Intelligent heavy load trailer shifter and shifting method thereof

Abstract

This invention relates to the fields of marine engineering and heavy-duty transportation technology, specifically providing an intelligent heavy-duty trailer shifting machine and its shifting method. The shifting machine includes a chassis assembly, four sets of heavy-duty differential wheel systems, a hydraulic suspension, a main lifting system, an auxiliary lifting system, a hydraulic system, an electrical system, an umbilical cable system, a laser ranging system, a local control system, and a radar obstacle avoidance system. The heavy-duty differential wheel systems are driven by independent high-voltage servo motors, supporting five modes: straight driving, lateral driving, crab driving, all-wheel steering, and stationary steering. The hydraulic suspension enables chassis lifting and ±5° swing leveling. The main and auxiliary lifting systems work together to safely lift heavy loads. The high-voltage servo drive is connected to external ship power via the umbilical cable system, avoiding the risk of battery explosion. This invention allows for flexible movement within extremely confined spaces such as ship cabins, safely lifting and precisely shifting 100-ton heavy-duty trailers, solving the problems of traditional tractors being unable to enter, insufficient operating space, and poor safety.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering and heavy-duty transportation technology, specifically relating to an intelligent shifting machine and its shifting method for precisely shifting heavy-duty trailers in confined spaces. Background Technology

[0002] Heavy-duty trailers (carrying 30-100 tons) are characterized by their large weight, uneven load distribution, and long dimensions with a high center of gravity. They are generally over 12 meters long and over 4 meters high. Moving heavy-duty trailers primarily relies on manually driven tractors. The combined length of the tractor and trailer is generally over 17.5 meters. In outdoor conditions such as ships and ports, where the driver has ample operating space, heavy-duty trailers can barely complete moving operations. However, during the transfer of heavy-duty trailers within the confined space of a ship's hold, the following key challenges exist: 1. During the transfer of heavy-duty trailers inside the ship's hold, the dense relocation operations mean that, apart from the initial limited large space where some towing and relocation operations can be carried out, there is basically no space for towing operations in the subsequent small spaces, resulting in a large amount of wasted space during transportation. 2. Existing tractor-driven relocation equipment has a low degree of automation, relies on manual driving and traction, has a large turning radius, is labor-intensive, and cannot monitor load status and equipment condition in real time, resulting in poor operational safety and efficiency. 3. Marine conditions include wet salt spray, complex environment, wind and waves, hull rolling, limited space, and the risk of fire and explosion of low-voltage battery packs in vehicles. These special conditions place high demands on the corrosion resistance, impact resistance, compactness, and safety design of equipment. General industrial relocation equipment is difficult to adapt to, which affects relocation efficiency. 4. Heavy-duty semi-trailers are long, have large loads, and high centers of gravity. Traditional mechanical equipment cannot achieve precise and safe displacement, and misalignment of the center of gravity can easily lead to safety accidents such as rollovers.

[0003] Currently, intelligent heavy-duty trailer relocation in the marine field mainly relies on traditional drivers operating tractors in conjunction with parking lines, which suffers from low efficiency, high cost, and insufficient operational flexibility. There is an urgent need for an intelligent heavy-duty trailer relocation solution that is compact in size, highly precise, highly intelligent, highly safe, and highly flexible, and adapted to marine working conditions. Summary of the Invention

