Chassis system and unmanned carrying vehicle with same

Abstract

The invention discloses a chassis system and an unmanned carrying vehicle with the chassis system. The chassis system comprises a vehicle frame, a chassis body and a chassis body, the front connecting arms are rotatably arranged on the frame, and each front connecting arm is provided with two front wheels which are arranged in a spaced mode in the front-back direction; the front connecting arm driving device is in transmission connection with the front connecting arm; the rear connecting arms are rotatably arranged on the frame, and each rear connecting arm is provided with two rear wheels which are arranged in a spaced mode in the front-back direction; and the rear connecting arm driving device is in transmission connection with the rear connecting arm. The chassis system has the advantages of being high in trafficability, good in stability, high in road holding force and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle engineering, and more particularly, to a chassis system and an unmanned vehicle equipped with the chassis system. Background Art

[0002] Unmanned vehicles are widely used in the logistics industry, industry, and service industry.

[0003] In the related art, unmanned vehicles have poor passability and can only travel on flat roads. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides a chassis system, which has the advantages of high passing ability, good stability, and strong grip.

[0005] The present invention also provides an unmanned vehicle equipped with the chassis system.

[0006] To achieve the above object, according to an embodiment of the first aspect of the present invention, a chassis system is provided, which includes: a frame; a front connecting arm rotatably provided on the frame, with two front wheels spaced along the front-rear direction provided on each front connecting arm; a front connecting arm driving device drivingly connected to the front connecting arm; a rear connecting arm rotatably provided on the frame, with two rear wheels spaced along the front-rear direction provided on each rear connecting arm; and a rear connecting arm driving device drivingly connected to the rear connecting arm.

[0007] The chassis system according to the embodiment of the present invention has the advantages of high passing ability, good stability, and strong grip.

[0008] In addition, the chassis system according to the above embodiment of the present invention may further have the following additional technical features:

[0009] According to an embodiment of the present invention, the front connecting arm driving device is a front push rod motor, and both ends of the front push rod motor are rotatably connected to the front connecting arm and the frame respectively. The rear connecting arm driving device is a rear push rod motor, and both ends of the rear push rod motor are rotatably connected to the rear connecting arm and the frame respectively.

[0010] According to an embodiment of the present invention, a front connecting rod perpendicular to the front connecting arm is provided on the front connecting arm, and both ends of the front push rod motor are rotatably connected to the front connecting rod and the frame respectively. A rear connecting rod perpendicular to the rear connecting arm is provided on the rear connecting arm, and both ends of the rear push rod motor are rotatably connected to the rear connecting rod and the frame respectively.

[0011] According to an embodiment of the present invention, there are two front connecting arms, which are respectively rotatably arranged on the left and right sides of the vehicle frame, and there are two rear connecting arms, which are respectively rotatably arranged on the left and right sides of the vehicle frame.

[0012] According to an embodiment of the present invention, there are two front connecting arm driving devices, which are respectively in transmission connection with the two front connecting arms, and there are two rear connecting arm driving devices, which are respectively in transmission connection with the two rear connecting arms.

[0013] According to an embodiment of the present invention, the middle part of the front connecting arm is rotatably connected to the vehicle frame, and the rotation axis is oriented in the left-right direction. The middle part of the rear connecting arm is rotatably connected to the vehicle frame, and the rotation axis is oriented in the left-right direction.

[0014] According to an embodiment of the present invention, multiple front wheels are respectively in transmission connection with multiple front wheel driving devices one by one, and multiple rear wheels are respectively in transmission connection with multiple rear wheel driving devices one by one.

[0015] According to an embodiment of the present invention, the chassis system at least has a driving state. In the driving state, the front end of each front connecting arm is higher than the rear end, and the front end of each rear connecting arm is higher than the rear end.

[0016] According to an embodiment of the present invention, the chassis system further includes a step height detection device, which is adapted to detect the height of a step in the driving direction of the chassis system. The step height detection device is electrically connected to the front connecting arm driving device and the rear connecting arm driving device.

