading platform, which can provide more power combinations according to road conditions to improve the problem of insufficient wheel adhesion in the prior art.

[0006] The embodiments of the present invention can be implemented as follows:

[0007] In a first aspect, the present invention provides a multi-axis coordinated control system of a main trailer towing a loading platform, which is used to control the main trailer, wherein the main trailer includes a controller, a front vehicle, a cargo platform, and a rear vehicle; the front vehicle and the rear vehicle are respectively arranged at both ends of the cargo platform in the length direction, and the front vehicle and the rear vehicle are respectively rotatably connected to the cargo platform in the horizontal direction;

[0008] The front vehicle and the rear vehicle each include a plurality of driving wheel sets, each of the driving wheel sets is correspondingly provided with a power mechanism, and the power mechanism has at least a full displacement mode and a half displacement mode;

[0009] The controller is electrically connected to the driving wheel set of the front vehicle and the driving wheel set of the rear vehicle respectively; the main trailer includes at least a boost first gear mode, a boost second gear mode and a boost third gear mode;

[0010] When in the boost first gear mode, the controller regulates the driving wheel set of the front vehicle and the driving wheel set of the rear vehicle to maintain a half-displacement mode to output power;

[0011] When in the boost second gear mode, the controller controls the driving wheel set of the front vehicle and a part of the driving wheel set of the rear vehicle to output power in a half-displacement mode, and the remaining driving wheel sets to output power in a full-displacement mode;

[0012] When in the boost third gear mode, the controller regulates the driving wheel set of the front vehicle and the driving wheel set of the rear vehicle to output power in a full displacement mode.

[0013] In an optional embodiment, when climbing a slope below 15%, the boost third gear mode is selected, and the speed of the main trailer is controlled to be maintained at 2.5km / h to 4km / h;

[0014] When climbing a slope below 15%-30%, the boost second gear mode is selected, and the speed of the main trailer is controlled to be maintained at 1.3km / h-2.5km / h;

[0015] When climbing a slope below 30%-50%, the boost first gear mode is selected, and the speed of the main trailer is controlled to maintain 0.8km / h-1.3km / h.

[0016] In an optional embodiment, the front vehicle and the rear vehicle each include a vehicle frame, a slewing mechanism, a suspension, a single-axis steering mechanism, a power mechanism and a driving wheel set;

[0017] The power mechanism is transmission-connected to the driving wheel set, the driving wheel set is rotatably disposed on the frame via a single-axis steering mechanism, and the suspension is disposed between the driving wheel set and the frame; the frame is rotatably connected to the cargo platform via the slewing mechanism.

[0018] In an optional embodiment, the single-axis steering mechanism is electrically connected to the controller via a single-axis steering proportional valve;

[0019] The power mechanism is electrically connected to the controller via a driving proportional valve;

[0020] The suspension is electrically connected to the controller via a lifting proportional solenoid valve;

[0021] The rotary mechanism is electrically connected to the controller via a forward and reverse electromagnetic valve.

[0022] In an optional embodiment, the main trailer further comprises an angle sensor assembly electrically connected to the controller; the angle sensor assembly comprises an axle steering angle sensor, a cargo platform and main trailer tilt angle sensor, and a tractor head and main trailer tilt angle sensor;

[0023] The axle steering angle sensor is configured to monitor the steering angle of the single-axis steering mechanism;

[0024] The cargo platform and main trailer tilt angle sensors are configured to monitor the tilt angle of the slewing mechanism;

[0025] The inclination angle sensor between the tractor head and the main trailer is configured to monitor the inclination angle between the tractor head and the main trailer.

[0026] In an optional embodiment, the main trailer further includes a height sensor assembly electrically connected to the controller;

[0027] The height sensor assembly includes a left front suspension height sensor, a right front suspension height sensor, a left rear suspension height sensor, and a right rear suspension height sensor which are arranged on the periphery of the frame.

[0028] In an optional embodiment, the main trailer further includes a pressure sensor assembly electrically connected to the controller;

[0029] The pressure sensor assembly includes a suspension pressure sensor, a driving pressure sensor, a steering pressure sensor, a parking pressure sensor and a driving pressure sensor;

[0030] The suspension pressure sensors include a left front suspension pressure sensor, a right front suspension pressure sensor, a left rear suspension pressure sensor, and a right rear suspension pressure sensor which are arranged on the periphery of the vehicle frame.