[0004] The present invention aims to provide an intelligent shifting machine and its shifting method that can flexibly move, safely lift and accurately shift 100-ton heavy-duty trailers in confined spaces (such as ship cabins), in order to solve the problems of existing tractor vehicles being unable to enter, insufficient operating space and poor safety.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent heavy-duty trailer shifting machine, comprising: The chassis assembly has an internal mounting point for the electrical system, a mounting point for the hydraulic system, and an internal mounting point for the umbilical cable system. Four sets of heavy-duty differential gear trains are distributed at the four corners below the chassis assembly. Each set of heavy-duty differential gear trains includes a gear train mounting bracket and a steering wheel one and a steering wheel two mounted on the gear train mounting bracket. The steering wheel one is driven by a steering wheel one drive system, and the steering wheel two is driven by a steering wheel two drive system. Both the steering wheel one drive system and the steering wheel two drive system are high-voltage servo motor drive systems. Steering is achieved by controlling the speed difference between the steering wheel one and the steering wheel two. A hydraulic suspension is connected between the chassis assembly and each set of heavy-duty differential wheel systems. The hydraulic suspension includes a suspension hydraulic lifting mechanism. The upper end of the suspension hydraulic lifting mechanism is fixedly connected to the chassis assembly through a connecting flange on the suspension hydraulic lifting cylinder. The outer shell of the suspension hydraulic lifting mechanism is hinged to the wheel system mounting bracket through a support shaft of the suspension hydraulic lifting cylinder outer shell. When the suspension hydraulic lifting mechanism extends or retracts, it drives the chassis assembly to rise or fall, and the chassis assembly can swing relative to the heavy-duty differential wheel system around the support shaft of the suspension hydraulic lifting cylinder outer shell. The main lifting system, installed on the chassis assembly, is used to lift the main beam of the heavy-duty trailer upwards; An auxiliary lifting system is installed on the chassis assembly and distributed on the side of the main lifting system. The auxiliary lifting system includes an auxiliary bar hydraulic lifting system, which is used to provide auxiliary support and guide locking during the lifting process. A hydraulic system is installed at the hydraulic system mounting location and is connected to the hydraulic suspension, the main lifting system, and the auxiliary lifting system respectively, providing hydraulic power; An electrical system, installed in the built-in mounting location of the electrical system, includes a control system and a high-voltage servo drive system; An umbilical cable system, installed in the built-in mounting location of the umbilical cable system, includes an automatic cable reel for connecting to an external power source to power the high-voltage servo drive system; The laser ranging system includes a front left laser ranging system installed on the front left side of the chassis assembly, a front right laser ranging sensor installed on the front right side, a rear left laser ranging sensor installed on the rear left side, and a rear right laser ranging system installed on the rear right side. A local control system, mounted on the chassis assembly, is used to enable local operation and human-machine interaction; A radar obstacle avoidance system, installed on the chassis assembly, is used to detect surrounding obstacles; Operating indicator lights and lighting systems are mounted on the chassis assembly.

[0006] Preferably, each set of heavy-duty differential gear trains is also equipped with a steering angle sensor. The steering angle sensor is used to detect the steering angle of steering wheel one and steering wheel two and feed it back to the control system. The control system calculates the target steering angle according to the preset steering mode, and controls the steering wheel one drive system and steering wheel two drive system to make corrections by comparing the deviation between the actual steering angle and the target steering angle. When the deviation between the actual steering angle and the target steering angle exceeds 1°, an alarm signal is issued. When the deviation exceeds 5°, the steering function of the corresponding heavy-duty differential gear train is locked.

[0007] Preferably, the control system includes a PLC controller, and the hydraulic suspension is also equipped with a lifting height sensor. The lifting height sensor is used to detect the extension and retraction stroke of the suspension hydraulic lifting mechanism and feed it back to the PLC controller. The PLC controller realizes the overall lifting and lowering of the chassis assembly and the attitude leveling around the length and width directions by controlling the independent extension and retraction of each hydraulic suspension. The swing angle range of the chassis assembly relative to the heavy-duty differential wheel system is ±5°.

[0008] Preferably, the control system controls the four sets of heavy-duty differential wheel systems to work together, so that the intelligent heavy-duty trailer shifter has five steering modes: straight, sideways, crab, all-wheel steering, and stationary steering.

[0009] Preferably, both the main lifting system and the auxiliary lifting system are driven by hydraulic cylinders, and pressure limiting valves and explosion-proof valves are installed in their hydraulic circuits to limit the maximum pressure in the circuit and lock the cylinders in case of pipeline rupture.

[0010] Preferably, the auxiliary bar hydraulic lifting system is equipped with a guide and positioning device, which is used to cooperate with the auxiliary beam preset on the heavy-duty trailer beam to achieve mechanical guidance and locking during lifting, so as to prevent the heavy-duty trailer from sliding sideways or overturning during the relocation process.

[0011] Preferably, the chassis assembly is further provided with a cable chain box, which is used to house and protect the hydraulic lines and cables connected to the heavy-duty differential gear system, and bends accordingly when the heavy-duty differential gear system turns.

