The mainstream models of explosion-proof mining vehicles undertake over 70% of the trackless auxiliary transportation tasks for personnel, materials, gangue, and equipment in coal mines. However, mining explo-sion-proof vehicles are typically designed for specific transportation tasks and must undergo reconfiguration and modification when changing their use. To address the common issues of process discontinuity, multiple transfer links, high labor ratio, and low level of intelligence in existing vehicles, this article designs and develops an adaptive rubber wheel transport trailer system. This system can adapt to various transportation modes such as medium thick coal seams, thin coal seam tunnels, and non-road conditions, and features the ability to quickly replace working devices. Based on the analysis of key technologies in coal mine underground operating conditions, this article proposes an adaptive control overall scheme utilizing a three-point lifting mechanism. To verify the effectiveness of the scheme, this paper uses MATLAB/Simulink to simulate the key components and conducts on-site tests on the trailer system. The simulation and experimental results demonstrate that the design scheme of the adaptive rubber wheel transport trailer meets the requirements of use. By establishing a standard platform and implementing convenient replacement technology for working devices, personnel, materials, and equipment can be transported without transfer, significantly enhancing handling efficiency and elevating the generalization and intelligence level of coal mine special chassis. This is of great significance for promoting the development of underground transportation technology in coal mines.