[0031] In an optional embodiment, the power mechanism includes a drive motor and a variable displacement pump connected to each other, and the variable displacement pump is capable of adjusting the rotation speed of the drive motor; the variable displacement pump has at least the full displacement mode and the half displacement mode;

[0032] The controller is configured to adjust the working displacement of the variable displacement pump according to the pressure of the driving motor.

[0033] In an optional embodiment, the main trailer has a parallel vehicle working mode so that the front vehicle and the rear vehicle work in coordination;

[0034] In the vehicle tandem working mode, the front vehicle is first set as the main vehicle and the rear vehicle is set as the slave vehicle; the controller of the front vehicle is set as the main controller of the whole vehicle, and the running speed control of the main trailer is based on the front vehicle;

[0035] The main controller sends instructions to the controller of the front vehicle and the controller of the rear vehicle, and the two controllers output completely consistent instructions to ensure the synchronous operation of the driving wheel groups of the front vehicle and the rear vehicle so that the driving is coordinated and controllable.

[0036] In an optional embodiment, the main trailer further includes a remote controller connected to the main controller; the remote controller is configured to be able to adjust the movement mode of the main trailer.

[0037] The beneficial effects of the embodiments of the present invention include, for example:

[0038] The multi-axis collaborative control system of the main trailer of the towing loading platform of this scheme has two independently arranged front and rear vehicles in the front and rear sections of the cargo platform of the main trailer, and the front and rear vehicles each include multiple drive wheel groups, and each drive wheel group can independently realize the driving action. The controller can select the boost gear on the control box of the tractor according to the size of the slope, and the drive wheel groups of the front and rear vehicles are switched to the half-displacement state and the full-displacement state according to the gear position, and monitor the working pressure of the power mechanism of the drive wheel group, and implement pressure following control on the displacement of the power mechanism. In this way, the speed matching of each drive wheel group is adjusted according to the tractor and the road environment, the rotation speed of the drive wheel groups of the front and rear vehicles is adjusted, and the displacement of the drive wheel group is changed at the same time to adapt to the speed of the front and rear vehicles, so as to have both the adhesion and running speed of the drive wheel group. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A schematic structural diagram of a main trailer according to an embodiment of the present invention;

[0041] Figure 2 A schematic structural diagram of a front vehicle according to an embodiment of the present invention;

[0042] Figure 3 It is a schematic flow chart of a multi-axle coordinated control system of a main trailer of a towing loading platform according to an embodiment of the present invention;

[0043] Figure 4 It is a schematic diagram of the composition of the angle sensor assembly of the towing loading platform according to an embodiment of the present invention;

[0044] Figure 5 It is a schematic diagram of the composition of the height sensor assembly of the towing loading platform according to an embodiment of the present invention;

[0045] Figure 6 It is a schematic diagram of the composition of the pressure sensor assembly of the towing loading platform according to an embodiment of the present invention.

[0046] Icons: 11-main trailer; 12-front vehicle; 13-cargo platform; 14-rear vehicle; 15-connection platform; 110-frame; 120-slewing mechanism; 130-single-axis steering mechanism; 140-power mechanism; 150-driving wheel set; 210-main controller; 220-remote control; 310-single-axis steering proportional valve; 320-driving proportional valve; 330-lifting proportional solenoid valve; 340-forward and reverse solenoid valve; 410-axle steering angle sensor; 420-cargo platform and main trailer tilt angle sensor; 430-tractor head and main trailer tilt angle sensor; 5 00-height sensor assembly; 510-left front suspension height sensor; 520-right front suspension height sensor; 530-left rear suspension height sensor; 540-right rear suspension height sensor; 600-pressure sensor assembly; 610-suspension pressure sensor; 611-left front suspension pressure sensor; 612-right front suspension pressure sensor; 613-left rear suspension pressure sensor; 614-right rear suspension pressure sensor; 620-driving pressure sensor; 630-steering pressure sensor; 640-parking pressure sensor; 650-driving pressure sensor. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0050] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0051] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0052] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0053] Please refer to Figure 1 The present embodiment provides a multi-axis coordinated control system of a main trailer 11 towing a loading platform, which is used to control the main trailer 11, and the main trailer 11 includes a controller, a front vehicle 12, a cargo platform 13 and a rear vehicle 14; the front vehicle 12 and the rear vehicle 14 are respectively arranged at both ends of the cargo platform 13 in the length direction, and the front vehicle 12 and the rear vehicle 14 are respectively connected to the cargo platform 13 in a horizontal direction and can be rotated;