[0012] Preferably, the cable winding and unwinding speed of the automatic cable reel of the umbilical cable system is linked to the traveling speed of the intelligent heavy-duty trailer shifter, and is uniformly controlled by the control system.

[0013] Preferably, the front left laser ranging system, the front right laser ranging sensor, the rear left laser ranging sensor, and the rear right laser ranging system all emit laser signals toward the heavy-duty trailer to obtain distance and angle information of the chassis assembly relative to the heavy-duty trailer, and transmit them to the control system to guide precise positioning.

[0014] The present invention also provides a method for moving heavy-duty trailers based on the above-mentioned intelligent heavy-duty trailer shifting machine, comprising the following steps: S1: The intelligent heavy-duty trailer shifter, guided by the front left laser ranging system, the front right laser ranging sensor, the rear left laser ranging sensor, and the rear right laser ranging system, drives into the bottom of the heavy-duty trailer and adjusts it to the predetermined lifting position. S2: The control system activates the hydraulic suspension, which retracts through the hydraulic lifting mechanism of the suspension to lower the chassis assembly to its lowest height to avoid the heavy-duty trailer's beam; S3: The control system controls the main lifting system and the auxiliary lifting system to lift synchronously. The guide and positioning device of the auxiliary hydraulic lifting system cooperates with the auxiliary beam of the heavy-duty trailer to achieve safe locking and smoothly lift the heavy-duty trailer off the ground. S4: The control system selects a straight, lateral, crab, all-wheel steering, or stationary steering mode according to the preset path, and controls the four sets of heavy-duty differential wheel systems to work together to move the heavy-duty trailer to the target position. S5: After reaching the target position, the control system controls the main lifting system and the auxiliary lifting system to descend synchronously, so that the heavy-duty trailer can land safely. S6: The control system activates the hydraulic suspension, which extends through the hydraulic lifting mechanism of the suspension to raise the chassis assembly, allowing the intelligent heavy-duty trailer shifter to exit the bottom of the heavy-duty trailer.

[0015] Compared with the prior art, the beneficial effects of the present invention are: First, the invention adopts an ultra-low chassis and multi-mode omnidirectional walking technology. The four sets of heavy-duty differential wheel systems can realize five steering modes: straight, sideways, crab, all-wheel steering and stationary steering. It can flexibly shuttle under the trailer and in narrow queues, solving the problem of traditional tractor vehicles having a large turning radius and being unable to enter narrow spaces, and realizing zero-space waste relocation.

[0016] Secondly, the present invention adopts a dual lifting system (chassis lifting + main and auxiliary lifting). The chassis lifting mechanism can lower the overall vehicle height to avoid the trailer beam. The main lifting system undertakes the lifting of heavy loads, while the auxiliary lifting system provides auxiliary support and safety guidance. The combination of main and auxiliary systems takes into account both the low platform passability and the lifting requirements of large stroke heavy loads, effectively preventing safety accidents caused by the instability of the center of gravity of heavy-duty trailers.

[0017] Third, the present invention adopts a high-voltage servo drive + cable power supply scheme, which connects to external ship power or shore power through an umbilical cable system, eliminating the possibility of spontaneous combustion of battery packs and internal combustion engines, thus eliminating the risk of fire and explosion, and is suitable for use in enclosed environments such as ship cabins.

[0018] Fourth, this invention integrates a multi-sensor fusion perception and intelligent control system, achieving precise positioning through a laser ranging system, closed-loop feedback control through an angle sensor and a lifting height sensor, and automatic chassis leveling (±5° swing adaptation) through a tilt sensor in conjunction with a hydraulic suspension, thus realizing high-precision and high-safety relocation operations for heavy-duty trailers. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the intelligent heavy-duty trailer shifting machine of the present invention; Figure 2 A partial enlarged view of the main lifting system in this invention; Figure 3 A partial enlarged view of the auxiliary lifting system in this invention; Figure 4 This is a schematic diagram of the hydraulic suspension in this invention; Figure 5 This is a schematic diagram of the umbilical cable system in this invention; Figure 6 This is a schematic diagram of the dual differential gear train in this invention; Figure 7 This is a schematic diagram of the hydraulic power module system in this invention; Figure 8 This is a schematic diagram of the emergency hydraulic power module system in this invention.