[0017] According to an embodiment of the second aspect of the present invention, an unmanned transport vehicle is proposed, and the unmanned transport vehicle includes the chassis system according to the embodiment of the first aspect of the present invention.

[0018] The unmanned transport vehicle according to the embodiment of the present invention has the advantages of high passing ability, good stability, strong grip, etc. by using the chassis system according to the embodiment of the first aspect of the present invention.

[0019] The additional aspects and advantages of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, wherein:

[0021] Figure 1 is a schematic structural diagram of a chassis system according to an embodiment of the present invention.

[0022] Figure 2 It is a schematic structural diagram of a chassis system according to an embodiment of the present invention.

[0023] Figure 3 It is a schematic structural diagram of a chassis system according to an embodiment of the present invention.

[0024] Reference numerals: chassis system 1, vehicle frame 10, front connecting arm 20, front wheel 21, front link 22, front connecting arm driving device 30, rear connecting arm 40, rear wheel 41, rear link 42, rear connecting arm driving device 50, step 2. Detailed Description of the Invention

[0025] This application is made based on the inventor's discovery and recognition of the following facts and problems:

[0026] Unmanned transport vehicles are widely used in the logistics industry, industry and service industry.

[0027] Unmanned transport vehicles in the related art have poor passability and can only drive on flat roads.

[0028] For some unmanned transport vehicles in the related art, a swingable cantilever is provided on the vehicle frame, and the wheels are arranged on the cantilever. The adaptation to different road surfaces is achieved by the up-and-down swing of the cantilever, but it can only adapt to road surfaces with a small height difference. For road surfaces with a large height difference such as steps, it is still difficult to pass.

[0029] For some unmanned transport vehicles in the related art, the rear wheels are connected to the vehicle frame through a cantilever, and a driving device is used to actively drive the cantilever to swing, which can actively adapt to uneven road surfaces and improve the passing ability and grip. However, for road surfaces with a large height difference such as steps, it is also difficult to pass.

[0030] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0031] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "mounted", "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] The chassis system 1 according to an embodiment of the present invention will be described below with reference to the drawings.

[0034] As Figures 1 - 3 shown, the chassis system 1 according to an embodiment of the present invention includes a vehicle frame 10, a front link 20, a front link driving device 30, a rear link 40, and a rear link driving device 50 (the up-down and front-rear directions are as indicated by the arrows in the figure, and the left-right direction is perpendicular to the up-down direction and the front-rear direction).

[0035] The front link 20 is rotatably provided on the vehicle frame 10, and two front wheels 21 are provided on each front link 20 at intervals in the front-rear direction. The front link driving device 30 is in transmission connection with the front link 20. The rear link 40 is rotatably provided on the vehicle frame 10, and two rear wheels 41 are provided on each rear link 40 at intervals in the front-rear direction. The rear link driving device 50 is in transmission connection with the rear link 40.

[0036] Specifically, the rotation axes of the front connecting arm 20 and the rear connecting arm 40 are perpendicular to the front-rear direction. By driving the front connecting arm 20 to rotate through the front connecting arm driving device 30, the position height of the two front wheels 21 on the front connecting arm 20 can be adjusted. By driving the rear connecting arm 40 to rotate through the rear connecting arm driving device 50, the position height of the two rear wheels 41 on the rear connecting arm 40 can be adjusted. For example, when the front connecting arm 20 rotates clockwise in the Figure 1 indicated viewing direction, the front wheel 21 on the front connecting arm 20 closer to the front moves upward and the front wheel 21 closer to the rear moves downward.

[0037] By driving the front connecting arm 20 to rotate through the front connecting arm driving device 30 and driving the rear connecting arm 40 to rotate through the rear connecting arm driving device 50, the position heights of the front wheels 21 and the rear wheels 41 can be adjusted, and the ground clearance and tilt angle of the vehicle frame 10 can be adjusted, enabling the chassis system 1 to actively adapt to the road conditions.