[0054] The front vehicle 12 and the rear vehicle 14 each include a plurality of driving wheel sets 150, each driving wheel set 150 is correspondingly provided with a power mechanism 140, and the power mechanism 140 has at least a full displacement mode and a half displacement mode;

[0055] The controller is electrically connected to the driving wheel set 150 of the front vehicle 12 and the driving wheel set 150 of the rear vehicle 14 respectively; the main trailer 11 includes at least a boost first gear mode, a boost second gear mode and a boost third gear mode;

[0056] When in the boost first gear mode, the controller controls the driving wheel set 150 of the front vehicle 12 and the driving wheel set 150 of the rear vehicle 14 to maintain the half-displacement mode output power;

[0057] When in the boost second gear mode, the controller controls the driving wheel set 150 of the front vehicle 12 and a part of the driving wheel set 150 of the rear vehicle 14 to maintain the half-displacement mode to output power, and the remaining driving wheel set 150 maintains the full-displacement mode to output power;

[0058] When in the boost third gear mode, the controller regulates the driving wheel set 150 of the front vehicle 12 and the driving wheel set 150 of the rear vehicle 14 to maintain full displacement mode to output power.

[0059] Such a control system is used to start the power mechanism 140 of the front and rear vehicles 14 when the front and rear vehicles 14 are driving themselves to carry heavy equipment through a muddy road, and some wheels have insufficient adhesion. The main trailer 11 can be used for towing, can be split into a single vehicle, and can also be used in conjunction with other vehicles. When working in conjunction, it is mechanically connected to the front and rear vehicles 14 through the cargo platform, and the front vehicle 12 and the rear vehicle 14 are respectively equipped with a power mechanism 140 to drive the corresponding driving wheel group 150.

[0060] from Figure 1 and Figure 2As can be seen in the figure, a connecting platform 15 is provided at the front of the front vehicle 12, and the front vehicle 12 can be horizontally rotatably connected to the tractor through the connecting platform 15. Figure 1 The plurality of driving wheel sets 150 of the front vehicle 12 shown in the figure remain in a tilted rotating state, while the plurality of driving wheel sets 150 of the rear vehicle 14 remain in a non-tilted state.

[0061] See also Figure 3 , it can be seen from the figure that in an optional implementation, when climbing a slope below 15%, the boost third gear mode is selected, and the speed of the main trailer 11 is controlled to be maintained at 2.5km / h to 4km / h;

[0062] When climbing a slope below 15%-30%, the boost second gear mode is selected, and the speed of the main trailer 11 is controlled to maintain 1.3km / h-2.5km / h;

[0063] When climbing a slope below 30%-50%, the boost first gear mode is selected, and the speed of the main trailer 11 is controlled to be maintained at 0.8km / h-1.3km / h. Such an arrangement can better adapt to different slopes and ensure that the main trailer 11 has a preset transportation speed.

[0064] In an optional embodiment, the front vehicle 12 and the rear vehicle 14 both include a frame 110, a slewing mechanism 120, a suspension, a single-axis steering mechanism 130, a power mechanism 140 and a driving wheel group 150; the power mechanism 140 is transmission-connected to the driving wheel group 150, the driving wheel group 150 is rotatably disposed on the frame 110 via the single-axis steering mechanism 130, and the suspension is disposed between the driving wheel group 150 and the frame 110; the frame 110 is rotatably connected to the cargo platform 13 via the slewing mechanism 120.

[0065] It should be noted that, in this embodiment, the driving wheel set 150 of the front vehicle 12 and the driving wheel set 150 of the rear vehicle 14 are both three-axis independent steering wheel sets, and each driving wheel set 150 is configured to be able to achieve driving, steering and lifting actions. That is, the frame 110 includes three sets of driving components arranged along the length direction of the frame 110, and each driving component includes two driving wheel sets 150 located in the same straight line direction; and the two driving wheel sets 150 of each driving component are symmetrically arranged on both sides of the width of the frame 110. Specifically, the three driving components of the front vehicle 12 / rear vehicle 14 are named 1-axis driving component, 2-axis driving component, and 3-axis driving component respectively.