[0020] In the diagram: 1. Chassis assembly; 2. Heavy-duty differential wheel system; 3. Electrical system built-in mounting point; 4. Local control system; 5. Hydraulic suspension; 6. Rear left laser rangefinder sensor; 7. Hydraulic system mounting point; 8. Main lifting system; 9. Rear right laser rangefinder system; 10. Auxiliary lifting system; 11. Front right laser rangefinder sensor; 12. Operation indicator light; 13. Lighting system; 14. Radar obstacle avoidance system; 15. Front left laser rangefinder system; 16. Umbilical cable system built-in mounting point; 17. Auxiliary bar hydraulic lifting system; 18. Steering wheel one; 19. Steering wheel two; 20. Steering wheel one drive system; 21. Steering angle sensor; 22. Lifting height sensor; 23. Steering wheel two drive system; 24. Cable box; 25. Suspension hydraulic lifting mechanism; 26. Wheel system mounting bracket; 27. Upper connecting flange of suspension hydraulic lifting cylinder; 28. Suspension hydraulic lifting cylinder housing support shaft. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Example

[0022] The following reference Figures 1-8 This application describes an intelligent heavy-duty trailer shifting machine provided in one embodiment.

[0023] like Figure 1 As shown, the chassis assembly 1 has an internal mounting point 3 for the electrical system, a mounting point 7 for the hydraulic system, and an internal mounting point 16 for the umbilical cable system. Four sets of heavy-duty differential wheel systems 2 are distributed at the four corners below the chassis assembly 1. The chassis assembly 1 also has a local control system 4, a running indicator light 12, a lighting system 13, and a radar obstacle avoidance system 14.

[0024] like Figure 6 As shown, each heavy-duty differential gear train 2 includes a gear train mounting bracket 26, and a first steering wheel 18 and a second steering wheel 19 mounted on the gear train mounting bracket 26. The first steering wheel 18 is driven by a first steering wheel drive system 20, and the second steering wheel 19 is driven by a second steering wheel drive system 23. Both the first steering wheel drive system 20 and the second steering wheel drive system 23 are high-voltage servo motor drive systems. Steering is achieved by controlling the speed difference between the first steering wheel 18 and the second steering wheel 19. The control system controls the coordinated action of the four heavy-duty differential gear trains 2, enabling the shifting machine to have five steering modes: straight, lateral, crab, all-wheel steering, and stationary steering.

[0025] Each heavy-duty differential gear train 2 is also equipped with a steering angle sensor 21 to detect the steering angles of steering wheel one 18 and steering wheel two 19 and feed it back to the control system. The control system calculates the target steering angle according to the preset steering mode and controls the steering wheel one drive system 20 and steering wheel two drive system 23 to make corrections by comparing the deviation between the actual steering angle and the target steering angle. When the deviation between the actual steering angle and the target steering angle exceeds 1°, an alarm signal is issued; when the deviation exceeds 5°, the steering function of the corresponding heavy-duty differential gear train 2 is locked.

[0026] like Figure 4 and Figure 6 As shown, the hydraulic suspension 5 connects the chassis assembly 1 to each heavy-duty differential wheel system 2. The hydraulic suspension 5 includes a hydraulic lifting mechanism 25. The upper end of the hydraulic lifting mechanism 25 is fixedly connected to the chassis assembly 1 via a connecting flange 27 on the hydraulic lifting cylinder. The housing of the hydraulic lifting mechanism 25 is hinged to the wheel system mounting bracket 26 via a housing support shaft 28. When the hydraulic lifting mechanism 25 extends or retracts, it drives the chassis assembly 1 to rise or fall. The chassis assembly 1 can also swing relative to the heavy-duty differential wheel system 2 around the housing support shaft 28, with a swing angle range of ±5°.

[0027] The hydraulic suspension 5 is also equipped with a lift height sensor 22, which is used to detect the extension and retraction stroke of the suspension hydraulic lifting mechanism 25 and feed it back to the PLC controller. The PLC controller controls the independent extension and retraction of each hydraulic suspension 5 to realize the overall lifting and lowering of the chassis assembly 1 as well as the attitude leveling in the length and width directions.