[0038] As Figure 2 and Figure 3 shown, when there are obstacles with a large longitudinal height difference such as steps in the driving direction, the connecting arm is driven by the connecting arm driving device to lift the wheels to the height of the steps, so that the chassis system 1 can climb the steps.

[0039] Taking the forward movement of the chassis system 1 as an example, when there is a step 2 in front of the chassis system 1, the front connecting arm driving device 30 drives the front connecting arm 20 to rotate, causing the front wheel 21 on the front connecting arm 20 closer to the front to move upward to a height higher than the upper surface of the step 2. At this time, the front wheel 21 on the front connecting arm 20 closer to the rear contacts the ground.

[0040] The chassis system 1 continues to move forward until the front wheel 21 contacts the upper surface of the step 2. As the chassis system 1 continues to move forward, the front connecting arm driving device 30 drives the front connecting arm 20 to rotate, causing the front wheel 21 on the front connecting arm 20 closer to the rear to leave the ground, and relying on the rear wheel 41 on the rear connecting arm 40 closer to the rear to contact the ground. The rear connecting arm driving device 50 drives the rear connecting arm 40 to rotate, reducing the pitch angle of the vehicle frame 10, and continues to drive to move the rear wheel 41 on the rear connecting arm 40 closer to the front upward to a height higher than the upper surface of the step 2.

[0041] The chassis system 1 continues to move forward, and the rear wheel 41 on the rear connecting arm 40 closer to the front contacts the upper surface of the step 2. At this time, all the front wheels 21 and the rear wheel 41 on the rear connecting arm 40 closer to the front are in contact with the upper surface of the step 2, and the rear wheel 41 on the rear connecting arm 40 closer to the rear contacts the ground.

[0042] The chassis system 1 continues to move forward. The rear connecting arm driving device 50 drives the rear connecting arm 40 to rotate, causing the rear wheel 41 near the rear on the rear connecting arm 40 to leave the ground and keeping the frame 10 level. The chassis system 1 continues to move forward until the rear wheel 41 near the rear on the rear connecting arm 40 contacts the upper surface of the step 2, at which time the carrying platform completely moves onto the step 2.

[0043] After that, the front connecting arm driving device 30 and the rear connecting arm driving device 50 are used to drive the front connecting arm 20 and the rear connecting arm 40 to rotate, adjusting the wheel height to return the frame 10 to the required ground clearance.

[0044] According to the chassis system 1 of the embodiment of the present invention, by providing the front connecting arm 20 and the rear connecting arm 40, the front connecting arm 20 is rotatably provided on the frame 10, and two front wheels 21 are provided on each front connecting arm 20 at intervals in the front-rear direction. The rear connecting arm 40 is rotatably provided on the frame 10, and two rear wheels 41 are provided on each rear connecting arm 40 at intervals in the front-rear direction. The position heights of the front wheels 21 and the rear wheels 41 can be changed as the front connecting arm 20 and the rear connecting arm 40 rotate, so that the wheels can adapt to uneven road surfaces, improving the passability and stability of the chassis system 1 and enhancing the grip ability of the wheels.

[0045] Moreover, by providing the front connecting arm driving device 30 and the rear connecting arm driving device 50, the front connecting arm driving device 30 and the rear connecting arm driving device 50 can be used to actively drive the front connecting arm 20 and the rear connecting arm 40 to rotate. On the one hand, the position heights of the front wheels 21 and the rear wheels 41 can be actively adjusted, and the ground clearance and tilt angle of the frame 10 can be adjusted to make the chassis system 1 actively adapt to the road conditions. On the other hand, compared with the unmanned carrier vehicle in the related art, the wheels on the side close to the obstacle can be actively lifted to a height higher than the obstacle, enabling the chassis system 1 to pass obstacles with a large height difference such as steps, further improving the passing ability of the chassis system 1.