[0066] Further, in an optional embodiment, the single-axis steering mechanism 130 is electrically connected to the controller through a single-axis steering proportional valve 310; the power mechanism 140 is electrically connected to the controller through a driving proportional valve 320; the suspension is electrically connected to the controller through a lifting proportional solenoid valve 330; and the slewing mechanism 120 is electrically connected to the controller through a forward and reverse solenoid valve 340.

[0067] Optionally, the driving proportional valve 320 includes a 1-axis driving proportional valve 320, a 2-axis driving proportional valve 320, and a 3-axis driving proportional valve 320 which are respectively connected to a 1-axis driving component, a 2-axis driving component, and a 3-axis driving component. The above three driving proportional valves 320 can be collectively referred to as a 1-axis / 2-axis / 3-axis driving proportional valve 320.

[0068] Optionally, the steering proportional valve includes a 1-axis steering proportional valve, a 2-axis steering proportional valve, and a 3-axis steering proportional valve respectively connected to a 1-axis steering assembly, a 2-axis steering assembly, and a 3-axis steering assembly. The above three steering proportional valves can be collectively referred to as a 1-axis / 2-axis / 3-axis steering proportional valve.

[0069] The lifting proportional solenoid valve 330 includes a left front suspension lifting proportional solenoid valve 330, a right front suspension lifting proportional solenoid valve 330, a left rear suspension lifting proportional solenoid valve 330, and a right rear suspension lifting proportional solenoid valve 330 arranged on the periphery of the vehicle frame 110. The left front suspension lifting proportional solenoid valve 330, the right front suspension lifting proportional solenoid valve 330, the left rear suspension lifting proportional solenoid valve 330, and the right rear suspension lifting proportional solenoid valve 330 may be collectively referred to as a left front / right front / left rear / right rear suspension lifting proportional solenoid valve 330.

[0070] The main trailer 11 also includes solenoid valves for loading cylinders such as sliding and swinging.

[0071] like Figure 4 As shown, in an optional embodiment, the main trailer 11 further includes an angle sensor assembly electrically connected to the controller; the angle sensor assembly includes an axle steering angle sensor 410, a cargo platform and main trailer tilt angle sensor 420, and a tractor head and main trailer tilt angle sensor 430; the axle steering angle sensor 410 is configured to monitor the steering angle of the single-axis steering mechanism 130; the cargo platform and main trailer tilt angle sensor 420 is configured to monitor the tilt angle of the slewing mechanism 120; the tractor head and main trailer tilt angle sensor 430 is configured to monitor the tilt angle between the tractor head and the main trailer 11. The angle sensor assembly enables the controller to monitor and adjust the operating angle of the main trailer 11 in a timely manner.

[0072] The axle steering angle sensor 410 includes a 1-axis steering angle sensor 410 connected to a 1-axis driving assembly, a 2-axis steering angle sensor 410 connected to a 2-axis driving assembly, and a 3-axis steering angle sensor 410 connected to a 3-axis driving assembly.

[0073] like Figure 5As shown, in an optional embodiment, the main trailer 11 further includes a height sensor assembly 500 electrically connected to the controller; the height sensor assembly 500 includes a left front suspension height sensor 510, a right front suspension height sensor 520, a left rear suspension height sensor 530, and a right rear suspension height sensor 540 arranged on the periphery of the frame 110. The height sensor assembly 500 enables the controller to monitor and adjust the operating height of the main trailer 11 in a timely manner.

[0074] like Figure 6 As shown, in an optional embodiment, the main trailer 11 further includes a pressure sensor assembly 600 electrically connected to the controller; the pressure sensor assembly 600 includes a suspension pressure sensor 610, a driving pressure sensor 620, a steering pressure sensor 630, a parking pressure sensor 640, and a driving pressure sensor 650; the suspension pressure sensor 610 includes a left front suspension pressure sensor 611, a right front suspension pressure sensor 612, a left rear suspension pressure sensor 613, and a right rear suspension pressure sensor 614 arranged on the periphery of the frame 110. The pressure sensor assembly 600 enables the controller to monitor and adjust the operating pressure of the main trailer 11 in a timely manner, thereby ensuring the smooth operation of the main trailer 11, and at the same time, can implement pressure following control of the displacement of the variable pump.