[0028] like Figure 2 and Figure 3 As shown, the main lifting system 8 is mounted on the chassis assembly 1 and is used to lift the main beam of the heavy-duty trailer. The auxiliary lifting system 10 is mounted on the chassis assembly 1 and distributed beside the main lifting system 8. The auxiliary lifting system 10 includes an auxiliary boom hydraulic lifting system 17, which provides auxiliary support and guide locking during the lifting process. The auxiliary boom hydraulic lifting system 17 is equipped with a guide positioning device, which cooperates with the pre-set auxiliary beam on the main beam of the heavy-duty trailer to achieve mechanical guidance and locking during lifting, preventing the heavy-duty trailer from lateral slippage or overturning during the relocation process. Both the main lifting system 8 and the auxiliary lifting system 10 are driven by hydraulic cylinders. Their hydraulic circuits are equipped with pressure limiting valves and explosion-proof valves to limit the maximum pressure in the circuit and lock the cylinders in case of pipeline rupture.

[0029] like Figure 7 and Figure 8 As shown, the hydraulic system is installed at hydraulic system mounting point 7, and is connected to the hydraulic suspension 5, main lifting system 8, and auxiliary lifting system 10 respectively, providing hydraulic power. The electrical system is installed at electrical system built-in mounting point 3, including the control system and high-voltage servo drive system. The umbilical cable system is installed at umbilical cable system built-in mounting point 16, including an automatic cable reel, used to connect to an external power source (440V / 60Hz marine power or 380V / 50Hz shore power) to power the high-voltage servo drive system. The cable reel's winding and unwinding speed is linked to the moving machine's travel speed and is uniformly controlled by the control system.

[0030] like Figure 1 As shown, the laser ranging system includes a front left laser ranging system 15 installed at the front left position of the chassis assembly 1, a front right laser ranging sensor 11 installed at the front right position, a rear left laser ranging sensor 6 installed at the rear left position, and a rear right laser ranging system 9 installed at the rear right position. All of them emit laser signals towards the direction of the heavy-duty trailer to obtain distance and angle information of the chassis assembly 1 relative to the heavy-duty trailer and transmit it to the control system to guide precise positioning.

[0031] The chassis assembly 1 is also equipped with a drag chain box 24, which is used to house and protect the hydraulic lines and cables connected to the heavy-duty differential wheel system 2, and bends accordingly when the heavy-duty differential wheel system 2 turns.

[0032] The local control system 4 is mounted on the chassis assembly 1 and is used for local operation and human-machine interaction. The radar obstacle avoidance system 14 is mounted on the chassis assembly 1 and is used to detect surrounding obstacles. The operation indicator light 12 and the lighting system 13 are mounted on the chassis assembly 1.

[0033] Based on the above-mentioned intelligent heavy-duty trailer shifting machine, the present invention also provides a method for shifting heavy-duty trailers, comprising the following steps: S1: The intelligent heavy-duty trailer shifter, guided by the front left laser ranging system 15, the front right laser ranging sensor 11, the rear left laser ranging sensor 6 and the rear right laser ranging system 9, drives into the bottom of the heavy-duty trailer and adjusts it to the predetermined lifting position. S2: The control system activates the hydraulic suspension 5, which retracts the suspension hydraulic lifting mechanism 25 to lower the chassis assembly 1 to its lowest height to avoid the heavy-duty trailer beam; S3: The control system controls the main lifting system 8 and the auxiliary lifting system 10 to lift synchronously. The guide and positioning device of the auxiliary bar hydraulic lifting system 17 cooperates with the auxiliary beam of the heavy-duty trailer to achieve safe locking, and smoothly lifts the heavy-duty trailer off the ground. S4: The control system selects a straight, lateral, crab, all-wheel steering or stationary steering mode according to the preset path, and controls the four sets of heavy-duty differential wheel systems 2 to work together to move the heavy-duty trailer to the target position. S5: After reaching the target position, the control system controls the main lifting system 8 and the auxiliary lifting system 10 to descend synchronously, so that the heavy-duty trailer can land safely. S6: The control system activates the hydraulic suspension 5, which extends through the suspension hydraulic lifting mechanism 25 to lift the chassis assembly 1, allowing the intelligent heavy-duty trailer shifter to exit the bottom of the heavy-duty trailer.