[0046] Therefore, the chassis system 1 according to the embodiment of the present invention has the advantages of high passing ability, good stability, strong grip, etc.

[0047] Next, the chassis system 1 according to a specific embodiment of the present invention will be described with reference to the drawings.

[0048] In some specific embodiments of the present invention, as Figures 1 - 3 shown, the chassis system 1 according to the embodiment of the present invention includes a frame 10, a front connecting arm 20, a front connecting arm driving device 30, a rear connecting arm 40, and a rear connecting arm driving device 50.

[0049] Specifically, as Figures 1 - 3As shown, the front connecting arm driving device 30 is a front push rod motor, and the two ends of the front push rod motor are rotatably connected to the front connecting arm 20 and the frame 10, respectively. The rear connecting arm driving device 50 is a rear push rod motor, and the two ends of the rear push rod motor are rotatably connected to the rear connecting arm 40 and the frame 10, respectively. In this way, the extension and contraction of the push rod motor can be used to drive the rotation of the connecting arm, increase the driving force arm, and improve the driving torque.

[0050] More specifically, Figures 1 - 3 As shown, the front connecting arm 20 is provided with a front connecting rod 22 perpendicular to the front connecting arm 20, and the two ends of the front push rod motor are rotatably connected to the front connecting rod 22 and the frame 10 respectively, and the rear connecting arm 40 is provided with a rear connecting rod 42 perpendicular to the rear connecting arm 40, and the two ends of the rear push rod motor are rotatably connected to the rear connecting rod 42 and the frame 10 respectively. Specifically, the front end of the front push rod motor is rotatably connected to the front connecting rod 22, and the rear end of the rear push rod motor is rotatably connected to the rear connecting rod 42. When the front push rod motor is extended, the front end of the front connecting arm 20 moves downward and the rear end moves upward, and when the front push rod motor is contracted, the front end of the front connecting arm 20 moves upward and the rear end moves downward. When the rear push rod motor is extended, the rear end of the rear connecting arm 40 moves downward and the front end moves upward, and when the rear push rod motor is contracted, the rear end of the rear connecting arm 40 moves upward and the front end moves downward. In this way, it is convenient for the push rod motor to apply force to the connecting arm through the connecting rod, and it is further convenient to increase the driving force arm and improve the driving torque.

[0051] Specifically, the front connecting rod 22 is connected to the middle part of the front connecting arm 20, and the rear connecting rod 42 is connected to the middle part of the rear connecting arm 40. In this way, the force of the front connecting arm 20 and the rear connecting arm 40 can be more uniform, which is convenient for driving the front connecting arm 20 and the rear connecting arm 40 to rotate.

[0052] Furthermore, there are two front connecting arms 20 which are rotatably disposed on the left and right sides of the frame 10, and there are two rear connecting arms 40 which are rotatably disposed on the left and right sides of the frame 10. Specifically, the two front connecting arms 20 are symmetrically disposed, and the two rear connecting arms 40 are symmetrically disposed. In this way, a chassis structure with four connecting arms and eight wheels can be realized, making the chassis system 1 more stable and reliable, and facilitating the steering of the chassis system 1.

[0053] Furthermore, there are two front connecting arm driving devices 30, which are respectively connected to the two front connecting arms 20, and there are two rear connecting arm driving devices 50, which are respectively connected to the two rear connecting arms 40. In this way, each connecting arm can be driven independently, and the tilt angle of the frame 10 can be adjusted by rotating the connecting arm on one side, so that the chassis system 1 is more stable during transportation.

[0054] Figures 1 - 31 shows a chassis system 1 according to some examples of the present invention. Figures 1 - 3 As shown, the middle part of the front connecting arm 20 is rotatably connected to the frame 10 and the rotation axis is oriented in the left-right direction, and the middle part of the rear connecting arm 40 is rotatably connected to the frame 10 and the rotation axis is oriented in the left-right direction. In this way, the force on each connecting arm can be more uniform, which facilitates the rotation of the connecting arm and avoids the generation of left-right component force under the action of gravity.