[0075] In an optional embodiment, the power mechanism 140 includes a drive motor and a variable pump connected to each other, the variable pump is capable of adjusting the speed of the drive motor; the variable pump has at least a full displacement mode and a half displacement mode; the controller is configured to adjust the working displacement of the variable pump according to the pressure of the drive motor.

[0076] In an optional embodiment, the main trailer 11 further includes a remote controller 220 connected to the main controller 210 ; the remote controller 220 is configured to be able to adjust the motion mode of the main trailer 11 .

[0077] In an optional embodiment, the main trailer 11 has a parallel working mode so that the front vehicle 12 and the rear vehicle 14 can work in coordination; in the parallel working mode, the front vehicle 12 is first set as the main vehicle and the rear vehicle 14 is set as the slave vehicle; the controller of the front vehicle 12 is set as the main controller 210 of the whole vehicle, and the running speed control of the main trailer 11 is mainly based on the front vehicle 12; the main controller 210 sends instructions to the controller of the front vehicle 12 and the controller of the rear vehicle 14, and the two controllers output completely consistent instructions to ensure the synchronous operation of the driving wheel groups 150 of the front vehicle 12 and the rear vehicle 14 so that the driving is coordinated and controllable.

[0078] Specifically, when the vehicles are working in parallel, first set the front vehicle 12 as the master vehicle and the rear vehicle 14 as the slave vehicle, complete the parallel setting through the switch on the power unit, set the main controller 210 of the front vehicle 12 as the master controller 210 of the whole vehicle, and the operating speed control is mainly based on the front vehicle 12. According to the relevant instructions of the remote control 220, the main controller 210 calculates and sends instructions to the controller of the front vehicle 12 and the controller of the rear platform. The two controllers output completely consistent steering, driving, braking and other instructions to each actuator valve to perform the corresponding functions. By real-time monitoring of the speed of each wheel group and the driving motor pressure, the driving motors of the front and rear vehicles 14 can be guaranteed to work synchronously and the driving force is similar, so that the driving is coordinated and controllable.

[0079] In summary, the embodiment of the present invention provides a multi-axle coordinated control system for a main trailer 11 towing a loading platform, which has the following advantages:

[0080] (1) When towing heavy equipment through a road with a large slope, start the power stations of the front and rear vehicles 14 and implement pressure following control on the displacement of the variable pump;

[0081] (2) When the front and rear vehicles 14 are self-driving and carrying heavy equipment through a muddy road, the power stations of the front and rear vehicles 14 are started, and coordinated driving is achieved through master-slave control of the front and rear vehicles 14 and real-time monitoring of the rotation speed of each wheel group and the driving motor pressure.

[0082] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A multi-axle coordinated control system for a main trailer towing a loading platform, used to control the main trailer, characterized by: The main trailer includes a controller, a front vehicle, a cargo platform and a rear vehicle; the front vehicle and the rear vehicle are respectively arranged at both ends of the cargo platform in the length direction, and the front vehicle and the rear vehicle are respectively rotatably connected to the cargo platform in the horizontal direction; The front vehicle and the rear vehicle each include a plurality of driving wheel sets, each of the driving wheel sets is correspondingly provided with a power mechanism, and the power mechanism has at least a full displacement mode and a half displacement mode; The controller is electrically connected to the driving wheel set of the front vehicle and the driving wheel set of the rear vehicle respectively; The main trailer at least includes a boost first gear mode, a boost second gear mode and a boost third gear mode; When in the boost first gear mode, the controller regulates the driving wheel set of the front vehicle and the driving wheel set of the rear vehicle to maintain a half-displacement mode to output power; When in the boost second gear mode, the controller controls the driving wheel set of the front vehicle and a part of the driving wheel set of the rear vehicle to output power in a half-displacement mode, and the remaining driving wheel sets to output power in a full-displacement mode; When in the boost third gear mode, the controller regulates the driving wheel set of the front vehicle and the driving wheel set of the rear vehicle to output power in a full displacement mode.