[0034] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0035] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. An intelligent heavy-duty trailer shifting machine, characterized in that: include: The chassis assembly (1) is provided with an electrical system built-in mounting point (3), a hydraulic system mounting point (7) and an umbilical cable system built-in mounting point (16). Four sets of heavy-duty differential gear trains (2) are distributed at the four corners below the chassis assembly (1). Each set of heavy-duty differential gear trains (2) includes a gear train mounting bracket (26) and a steering wheel one (18) and a steering wheel two (19) mounted on the gear train mounting bracket (26). The steering wheel one (18) is driven by the steering wheel one drive system (20), and the steering wheel two (19) is driven by the steering wheel two drive system (23). The steering wheel one drive system (20) and the steering wheel two drive system (23) are both high-voltage servo motor drive systems. Steering is achieved by controlling the speed difference between the steering wheel one (18) and the steering wheel two (19). A hydraulic suspension (5) is connected between the chassis assembly (1) and each set of heavy-duty differential wheel systems (2). The hydraulic suspension (5) includes a suspension hydraulic lifting mechanism (25). The upper end of the suspension hydraulic lifting mechanism (25) is fixedly connected to the chassis assembly (1) through the upper connecting flange (27) of the suspension hydraulic lifting cylinder. The outer shell of the suspension hydraulic lifting mechanism (25) is hinged to the wheel system mounting bracket (26) through the outer shell support shaft (28) of the suspension hydraulic lifting cylinder. When the suspension hydraulic lifting mechanism (25) extends and retracts, it drives the chassis assembly (1) to rise and fall. The chassis assembly (1) can swing relative to the heavy-duty differential wheel system (2) around the outer shell support shaft (28) of the suspension hydraulic lifting cylinder. The main lifting system (8) is installed on the chassis assembly (1) and is used to lift the main beam of the heavy-duty trailer upward; An auxiliary lifting system (10) is installed on the chassis assembly (1) and distributed on the side of the main lifting system (8). The auxiliary lifting system (10) includes an auxiliary bar hydraulic lifting system (17) for providing auxiliary support and guide locking during the lifting process. A hydraulic system is installed at the hydraulic system installation location (7) and is connected to the hydraulic suspension (5), the main lifting system (8), and the auxiliary lifting system (10) respectively to provide hydraulic power; An electrical system, installed in the built-in mounting location (3) of the electrical system, includes a control system and a high-voltage servo drive system; An umbilical cable system, installed in the built-in mounting location (16) of the umbilical cable system, includes an automatic cable reel for connecting to an external power source to power the high-voltage servo drive system; The laser ranging system includes a front left laser ranging system (15) installed on the front left of the chassis assembly (1), a front right laser ranging sensor (11) installed on the front right, a rear left laser ranging sensor (6) installed on the rear left, and a rear right laser ranging system (9) installed on the rear right. A local control system (4) is installed on the chassis assembly (1) and is used to realize local operation and human-machine interaction; A radar obstacle avoidance system (14) is installed on the chassis assembly (1) for detecting surrounding obstacles; The operation indicator (12) and lighting system (13) are mounted on the chassis assembly (1).

2. The intelligent heavy-duty trailer shifting machine according to claim 1, characterized in that: Each set of heavy-duty differential gear trains (2) is also equipped with a steering angle sensor (21). The steering angle sensor (21) is used to detect the steering angle of steering wheel one (18) and steering wheel two (19) and feed it back to the control system. The control system calculates the target steering angle according to the preset steering mode, and controls the steering wheel one drive system (20) and steering wheel two drive system (23) to make corrections by comparing the deviation between the actual steering angle and the target steering angle. When the deviation between the actual steering angle and the target steering angle exceeds 1°, an alarm signal is issued. When the deviation exceeds 5°, the steering function of the corresponding heavy-duty differential gear train (2) is locked.