[0055] Advantageously, the plurality of front wheels 21 are respectively and one-to-one connected to the plurality of front wheel drive devices, and the plurality of rear wheels 41 are respectively and one-to-one connected to the plurality of rear wheel drive devices. Specifically, the front wheel drive devices and the rear wheel drive devices are both wheel hub motors. In this way, each wheel can be driven independently, and forward, backward, braking and differential steering can be achieved.

[0056] Specifically, Figure 2 As shown, the chassis system 1 has at least a driving state, in which the front end of each front connecting arm 20 is higher than the rear end and the front end of each rear connecting arm 40 is higher than the rear end. In this way, the wheel near the front of each connecting arm can be higher than the wheel near the rear, so that the wheel near the front of each connecting arm leaves the ground, and the wheel near the rear of each connecting arm is in contact with the ground, so as to achieve four-wheel drive driving, and achieve forward, backward, braking and differential steering by means of the four wheels in contact with the ground, so as to facilitate the chassis system 1 to pass higher obstacles when driving forward, and improve the passing ability of the chassis system 1.

[0057] More advantageously, the chassis system 1 further comprises a step height detection device, which is suitable for detecting the height of the step in the driving direction of the chassis system 1, and is electrically connected to the front connecting arm driving device 30 and the rear connecting arm driving device 50. Specifically, the step height detection device can be an optical detection device, an ultrasonic detection device, etc., and the connecting arm driving device can drive the connecting arm according to the height of the step 2, so that the wheel can climb onto the step 2. This can further facilitate the chassis system 1 to pass through obstacles with large height differences such as the step 2, and further improve the passing capacity of the chassis system 1.

[0058] Reference below Figures 1 - 3 The working process of the chassis system 1 according to the embodiment of the present invention is described.

[0059] During normal forward driving, the front wheel of each connecting arm leaves the ground, and the rear wheel of each connecting arm contacts the ground. The vehicle travels on the road like a four-wheeled vehicle, relying on the four wheels in contact with the ground to move forward, backward, brake, and differential steering.

[0060] During driving, the connecting arm rotates by the extension and retraction of the push rod motor, thereby adjusting the height, pitch angle, and roll angle of the vehicle frame 10. On uneven roads, the smoothness of transportation is ensured.

[0061] Taking forward driving as an example, when encountering a road surface with a large height difference such as a step 2 ahead, the connecting arm is driven to rotate by the connecting arm driving device to adjust the height of the wheels near the front on the connecting arm to reach the height of the front step 2. As the chassis system 1 moves forward, the two front wheels 21 near the front on the two front connecting arms 20 come into contact with the upper surface of the step 2, and the four wheels near the rear on the four connecting arms come into contact with the ground. The chassis system 1 continues to move forward, and at the same time, the front push rod motor slowly extends, causing the two front wheels 21 near the rear on the two front connecting arms 20 to leave the ground. At this time, the two front wheels 21 near the front on the two front connecting arms 20 are in contact with the upper surface of the step 2, and the two rear wheels 41 near the rear on the two rear connecting arms 40 are in contact with the ground. The rear push rod motor also extends to reduce the pitch angle of the vehicle frame 10 until the two rear wheels 41 near the front on the two rear connecting arms 40 come into contact with the upper surface of the step 2. At this time, the four front wheels 21 and the two rear wheels 41 near the front on the two rear connecting arms 40, a total of six wheels, are in contact with the upper surface of the step 2 at the same time, and the two rear wheels 41 near the rear on the two rear connecting arms 40 are in contact with the ground. The chassis system 1 continues to move forward, shortening the two rear push rod motors, causing the two rear wheels 41 near the rear on the two rear connecting arms 40 to leave the ground and the vehicle body to remain horizontal. The vehicle continues to move forward until the two rear wheels 41 near the rear on the two rear connecting arms 40 come into contact with the upper surface of the step 2, and the chassis system 1 completely climbs onto the step. Then the two front push rod motors are shortened, and the two rear push rod motors are extended. This causes the two front wheels 21 near the front on the two front connecting arms 20 and the two rear wheels 41 near the front on the two rear connecting arms 40 to leave the ground, and the vehicle frame 10 returns to its original ground clearance.