2. The multi-axle coordinated control system of a main trailer for towing a loading platform according to claim 1, characterized in that: When climbing a slope with a slope of less than 15%, the boost third gear mode is selected, and the speed of the main trailer is controlled to be maintained at 2.5km / h to 4km / h; When climbing a slope below 15%-30%, the boost second gear mode is selected, and the speed of the main trailer is controlled to be maintained at 1.3km / h-2.5km / h; When climbing a slope below 30%-50%, the boost first gear mode is selected, and the speed of the main trailer is controlled to maintain 0.8km / h-1.3km / h.

3. The multi-axle coordinated control system of a main trailer for towing a loading platform according to claim 1, characterized in that: The front vehicle and the rear vehicle each include a vehicle frame, a slewing mechanism, a suspension, a single-axis steering mechanism, a power mechanism and a driving wheel set; The power mechanism is transmission-connected to the driving wheel set, the driving wheel set is rotatably disposed on the frame via a single-axis steering mechanism, and the suspension is disposed between the driving wheel set and the frame; the frame is rotatably connected to the cargo platform via the slewing mechanism.

4. The multi-axle coordinated control system of a main trailer for towing a loading platform according to claim 3, characterized in that: The single-axis steering mechanism is electrically connected to the controller via a single-axis steering proportional valve; The power mechanism is electrically connected to the controller via a driving proportional valve; The suspension is electrically connected to the controller via a lifting proportional solenoid valve; The rotary mechanism is electrically connected to the controller via a forward and reverse electromagnetic valve.

5. The multi-axle coordinated control system of a main trailer for towing a loading platform according to claim 3, characterized in that: The main trailer also includes an angle sensor assembly electrically connected to the controller; the angle sensor assembly includes an axle steering angle sensor, a cargo platform and main trailer tilt angle sensor, and a tractor head and main trailer tilt angle sensor; The axle steering angle sensor is configured to monitor the steering angle of the single-axis steering mechanism; The cargo platform and main trailer tilt angle sensors are configured to monitor the tilt angle of the slewing mechanism; The inclination angle sensor between the tractor head and the main trailer is configured to monitor the inclination angle between the tractor head and the main trailer.

6. The multi-axle coordinated control system of a main trailer for towing a loading platform according to claim 3, characterized in that: The main trailer also includes a height sensor assembly electrically connected to the controller; The height sensor assembly includes a left front suspension height sensor, a right front suspension height sensor, a left rear suspension height sensor, and a right rear suspension height sensor which are arranged on the periphery of the frame.

7. The multi-axle coordinated control system of a main trailer for towing a loading platform according to claim 3, characterized in that: The main trailer also includes a pressure sensor assembly electrically connected to the controller; The pressure sensor assembly includes a suspension pressure sensor, a driving pressure sensor, a steering pressure sensor, a parking pressure sensor and a driving pressure sensor; The suspension pressure sensors include a left front suspension pressure sensor, a right front suspension pressure sensor, a left rear suspension pressure sensor, and a right rear suspension pressure sensor which are arranged on the periphery of the vehicle frame.

8. The multi-axle coordinated control system of a main trailer for towing a loading platform according to claim 1, characterized in that: The power mechanism comprises a drive motor and a variable displacement pump connected to each other, wherein the variable displacement pump is capable of adjusting the rotation speed of the drive motor; the variable displacement pump has at least the full displacement mode and the half displacement mode; The controller is configured to adjust the working displacement of the variable displacement pump according to the pressure of the driving motor.

9. The multi-axle coordinated control system of a main trailer for towing a loading platform according to claim 1, characterized in that: The main trailer has a parallel working mode so that the front vehicle and the rear vehicle work in coordination; In the vehicle merging working mode, firstly, the front vehicle is set as the master vehicle and the rear vehicle is set as the slave vehicle; The controller of the front vehicle is set as the main controller of the whole vehicle, and the running speed control of the main trailer is mainly based on the front vehicle; The main controller sends instructions to the controller of the front vehicle and the controller of the rear vehicle, and the two controllers output completely consistent instructions to ensure the synchronous operation of the driving wheel groups of the front vehicle and the rear vehicle so that the driving is coordinated and controllable.

10. The multi-axle coordinated control system of a main trailer for towing a loading platform according to claim 9, characterized in that: The main trailer also includes a remote controller connected to the main controller; the remote controller is configured to be able to adjust the movement mode of the main trailer.

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