3. The intelligent heavy-duty trailer shifting machine according to claim 1, characterized in that: The control system includes a PLC controller, and the hydraulic suspension (5) is also equipped with a lifting height sensor (22). The lifting height sensor (22) is used to detect the extension and retraction stroke of the suspension hydraulic lifting mechanism (25) and feed it back to the PLC controller. The PLC controller controls the independent extension and retraction of each hydraulic suspension (5) to realize the overall lifting and lowering of the chassis assembly (1) and the attitude leveling around the length and width directions. The swing angle range of the chassis assembly (1) relative to the heavy-duty differential wheel system (2) is ±5°.

4. The intelligent heavy-duty trailer shifting machine according to claim 1, characterized in that: The control system controls the four sets of heavy-duty differential wheel systems (2) to work together, so that the intelligent heavy-duty trailer shifter has five steering modes: straight, sideways, crab, all-wheel steering and stationary steering.

5. The intelligent heavy-duty trailer shifting machine according to claim 1, characterized in that: Both the main lifting system (8) and the auxiliary lifting system (10) are driven by hydraulic cylinders. Pressure limiting valves and explosion-proof valves are installed in their hydraulic circuits to limit the maximum pressure of the circuit and lock the cylinders in case of pipeline rupture.

6. The intelligent heavy-duty trailer shifting machine according to claim 1, characterized in that: The auxiliary bar hydraulic lifting system (17) is equipped with a guide positioning device, which is used to cooperate with the auxiliary beam preset on the heavy-duty trailer beam to achieve mechanical guidance and locking during lifting, so as to prevent the heavy-duty trailer from sliding or overturning during the relocation process.

7. The intelligent heavy-duty trailer shifting machine according to claim 1, characterized in that: The chassis assembly (1) is also provided with a cable chain box (24), which is used to accommodate and protect the hydraulic lines and cables connected to the heavy-duty differential gear system (2), and bends accordingly when the heavy-duty differential gear system (2) turns.

8. The intelligent heavy-duty trailer shifting machine according to claim 1, characterized in that: The cable winding and unwinding speed of the automatic cable reel of the umbilical cable system is linked to the traveling speed of the intelligent heavy-duty trailer shifter and is uniformly controlled by the control system.

9. The intelligent heavy-duty trailer shifting machine according to claim 1, characterized in that: The front left laser ranging system (15), the front right laser ranging sensor (11), the rear left laser ranging sensor (6), and the rear right laser ranging system (9) all emit laser signals toward the heavy-duty trailer to obtain the distance and angle information of the chassis assembly (1) relative to the heavy-duty trailer and transmit it to the control system to guide precise positioning.

10. A method for moving heavy-duty trailers based on the intelligent heavy-duty trailer shifting machine according to any one of claims 1 to 9, characterized in that, Includes the following steps: S1: The intelligent heavy-duty trailer shifter, guided by the front left laser ranging system (15), the front right laser ranging sensor (11), the rear left laser ranging sensor (6) and the rear right laser ranging system (9), drives into the bottom of the heavy-duty trailer and adjusts it to the predetermined lifting position. S2: The control system activates the hydraulic suspension (5), and retracts the suspension hydraulic lifting mechanism (25) to lower the chassis assembly (1) to the lowest height to avoid the heavy-duty trailer beam; S3: The control system controls the main lifting system (8) and the auxiliary lifting system (10) to lift synchronously. The guide positioning device of the auxiliary bar hydraulic lifting system (17) cooperates with the auxiliary beam of the heavy-duty trailer to achieve safe locking and smoothly lift the heavy-duty trailer off the ground. S4: The control system selects a straight, sideways, crab, all-wheel steering or stationary steering mode according to the preset path, and controls the four sets of heavy-duty differential wheel systems (2) to work together to move the heavy-duty trailer to the target position. S5: After reaching the target position, the control system controls the main lifting system (8) and the auxiliary lifting system (10) to descend synchronously, so that the heavy-duty trailer can land safely; S6: The control system starts the hydraulic suspension (5), and extends the suspension hydraulic lifting mechanism (25) to lift the chassis assembly (1), so that the intelligent heavy-duty trailer shifter exits the bottom of the heavy-duty trailer.

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