[0062] The unmanned transport vehicle according to an embodiment of the present invention will be described below. The unmanned transport vehicle according to an embodiment of the present invention includes the chassis system 1 according to the above embodiment of the present invention.

[0063] The unmanned transport vehicle according to an embodiment of the present invention, by using the chassis system 1 according to the above embodiment of the present invention, has the advantages of high passing ability, good stability, strong grip, etc.

[0064] The other configurations and operations of the unmanned transport vehicle according to an embodiment of the present invention are known to those of ordinary skill in the art and will not be described in detail here.

[0065] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0066] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A chassis system, characterized in that: include: Frame; A front connecting arm, the front connecting arm is rotatably arranged on the frame, and each of the front connecting arms is provided with two front wheels spaced apart in the front-to-rear direction; A front connecting arm driving device, the front connecting arm driving device is drivingly connected to the front connecting arm; A rear connecting arm, the rear connecting arm is rotatably arranged on the frame, and each of the rear connecting arms is provided with two rear wheels spaced apart in the front-to-rear direction; A rear connecting arm driving device is transmission-connected to the rear connecting arm.

2. The chassis system according to claim 1, characterized in that: The front connecting arm driving device is a front push rod motor, and the two ends of the front push rod motor are respectively rotatably connected to the front connecting arm and the frame. The rear connecting arm driving device is a rear push rod motor, and the two ends of the rear push rod motor are respectively rotatably connected to the rear connecting arm and the frame.

3. The chassis system according to claim 2, characterized in that: The front connecting arm is provided with a front connecting rod perpendicular to the front connecting arm, and the two ends of the front push rod motor are respectively rotatably connected to the front connecting rod and the frame; the rear connecting arm is provided with a rear connecting rod perpendicular to the rear connecting arm, and the two ends of the rear push rod motor are respectively rotatably connected to the rear connecting rod and the frame.

4. The chassis system according to claim 1, characterized in that: The number of the front connecting arms is two and they are rotatably arranged on the left and right sides of the frame respectively; the number of the rear connecting arms is two and they are rotatably arranged on the left and right sides of the frame respectively.

5. The chassis system according to claim 4, characterized in that: There are two front connecting arm driving devices, which are respectively connected to the two front connecting arms in a transmission manner; there are two rear connecting arm driving devices, which are respectively connected to the two rear connecting arms in a transmission manner.

6. The chassis system according to claim 1, characterized in that: The middle part of the front connecting arm is rotatably connected to the frame and the rotation axis is oriented in the left-right direction. The middle part of the rear connecting arm is rotatably connected to the frame and the rotation axis is oriented in the left-right direction.

7. The chassis system according to claim 1, characterized in that: The plurality of front wheels are transmission-connected to the plurality of front wheel drive devices in a one-to-one correspondence, and the plurality of rear wheels are transmission-connected to the plurality of rear wheel drive devices in a one-to-one correspondence.

8. The chassis system according to claim 1, characterized in that: The chassis system has at least a driving state, in which a front end of each of the front connecting arms is higher than a rear end and a front end of each of the rear connecting arms is higher than a rear end.

9. The chassis system according to claim 1, characterized in that: It also includes a step height detection device, which is suitable for detecting the height of the step in the driving direction of the chassis system, and the step height detection device is electrically connected to the front connecting arm driving device and the rear connecting arm driving device.

10. An unmanned transport vehicle, characterized in that: Comprising a chassis system according to any one of claims 1-9.

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